Fork arm gripper and mechanical gripping device

Abstract

The utility model discloses a fork arm grabbing hand and a mechanical grabbing device. The fork arm grabbing hand comprises a main bearing component, the two first moving parts are oppositely arranged; the two first positioning guide parts are respectively assembled on the two first moving parts; the positioning power part is connected with the first moving parts and drives the two first moving parts to move back to back so as to enable the first positioning guide parts to be inserted into the two positioning side holes of the fork arm respectively; a second positioning guide member; the second moving part can move in the second direction, and is configured to move to drive the second positioning guide part to be inserted into an end hole in the end face of the other end of the fork arm; the number of the detection assemblies is two, a detection space capable of containing the fork arm supporting legs is formed in each detection assembly, the two detection spaces are arranged in parallel, and the detection assemblies are configured to be used for detecting whether the fork arm supporting legs exist in the corresponding detection spaces or not. According to the fork arm gripper provided by the utility model, the fork arm is gripped by adopting an insertion positioning mode, so that the damage to the fork arm is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical grippers, specifically, it relates to an improvement of the fork arm gripper structure. Background Art

[0002] The fork arm is part of the vehicle's suspension system, connecting the wheels to the body. It works alongside elastic and shock-absorbing components to provide support for the entire vehicle. It impacts the vehicle's stability and reliability during movement, and ultimately, the safety of the occupants.

[0003] Therefore, it is very important to detect and measure the dimensional parameters of the processed rear fork arm.

[0004] In order to measure the fork arm, it is necessary to grab the fork arm for transportation. The existing gripper structure used to grab the fork arm mainly adopts a clamping cylinder structure. There are two clamping claws under the clamping cylinder. The two clamping claws move in parallel to open the clamping to grab the fork arm at both sides of the fork arm.

[0005] The structural method of using a clamping claw to clamp the fork arm requires that the clamping claw be firmly clamped on the side of the fork arm's support leg to achieve a firm clamping of the fork arm. The clamping method of the support leg is likely to cause damage to the surface of the fork arm parts, causing deformation of the parts and reducing the accuracy of the parts.

[0006] The above information disclosed in this background technology is only used to increase the understanding of the background technology of this application. Therefore, it may contain information that does not constitute the prior art known to ordinary technicians in this field. Utility Model Content

[0007] In response to the above-mentioned technical problems existing in the fork arm gripper in the prior art, the utility model proposes a new fork arm gripper structure, which abandons the existing method of clamping the fork arm side wall and adopts a three-point insertion and positioning structure to realize the gripping of the fork arm, thereby avoiding damage to the fork arm.

[0008] In order to achieve the above-mentioned utility model / design purpose, this utility model adopts the following technical solutions:

[0009] A fork arm gripper, comprising:

[0010] Main load-bearing member;

[0011] The first positioning assembly is arranged below one end of the main bearing member and includes:

[0012] There are two first moving parts, which are arranged opposite to each other;

[0013] Two first positioning guide members are provided and respectively assembled on the two first moving members;

[0014] a positioning power member connected to the first moving member, driving the two first moving members to move in opposite directions in the first direction so that the first positioning guide members above the first moving members are respectively inserted into the two positioning side holes at one end of the fork arm to position and support the fork arm;

[0015] The second positioning assembly is arranged below the other end of the main bearing member and includes:

[0016] a second positioning guide;

[0017] A second movable member, used for assembling the second positioning guide member, is movable along a second direction and is configured to: move along the second direction to drive the second positioning guide member to be inserted into the end hole at the other end surface of the fork arm to position and support the fork arm;

[0018] Two groups of detection components are provided, each group of detection components forms a detection space capable of accommodating the fork arm legs, the two groups of detection spaces are arranged in parallel, and the detection components are configured to detect whether there are fork arm legs in their corresponding detection spaces.

[0019] In some embodiments of the present application, the first moving member includes a connecting portion connected to the positioning power member;

[0020] The supporting portion is arranged perpendicular to the connecting portion and is formed by bending and extending downward from one end of the connecting portion;

[0021] a first positioning guide member, vertically assembled on the outer side of the support portion;

[0022] The reinforcing portion is connected between the connecting portion and the supporting portion.

