Composite mechanical clamping jaw for grabbing workpieces and trays

Abstract

The composite mechanical clamping jaw comprises a fixing piece, a first clamping jaw body used for grabbing the workpiece is installed on the side face of the fixing piece, a second clamping jaw body used for grabbing the tray is installed at the bottom of the fixing piece, and a flange used for being fixed to a mechanical arm is installed on the upper surface of the fixing piece. And when the workpiece and the tray are grabbed, the clamping jaws do not need to be replaced back and forth, different clamping jaws can be switched and used by rotating the fixing piece, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of workpiece clamps, and in particular to a composite mechanical clamp for gripping workpieces and pallets. Background Art

[0002] With the continuous development of industrialization, the demand for workpiece processing in processing plants is getting higher and higher. At present, the workpieces that have been processed in the factory are usually placed in pallets, and multiple pallets with workpieces are stacked together. When it is necessary to move and grab the workpiece, the following method is usually adopted in the prior art: first, the workpiece in the current layer of pallet is grabbed using the gripper for grabbing the workpiece, and the gripper is controlled by the robotic arm that controls the gripper to move the workpiece to the specified position; when the workpieces in one layer of pallet are grabbed, the current layer of pallet is grabbed using the gripper for grabbing the pallet, and the gripper is controlled by the robotic arm that controls the gripper to move the pallet to the specified position, and then the gripper for grabbing the workpiece is continued to be used to grab the workpiece until the workpiece is moved.

[0003] In the above-mentioned prior art, when grabbing the workpiece, it is necessary to repeatedly switch the gripper for grabbing the workpiece and the gripper for grabbing the pallet, and two robotic arms are required for unloading. When the number of workpieces and pallets is too large, changing the gripper back and forth will affect the efficiency of loading and unloading the gripper. Summary of the Invention

[0004] To achieve the above-mentioned purpose and other related purposes, the present application discloses a composite mechanical gripper for grasping workpieces and pallets, comprising: a fixing member, a first gripper for grasping the workpiece is installed on the side of the fixing member, a second gripper for grasping the pallet is installed on the bottom of the fixing member, and a flange for fixing to the robotic arm is installed on the upper surface of the fixing member.

[0005] Furthermore, a connecting piece is provided at the connection position between the first clamp and the fixing piece, and the connecting piece includes a horizontal plate and a connecting plate. There are two connecting plates, and the two connecting plates are respectively located on both sides of the horizontal plate. One end of the connecting plate is fixedly connected to the horizontal plate, and the other end of the connecting plate is fixedly connected to the fixing piece. The connecting plate and the side of the fixing piece are arranged at an angle, and each connecting plate is provided with a first clamp.

[0006] Furthermore, a proximity switch for detecting whether a workpiece is grasped is detachably provided on the side surface of the first clamping jaw.

[0007] Furthermore, a mounting piece is fixedly provided on the side surface of the first clamping jaw, and the mounting piece is provided with a mounting hole for placing a proximity switch.

[0008] Furthermore, the fixing member is hollow, a camera is fixedly installed in the fixing member, and the fixing member is provided with a shooting hole for facilitating shooting by the camera.

[0009] Furthermore, a support rod is fixedly provided inside the fixing member, and both ends of the support rod are fixedly connected to the inner side of the fixing member.

[0010] Furthermore, a plurality of second clamping jaws are provided, and the plurality of second clamping jaws are evenly distributed at the bottom of the fixing member.

[0011] By adopting the above technical solution, the first clamping jaw for grabbing the workpiece and the second clamping jaw for grabbing the pallet are both installed on the fixed part. When multiple layers or multiple workpieces need to be picked up and placed, the robot arm controls the fixed part so that the first clamping jaw faces downward. First, the workpieces on each layer of the pallet are picked up and placed using the first clamping jaw. After the workpieces on one layer of the pallet are picked up and placed, the robot arm drives the flange to rotate so that the second clamping jaw faces downward and controls the second clamping jaw to move to grab the pallet. The robot arm drives the fixed part to move. After moving the pallet to the designated position, the second clamping jaw is released and the pallet is placed at the designated location. The robot arm then controls the fixed part to rotate so that the first clamping jaw faces downward again and continues to grab the workpiece. By integrating the first clamping jaw for grabbing the workpiece and the second clamping jaw for grabbing the pallet into one fixed part, there is no need to use multiple robot arms to grab the workpiece and pallet. The grabbing can be switched by simply rotating the fixed part according to the actual situation, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for a better understanding of the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0013] Figure 1 This is a schematic diagram of the overall structure of this application;

[0014] Figure 2 for Figure 1 A partial enlarged schematic diagram of part A.