[0023] In some embodiments of the present application, the first positioning guide member includes: a first guide portion, the outer diameter of which gradually decreases in a direction away from the support portion, and is used to cooperate with the positioning side hole to guide the installation;

[0024] And a first positioning portion is smoothly connected to the first guide portion, adapted to the contour of the positioning side hole, and used for positioning the fork arm.

[0025] In some embodiments of the present application, a recessed area is formed inwardly on the support portion, and the first positioning guide is assembled in the recessed area.

[0026] In some embodiments of the present application, the first positioning guide is detachably connected to the support portion, and its hardness is greater than that of the first moving member.

[0027] In some embodiments of the present application, the positioning power member is a finger parallel cylinder, which has a first connecting end and a second connecting end, and the two first moving members are respectively connected to the first connecting end and the second connecting end. The supporting parts of the two first moving members are parallel to each other, and the two first positioning guide members are arranged back to back and their centers are collinear.

[0028] In some embodiments of the present application, the following are included:

[0029] a second positioning driving member, driving the second moving member to move along a second direction;

[0030] The second moving member is a moving arm connected to the second positioning driving member and arranged vertically;

[0031] The second positioning guide is vertically arranged on the side of the movable arm and includes:

[0032] A second guide portion, the second guide portion is used to guide the assembly of the fork arm;

[0033] The second positioning portion is adapted to at least a portion of the contour of the fork arm end hole and is used to position the fork arm.

[0034] In some embodiments of the present application, an accommodating space for accommodating the fork arm is formed between the second pressing and positioning member and the first clamping and positioning assembly.

[0035] In some embodiments of the present application, the main load-bearing member includes a first member, on which a quick-change joint is provided, and on both sides of which positioning sleeves are provided, and on the side of which locking members are provided that are screwed into the first member and abut against the side walls of the positioning sleeves;

[0036] A second member is arranged parallel to the first member, and the first positioning assembly and the second positioning assembly are arranged below the second member;

[0037] The third component is vertically connected between the first component and the second component, and an assembly space is formed between the first component and the second component around the third component.

[0038] A mechanical grasping device, comprising: the fork arm grasper described in the above technical solution;

[0039] A six-axis robot has an output shaft, a floating unit is connected to the end of the output shaft, and a quick-change joint matching part is connected to the floating unit to connect or separate with the quick-change joint.

[0040] Compared with the prior art, the advantages and positive effects of the present invention are:

[0041] The fork arm gripper structure provided by the utility model utilizes two first moving members of a first positioning assembly that move in opposite directions, driving a first positioning guide member to move so as to be inserted into the side positioning holes at the ends of two legs at one end of the fork arm, thereby supporting and positioning one end of the fork arm. The second moving member then drives a second positioning guide member to be inserted into the end hole at the other end of the fork arm, thereby supporting and positioning the other end of the fork arm. The cooperation between the first and second positioning assemblies achieves support and positioning of both ends of the fork arm, ensuring support for the fork arm and ensuring that the fork arm can be grasped and lifted.

[0042] Moreover, in the present embodiment, the fork arm gripper grasps the fork arm in a manner that the first positioning member and the second positioning member are inserted into the fork arm to form a three-point support positioning structure to support and position the fork arm, and then the fork arm can be lifted by moving it upward. This insertion and positioning method will not press or clamp the fork arm. Compared with the existing method of clamping and grasping with claws, it can effectively avoid the fork arm from being compressed and deformed, thereby ensuring the accuracy of the grasped fork arm.

[0043] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 It is a three-dimensional structure of an embodiment of the fork arm gripper proposed by the utility model Figure 1 ;

[0046] Figure 2 It is a three-dimensional structure of an embodiment of the fork arm gripper proposed by the utility model Figure 2 ;

[0047] Figure 3 It is a three-dimensional structure of an embodiment of the fork arm gripper proposed by the utility model Figure 3 ;

[0048] Figure 4 This is a structural diagram of the first positioning assembly of an embodiment of the fork arm gripper proposed by the present utility model;

[0049] Figure 5 This is a structural diagram of the second positioning assembly of an embodiment of the fork arm gripper proposed by the present utility model;

[0050] Figure 6It is a structural schematic diagram of a mechanical grasping device of an embodiment of the fork arm grasper proposed in the utility model.

[0051] In the figure, 100, main bearing member; 110, first member; 111, positioning sleeve; 112, locking member; 120, second member; 130, third member; 140, assembly space; 200, first moving member; 210, connecting portion; 220, supporting portion; 221, recessed area; 230, reinforcing portion; 300, first positioning guide member; 310, first guide portion; 320, first positioning portion; 400, positioning power member; 500, second positioning guide Part; 510, second guide part; 520, second positioning part; 610, second moving part; 620, second positioning drive part; 700, detection component; 710, first detection switch; 720, first detection reflector; 730, second detection switch; 740, second detection reflector; 750, first detection space; 760, second detection space; 810, quick-change connector; 820, six-axis robot; 830, floating unit; 840, quick-change connector mating part. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0054] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections. A person of ordinary skill in the art will understand the specific meanings of the above terms in the present invention in specific circumstances. In the description of the embodiments, specific features, structures, materials, or characteristics may be combined in any appropriate manner in any one or more embodiments or examples.

[0055] The terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0056] In the description of the present invention, unless otherwise specified, “a plurality of” means two or more.

[0057] In some embodiments of the present application, a fork arm gripper is proposed, which can be used to grasp the fork arm without causing deformation of the fork arm during grasping, thereby ensuring the accuracy of the fork arm during and after grasping.

[0058] The fork arm comprises a fork arm body and a fork arm leg connected to the fork arm body, wherein the two legs of the fork arm have different heights, wherein one leg is high and the other leg is low.

[0059] An end hole is provided on the end surface of the fork arm body for positioning the fork arm when grasping.

[0060] Positioning side holes are provided on the inner side surfaces opposite to the ends of the two legs of the fork arm, for facilitating positioning in cooperation with the fork arm gripper.

[0061] In some embodiments of the present application, the fork arm gripper includes:

[0062] The main bearing member 100 is used to form a supporting base of the entire fork arm gripper, supporting and carrying the first positioning assembly and the second positioning assembly arranged at a position below it.

[0063] The first positioning assembly is provided below one end of the main bearing member 100 and includes:

[0064] There are two first moving members 200 , which are arranged opposite to each other, and there is a distance between the two first positioning moving members.

[0065] Two first positioning guide members 300 are provided and are respectively assembled on the two first moving members 200 .

[0066] The first positioning guide member 300 is connected to the first moving member 200 , and the two first positioning guide members 300 are arranged back to back.

[0067] The positioning power member 400 is connected to the first movable member 200, driving the two first movable members 200 to move backward in the first direction so that the first positioning guide members 300 above them are respectively inserted into the two positioning side holes at one end of the fork arm to position and support the fork arm.

[0068] The positioning power member 400 provides the first moving member 200 with moving power. Driven by the positioning power member 400 , the two first moving members 200 move in opposite directions and away from each other.

[0069] As the two first moving parts 200 continue to move, the distance between them continues to increase, so that the two first moving parts 200 eventually drive the first positioning guide parts 300 assembled above them to approach the positioning side holes at the ends of the two legs, and are respectively inserted into the two positioning side holes to achieve support positioning of the two leg ends at one end of the fork arm.

[0070] The second positioning assembly is provided below the other end of the main bearing member 100 and includes:

[0071] A second positioning guide 500;

[0072] The second movable member 610 is used to assemble the second positioning guide member 500 and is movable along the second direction. It is configured to move along the second direction to drive the second positioning guide member 500 to be inserted into the end hole at the other end face of the fork arm to position and support the fork arm.

[0073] The second positioning guide 500 is assembled to a bottom side position of the second moving member 610 .

[0074] The second moving member 610 is movable, and when it moves, it can correspondingly drive the second positioning guide member 500 assembled thereon to move along the second direction so as to be inserted into the end hole at the end surface position of the fork arm body.

[0075] The other end of the fork arm body is positioned by means of a second positioning guide 500 inserted into the end hole of the fork arm body.