[0015] Figure numerals: 1, fixing member; 2, first clamping jaw; 3, second clamping jaw; 4, flange; 5, connecting member; 51, horizontal plate; 52, connecting plate; 6, proximity switch; 7, mounting member; 8, camera; 9, support rod. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0017] Reference Figure 1 and Figure 2 An embodiment of the present application provides a composite mechanical gripper for gripping workpieces and pallets, including a fixing member 1, a first gripper 2 for gripping workpieces installed on the side of the fixing member 1, a second gripper 3 for gripping pallets installed on the bottom of the fixing member 1, and a flange 4 for fixing to a robotic arm installed on the upper surface of the fixing member 1.

[0018] As described above, the first clamping jaw 2 for grabbing the workpiece and the second clamping jaw 3 for grabbing the pallet are both installed on the fixed part 1. When multiple layers or multiple workpieces need to be picked up and placed, the robot arm controls the fixed part 1 so that the first clamping jaw 2 faces downward. First, the workpieces on each layer of the pallet are picked up and placed through the first clamping jaw 2. After the workpieces on one layer of the pallet are picked up and placed, the robot arm drives the flange 4 to rotate so that the second clamping jaw 3 faces downward and controls the second clamping jaw 3 to move to grab the pallet. The robot arm drives the fixed part 1 to move. After moving the pallet to the designated position, the second clamping jaw 3 is released and the pallet is placed at the designated location. The robot arm then controls the fixed part 1 to rotate so that the first clamping jaw 2 faces downward again and continues to grab the workpiece. By integrating the first clamping jaw 2 for clamping the workpiece and the second clamping jaw 3 for clamping the pallet into one fixed part 1, there is no need to use multiple robot arms to grab the workpiece and pallet. The fixing part 1 only needs to be rotated to switch according to the actual situation, thereby improving work efficiency.

[0019] The fixing part 1 is composed of six rectangular plates, which are connected by bolts to form a rectangular parallelepiped shape. The fixing part 1 is hollow. There are multiple second clamps 3. In this embodiment, the number of second clamps 3 is preferably four, and the four second clamps 3 are evenly arranged around the center of the bottom surface of the fixing part 1. When it is necessary to grab the pallet, the four second clamps 3 can increase the contact area between the pallet and the second clamps 3, and the evenly arranged second clamps 3 can make the pallet evenly stressed, which is convenient for grabbing the pallet and improves the stability of use. A solenoid valve for controlling the second clamp 3 is fixedly arranged inside the fixing part 1. The connection relationship and control method between the solenoid valve and the second clamp 3 are prior art known to those skilled in the art and will not be repeated here.

[0020] A support rod 9 is fixedly provided inside the fixing part 1. There are two support rods 9. Both ends of the support rod 9 are fixedly connected to the inner side of the fixing part 1. The support rod 9 is used to support the inside of the fixing part 1, thereby increasing the structural stability of the fixing part 1.

[0021] A camera 8 is fixedly mounted within fixture 1, and a hole is provided on the side of fixture 1 for convenient camera 8 recording. Camera 8's recording direction is perpendicular to the extension direction of support rod 9 and faces horizontally outward. When grasping workpieces and pallets, camera 8 takes photos during the grasping process. The photos are used to manually or algorithmically identify the current position and type of grasped item, facilitating movement and rotation of fixture 1 by those skilled in the art. The aforementioned identification and positioning methods are well known to those skilled in the art and will not be further elaborated here.

[0022] A connecting member 5 is provided at the connection position between the first clamping jaw 2 and the fixing member 1. The connecting member 5 includes a transverse plate 51 and a connecting plate 52. There are two connecting plates 52, which are respectively located on both sides of the transverse plate 51. One end of the connecting plate 52 is fixedly connected to the transverse plate 51, and the other end of the connecting plate 52 is fixedly connected to the fixing member 1. The connecting plates 52 are arranged at an angle to the side of the fixing member 1, and each connecting plate 52 is provided with a first clamping jaw 2. Preferably, the two connecting plates 52 in this embodiment are arranged vertically. By arranging the two first clamping jaws 2 to have an angle with each other, when grabbing a workpiece, the first first clamping jaw 2 is first directed downward to grab the workpiece, and then the robotic arm controls the fixing member 1 to rotate so that the other first clamping jaw 2 is directed downward to grab the workpiece. When one of the first clamping jaws 2 grabs the workpiece, the other first clamping jaw 2 is in a horizontal direction and will not interfere with the first clamping jaw 2 that grabs the workpiece, thereby improving ease of use.