[0076] The entire fork arm gripper structure is configured such that two first moving members 200 of the first positioning assembly, which move in opposite directions, drive the first positioning guide member 300 to move and insert into the side positioning holes at the ends of the two legs at one end of the fork arm to support and position one end of the fork arm. The second moving member 610 moves and drives the second positioning guide member 500 to insert into the end hole at the other end of the fork arm to support and position the other end of the fork arm. The cooperation between the first and second positioning assemblies achieves support and positioning of both ends of the fork arm, ensuring support for the fork arm and ensuring that the fork arm can be grasped and lifted.

[0077] Moreover, in the present embodiment, the fork arm gripper grasps the fork arm in a manner that the first positioning member and the second positioning member are inserted into the fork arm to form a three-point support positioning structure to support and position the fork arm, and then the fork arm can be lifted by moving it upward. This insertion and positioning method will not press or clamp the fork arm. Compared with the existing method of clamping and grasping with claws, it can effectively avoid the fork arm from being compressed and deformed, thereby ensuring the accuracy of the grasped fork arm.

[0078] In some embodiments of the present application, the fork arm gripper also includes a detection component 700, which is provided in two groups. Each group of detection components 700 forms a detection space capable of accommodating the fork arm legs. The two groups of detection spaces are arranged in parallel, and the detection component 700 is configured to detect whether there are fork arm legs in its corresponding detection space.

[0079] The results of the two detection components 700 detecting the presence or absence of the fork arm legs can be combined to realize the identification and determination of the fork arm left part and the fork arm right part.

[0080] In some embodiments of the present application, the detection assembly 700 includes a first frame, and two detection reflectors are provided on both sides of the first frame;

[0081] The second frame is provided with two, symmetrically arranged on both sides of the first frame.

[0082] The accommodating space is formed between the first frame and the second frame.

[0083] A detection switch is provided on the second frame.

[0084] Two sets of detection reflectors are assembled on the first frame with their mirror surfaces facing each other and fixed at the middle position of the main body supporting component.

[0085] The detection switches of the two detection components 700 are respectively arranged on both sides of the main body carrier and arranged corresponding to the two reflectors. A detection space is formed between each detection switch and each reflector corresponding to its position, and the two detection spaces are also arranged side by side.

[0086] When the fork arm is placed in the fork arm accommodating space formed by the first positioning assembly and the second positioning assembly below the main body carrier, its corresponding two legs are respectively arranged in the two groups of accommodating spaces.

[0087] Assume that the detection assembly 700 includes a first detection assembly 700, wherein a first detection space 750 is formed in the first detection assembly 700, and the first detection assembly 700 is used to detect whether there is a fork arm leg in the first detection space 750 configured therein;

[0088] The first detection assembly 700 includes a first detection switch 710 and a first detection reflective mirror 720 .

[0089] A second detection assembly 700 , wherein a second detection space 760 is formed in the second detection assembly 700 , and the second detection assembly 700 is used to detect whether there is a fork arm leg in the second detection space 760 configured therein;

[0090] The second detection switch 730 includes a second detection switch 730 and a second detection reflecting mirror 740 .

[0091] When the first detection component 700 detects that there is a leg in the first detection space 750 and the second detection component 700 detects that there is no leg in the second detection space 760, the workpiece is identified as the left fork arm.

[0092] When the first detection component 700 detects that there is no support leg in the first detection space 750 and the second detection component 700 detects that there is a support leg in the second detection space 760, the workpiece is identified as the right part of the fork arm.

[0093] Due to the different heights of the fork arm legs, when placed as the left fork arm, the height of the left leg is greater than that of the right leg, and the leg in the left accommodating space is in the first detection space 750. At this time, the light emitted by the first detection switch 710 is blocked, and it cannot receive the light reflected by the first detection reflector. The right leg in the right accommodating space is not in the second detection space 760 due to its lower height, and will not block the light emitted by the second detection switch 730, and the second detection switch 730 can receive the light reflected by the second detection reflector 740.

[0094] If the right part of the fork arm is placed, the second detection switch 730 located in the right detection space will be blocked and unable to emit and receive the reflected light from the second detection reflector 740. The support leg located in the left first detection space 750 will not block the reflected light from the first reflector due to its lower height, so that the first detection switch 710 can receive the light from the first detection reflector 720.

[0095] By setting up the detection component 700, the fork arm gripper can also identify and detect whether the gripped fork arm part is a left part or a right part, and can effectively detect whether the discharged part is placed incorrectly.

[0096] In some embodiments of the present application, the first moving member 200 includes a connecting portion 210 connected to the positioning power member 400;

[0097] The support portion 220 is provided perpendicular to the connecting portion 210 and is formed by bending and extending downward from one end of the connecting portion 210;

[0098] The first positioning guide member 300 is vertically assembled on the outer surface of the support portion 220;

[0099] The reinforcing portion 230 is connected between the connecting portion 210 and the supporting portion 220 .

[0100] The connecting portion 210 is a connecting arm, which fits in contact with the positioning power component 400 and is connected to the positioning power component 400 .

[0101] The support portion 220 is a support arm, which is bent downward from the connection portion 210 and arranged vertically.

[0102] The reinforcement portion 230 is a reinforcement rib connecting the connection portion 210 and the support portion 220 , and is used to enhance the strength of the entire gripper to ensure that it has sufficient strength to support the fork arm.

[0103] In some embodiments of the present application, the first positioning guide 300 includes: a first guide portion 310, the outer diameter of which gradually decreases in a direction away from the support portion 220, and is used to cooperate with the positioning side hole to guide the installation.

[0104] The first guide portion 310 is a tapered guide section, which is used to play a guiding role to ensure that the first positioning guide 300 and the side positioning hole on the side of the fork arm can be smoothly inserted into place.

[0105] Since the outer diameter of the tapered guide portion becomes smaller as it moves away from the support portion 220, there will be positional deviation when there is a deviation in the processed fork arm or the position of the fork arm deviates during linear transport. Since the first guide portion 310 has a smaller outer diameter, it can ultimately be inserted into the positioning side hole even with a certain deviation, thereby ensuring that the fork arm is inserted into place.

[0106] The first positioning guide 300 includes a first positioning portion 320 , which is smoothly connected to the first guide portion 310 and adapted to the contour of the positioning side hole for positioning the fork arm.

[0107] The first positioning portion 320 is a first positioning segment, which is used to fit in and engage with the fork arm positioning side hole to position the fork arm.

[0108] In some embodiments of the present application, a recessed area 221 is formed inwardly on the support portion 220 , and the first positioning guide 300 is assembled in the recessed area 221 .

[0109] Providing a recessed area 221 at the support portion 220 and arranging the first positioning guide member 300 at the recessed area 221 can prevent the support portion 220 of the first movable member 200 from contacting the inner wall surface of the fork arm's leg during the movement of the first movable member 200 driving the first positioning guide member 300, thereby preventing the fork arm from being squeezed and damaged.

[0110] If the recessed area 221 at the supporting portion 220 is configured as an arc-shaped protruding structure, the first moving member 200 may touch the fork arm when moving outward toward the leg of the fork arm, causing damage to the fork arm.

[0111] In some embodiments of the present application, the first positioning guide member 300 is detachably connected to the support portion 220, and its hardness is greater than that of the first movable member 200. The first positioning guide member 300 is set to have a greater hardness to ensure its supporting and positioning effect on the fork arm.

[0112] The first positioning guide 300 can be fixed to the support part 220 by screw locking. The first positioning guide 300 is arranged to be detachably connected to the support part 220. After the first positioning guide 300 is worn out during use, it can be conveniently disassembled and replaced without replacing the first movable part 200 structure, thereby reducing maintenance and use costs.

[0113] In some embodiments of the present application, the positioning power member 400 is a finger parallel cylinder, which has a first connecting end and a second connecting end, and the two first moving members 200 are respectively connected to the first connecting end and the second connecting end. The supporting parts 220 of the two first moving members 200 are parallel to each other, and the two first positioning guide members 300 are arranged back to back and their centers are collinear.

[0114] The centers of the two first positioning guide members 300 are collinear, which ensures that the two first positioning guide members 300 can be synchronously inserted into the positioning side holes of the fork arm, thereby ensuring the consistency of the insertion and positioning.