[0023] A proximity switch 6 for detecting whether a workpiece is grasped is detachably provided on the side of the first clamping jaw 2 , and a mounting member 7 is fixedly provided on the side of the first clamping jaw 2 . The mounting member 7 has a mounting hole for placing the proximity switch 6 .

[0024] The proximity switch 6 is used to detect whether the clamping of the workpiece is completed. When the clamping is successful, the proximity switch 6 is triggered, which facilitates the technicians in this field to perform the next step.

[0025] The present application provides a composite mechanical gripper for grasping workpieces and pallets. The first gripper 2 for grasping the workpiece and the second gripper 3 for grasping the pallet are both mounted on a fixed part 1. When multiple layers or multiple workpieces need to be picked up and placed, the robotic arm controls the fixed part 1 so that the first gripper 2 faces downward. First, the workpieces on each layer of the pallet are picked up and placed through the first gripper 2. After the workpieces on one layer of the pallet are picked up and placed, the robotic arm drives the flange 4 to rotate so that the second gripper 3 faces downward and controls the second gripper 3 to move to grasp the pallet. The robotic arm drives the fixed part 1 to move. After moving the pallet to a designated position, the second gripper 3 is released and the pallet is placed at a designated location. The robotic arm then controls the fixed part 1 to rotate so that the first gripper 2 faces downward again and continues to grasp the workpiece. By integrating the first gripper 2 for gripping the workpiece and the second gripper 3 for gripping the pallet into one fixed part 1, there is no need to use multiple robotic arms to grasp the workpiece and pallet. The gripper can be switched by simply rotating the fixed part 1 according to the actual situation, thereby improving work efficiency. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A composite mechanical gripper for gripping workpieces and pallets, characterized in that: include: A fixing member (1) is provided, wherein a first clamping claw (2) for grabbing a workpiece is installed on the side of the fixing member (1), a second clamping claw (3) for grabbing a pallet is installed on the bottom of the fixing member (1), and a flange (4) for fixing to a robotic arm is installed on the upper surface of the fixing member (1).

2. A composite mechanical gripper for gripping workpieces and pallets according to claim 1, characterized in that: A connecting piece (5) is provided at the connection position between the first clamping jaw (2) and the fixing piece (1), the connecting piece (5) comprising a transverse plate (51) and a connecting plate (52), two connecting plates (52) are provided, the two connecting plates (52) are respectively located on both sides of the transverse plate (51), one end of the connecting plate (52) is fixedly connected to the transverse plate (51), and the other end of the connecting plate (52) is fixedly connected to the fixing piece (1), the connecting plate (52) and the fixing piece (1) are arranged at an angle, and each connecting plate (52) is provided with a first clamping jaw (2).

3. A composite mechanical gripper for gripping workpieces and pallets according to claim 2, characterized in that: A proximity switch (6) for detecting whether a workpiece is grasped is detachably provided on the side surface of the first clamping jaw (2).

4. A composite mechanical gripper for gripping workpieces and pallets according to claim 3, characterized in that: A mounting piece (7) is fixedly provided on the side of the first clamping jaw (2), and the mounting piece (7) is provided with a mounting hole for placing a proximity switch (6).

5. The composite mechanical gripper for gripping workpieces and pallets according to claim 1, characterized in that: The fixing member (1) is hollow, a camera (8) is fixedly arranged in the fixing member (1), and a shooting hole is opened in the fixing member (1) for the camera (8) to take pictures conveniently.

6. The composite mechanical gripper for gripping workpieces and pallets according to claim 5, characterized in that: A support rod (9) is fixedly provided inside the fixing member (1), and both ends of the support rod (9) are fixedly connected to the inner side of the fixing member (1).

7. The composite mechanical gripper for gripping workpieces and pallets according to claim 1, characterized in that: A plurality of the second clamping jaws (3) are provided, and the plurality of second clamping jaws (3) are evenly distributed at the bottom of the fixing member (1).

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