[0115] In some embodiments of the present application, the fork arm gripper includes:

[0116] The second positioning driving member 620 drives the second moving member 610 to move along the second direction;

[0117] The second moving member 610 is a moving arm connected to the second positioning driving member 620 and arranged vertically;

[0118] The second positioning driving member 620 is a second positioning driving cylinder, which is fixedly connected to the moving arm and drives the moving arm to move along the second direction. The second direction is a direction perpendicular to the end surface of the fork arm body.

[0119] The first direction is perpendicular to the second direction.

[0120] The second positioning guide 500 is vertically arranged on the side of the moving arm.

[0121] When the second positioning driving member 620 moves, it can drive the movable arm and the second positioning guiding member 500 above it to move so as to be inserted into the end hole.

[0122] The second positioning guide 500 includes:

[0123] A second guide portion 510, the second guide portion 510 is used to guide the assembly of the fork arm;

[0124] The second positioning portion 520 is adapted to at least a portion of the contour of the fork arm end hole for positioning the fork arm.

[0125] The second guide portion 510 is a second tapered section, which is used to cooperate with the end hole to ensure that the second positioning guide member 500 can be smoothly inserted into the end hole.

[0126] The second positioning portion 520 is a second positioning column segment, which is adapted to the end hole of the fork arm and is used to position and support the fork arm.

[0127] In some embodiments of the present application, a accommodating space for accommodating the fork arm is formed between the second positioning assembly and the first positioning assembly. When the fork arm gripper grasps the fork arm, it is lowered so that the fork arm is in the accommodating space, so as to facilitate the action of the first positioning assembly and the second positioning assembly to support and position it.

[0128] In some embodiments of the present application, the main load-bearing component 100 includes a first component 110, on which a quick-change connector 810 is provided, and positioning sleeves 111 are provided on both sides of the first component 110, and a locking member 112 is provided on its side, which is screwed into the first component 110 and rests on the side wall of the positioning sleeve 111.

[0129] After use, the fork arm gripper needs to be grabbed by a robot and placed on the gripper replacement rack. The positioning sleeve 111 above it can facilitate its cooperation and positioning with the positioning pin on the gripper replacement rack, so that the fork arm gripper can be quickly placed on the gripper replacement rack.

[0130] The locking member 112 is a locking screw, which is screwed into the first component 110 and pressed against the side wall of the positioning sleeve 111 to prevent the positioning sleeve 111 from falling out.

[0131] The second component 120 is arranged parallel to the first component 110 , and the first positioning assembly and the second positioning assembly are arranged below the second component 120 .

[0132] The first component 110 is a first support plate, and the second component 120 is a second support plate.

[0133] The third component 130 is vertically connected between the first component 110 and the second component 120 , and an assembly space 140 is formed between the first component 110 and the second component 120 around the third component 130 .

[0134] When placing the fork arm gripper, the third component 130 will be clamped at the clamping position of the supporting plate on the gripper replacement frame, and the first component 110 will be carried on the supporting plate of the gripper replacement frame. The assembly space 140 between the second component 120 and the first component 110 can facilitate the insertion of the supporting plate to support the first component 110, so that the fork arm gripper can be quickly placed in place.

[0135] In some embodiments of the present application, a mechanical gripping device is provided, comprising a fork arm gripper;

[0136] The six-axis robot 820 has an output shaft, and a floating unit 830 is connected to the end of the output shaft. The floating unit 830 is connected to the matching part of the quick-change connector 810, which is connected to or separated from the quick-change connector 810.

[0137] The quick-change joint matching portion 840 on the floating unit 830 cooperates with the quick-change joint 810 to achieve rapid connection or separation of the fork arm gripper and the mechanical gripping device.

[0138] The quick-change connector mating portion 840 and the quick-change connector 810 can directly adopt existing technical structures.

[0139] The floating unit 830 also adopts the existing technical structure.

[0140] The floating unit 830 enables the fork arm gripper to move within a certain range.

[0141] The six-axis robot 820 drives the steering knuckle gripper connected to its upper part to move over to grab the fork arm, and drives the two first moving parts 200 and the two first positioning guide parts 300 to move and insert into the two positioning side holes of the fork arm respectively through the positioning power part 400, and drives the second positioning guide part 500 to move and insert into the end hole of the fork arm through the second moving part 610 to realize the support positioning of the fork arm.

[0142] During the insertion process of the first positioning guide 300 and the second positioning guide 500, there may be a positional offset of the positioning side holes and the end holes. At this time, the floating unit 830 can be opened to make the fork arm gripper as a whole floatable. Through the floating of the floating unit 830, the first positioning guide 300 and the second positioning guide 500 can be inserted into place even if there is a deviation. After being inserted into place, the fork arm is supported and positioned by the three positioning guides, and then the fork arm is lifted and the floating unit 830 is closed.

[0143] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the above embodiments, or to replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A fork arm gripper, characterized in that: Includes: Main load-bearing member; The first positioning assembly is arranged below one end of the main bearing member and includes: There are two first moving parts, which are arranged opposite to each other; Two first positioning guide members are provided and respectively assembled on the two first moving members; a positioning power member connected to the first moving member, driving the two first moving members to move in opposite directions in the first direction so that the first positioning guide members above the first moving members are respectively inserted into the two positioning side holes at one end of the fork arm to position and support the fork arm; The second positioning assembly is provided below the other end of the main bearing member and includes: a second positioning guide; a second movable member, for assembling the second positioning guide member, movable along a second direction, and configured to: move along the second direction to drive the second positioning guide member to be inserted into the end hole at the other end surface of the fork arm to position and support the fork arm, the second direction being perpendicular to the first direction; Two groups of detection components are provided, each group of detection components forms a detection space capable of accommodating the fork arm legs, the two groups of detection spaces are arranged in parallel, and the detection components are configured to detect whether there are fork arm legs in their corresponding detection spaces.

2. The fork arm gripper according to claim 1, characterized in that: The first moving member includes a connecting portion connected to the positioning power member; The supporting portion is arranged perpendicular to the connecting portion and is formed by bending and extending downward from one end of the connecting portion; a first positioning guide member, vertically assembled on the outer side of the support portion; The reinforcing portion is connected between the connecting portion and the supporting portion.

3. The fork arm gripper according to claim 2, characterized in that: The first positioning guide member includes: a first guide portion, the outer diameter of which gradually decreases in a direction away from the support portion, and is used to cooperate with the positioning side hole to guide the installation; And a first positioning portion is smoothly connected to the first guide portion, adapted to the contour of the positioning side hole, and used for positioning the fork arm.

4. The fork arm gripper according to claim 2, characterized in that: A recessed area is formed inwardly on the support portion, and the first positioning guide is assembled in the recessed area.

5. The fork arm gripper according to claim 2, characterized in that: The first positioning guide is detachably connected to the supporting portion, and its hardness is greater than that of the first moving member.

6. The fork arm gripper according to claim 1, characterized in that: The positioning power member is a finger parallel cylinder, which has a first connecting end and a second connecting end. The two first moving members are respectively connected to the first connecting end and the second connecting end. The supporting parts of the two first moving members are parallel to each other. The two first positioning guide members are arranged back to back and their centers are collinear.

7. The fork arm gripper according to claim 1, characterized in that: Includes: a second positioning driving member, driving the second moving member to move along a second direction; The second moving member is a moving arm connected to the second positioning driving member and arranged vertically; The second positioning guide is vertically arranged on the side of the movable arm and includes: A second guide portion, the second guide portion is used to guide the assembly of the fork arm; The second positioning portion is adapted to at least a portion of the contour of the fork arm end hole and is used to position the fork arm.

8. The fork arm gripper according to claim 1, characterized in that: An accommodating space for accommodating the fork arm is formed between the second pressing and positioning member and the first clamping and positioning assembly.

9. The fork arm gripper according to claim 1, characterized in that: The main bearing member includes a first member, on which a quick-change joint is provided, and positioning sleeves are provided on both sides of the first member, and a locking member is provided on the side of the first member and abuts against the side wall of the positioning sleeve; A second member is arranged parallel to the first member, and the first positioning assembly and the second positioning assembly are arranged below the second member; The third component is vertically connected between the first component and the second component, and an assembly space is formed between the first component and the second component around the third component.

10. A mechanical grasping device, characterized in that: Including the fork arm gripper according to claim 9; A six-axis robot has an output shaft, a floating unit is connected to the end of the output shaft, and a quick-change joint matching part is connected to the floating unit to connect or separate with the quick-change joint.

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