Material clamping robot and material conveying mechanism applying same

Abstract

The utility model relates to the technical field of automation equipment, in particular to a material clamping robot and a material conveying mechanism using the same. The material clamping robot comprises a material clamping mechanism and a first driving device, the first driving device is used for driving the material clamping mechanism to do multi-degree-of-freedom space motion, a clamping space capable of containing materials is formed in the material clamping mechanism, and the material clamping mechanism has a first working state and a second working state corresponding to material clamping and material loosening; when the material clamping mechanism is in the first working state, the clamping space is gradually reduced until the material clamping mechanism can clamp materials; and when the material clamping mechanism is in the second working state, the clamping space is gradually increased, so that the material clamping mechanism loosens the material. The material clamping robot can be applied to a material conveying mechanism, the material clamping robot is adopted to assist the material clamping mechanism to complete such actions as carrying, overturning, feeding and discharging of products, the products can be prevented from being damaged or polluted in the conveying process, and the production efficiency and the product yield can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a material clamping robot and a material conveying mechanism using the same. Background Art

[0002] In the existing vacuum coating field, the quality requirements for coated products are getting higher and higher, and no invalid coating areas are allowed on the edges of the products. Therefore, traditional manual handling of turnover products has become difficult to meet product needs, especially for some large-sized or heavy products, which require the help of robot-assisted clamping mechanisms.

[0003] In addition, in the vacuum coating process of some special products, there is a product flipping process, that is, after one side of the product is coated, it needs to be flipped over and then coated on the other side. If this flipping process is done manually, it is easy to cause pollution or damage to the product. For example, the surface of the product is prone to sticky impurities such as oil or dust, or the surface of the product is easily scratched during manual handling and flipping of the product, affecting the coating quality and reducing the product's pass rate; and manual operation is time-consuming and labor-intensive, and manual handling and flipping of large and heavy products is prone to safety hazards. For the entire production line, it will reduce production efficiency and affect the continuity of the production line.

[0004] The present invention is proposed in view of the deficiencies in the prior art. Utility Model Content

[0005] In response to the problem that manual handling and flipping of products in the above-mentioned vacuum coating production line may cause damage or contamination to the product surface, affect the coating quality, reduce the product qualification rate, and reduce production efficiency, the utility model proposes a material clamping robot and a material conveying mechanism using the same.

[0006] The technical solution adopted by the utility model to solve its technical problems is:

[0007] A material clamping robot comprises a material clamping mechanism for clamping materials and a first drive device connected to the material clamping mechanism, wherein the first drive device is used to drive the material clamping mechanism to perform multi-degree-of-freedom spatial movement, the material clamping mechanism is provided with a clamping space capable of accommodating materials, and the material clamping mechanism has a first working state and a second working state corresponding to clamping and releasing materials, respectively; when the material clamping mechanism is in the first working state, the clamping space gradually shrinks until the material clamping mechanism can clamp the material; when the material clamping mechanism is in the second working state, the clamping space gradually increases, so that the material clamping mechanism releases the material.

[0008] As described above, a material clamping robot, the material clamping mechanism includes a main mounting bracket connected to the first driving device, a first clamp assembly and a second clamp assembly relatively arranged on both sides of the main mounting bracket, the first clamp assembly and the second clamp assembly are arranged on a side of the main mounting bracket away from the first driving device, the first clamp assembly and the second clamp assembly can move toward or away from each other along a first moving direction in the main mounting bracket, so that the material clamping mechanism switches the first working state and the second working state; the clamping space exists between the first clamp assembly and the second clamp assembly.

[0009] As described above, a material clamping robot, the first clamping assembly includes a first clamping jaw and a first moving device connected to the first clamping jaw, the first moving device is used to drive the first clamping jaw to move toward or away from the clamping space along the first moving direction; the second clamping assembly includes a second clamping jaw and a second moving device connected to the second clamping jaw, the second moving device is used to drive the second clamping jaw to move toward or away from the clamping space along the first moving direction; the first clamping jaw and the second clamping jaw are both provided with a first clamping groove facing the clamping space, and the clamping space is formed between the first clamping groove in the first clamping jaw and the first clamping groove in the second clamping jaw.

[0010] As described above, a material clamping robot, the material clamping mechanism also includes a first auxiliary clamping assembly provided on one side of the first clamping jaw and a second auxiliary clamping assembly provided on one side of the second clamping jaw, and the first auxiliary clamping assembly and the second auxiliary clamping assembly are arranged opposite to each other; the first auxiliary clamping assembly includes a first auxiliary clamping jaw provided on one side of the first clamping jaw, and the first auxiliary clamping jaw and the first clamping jaw are both connected to the first moving device through a first connecting bracket, and the first auxiliary clamping jaw and the first clamping jaw are driven to move simultaneously along the first moving direction toward or away from the clamping space through the first moving device; the second auxiliary clamping assembly includes a second auxiliary clamping jaw provided on one side of the second clamping jaw, and the second auxiliary clamping jaw and the second clamping jaw are both connected to the second moving device through a second connecting bracket, and the second auxiliary clamping jaw and the first clamping jaw are driven to move simultaneously along the first moving direction toward or away from the clamping space through the second moving device.

[0011] The material clamping robot as claimed in any one of the preceding claims, wherein the first auxiliary clamping jaw and the second auxiliary clamping jaw are connected to the first connecting support and the second connecting support respectively through a rotating device, and the first auxiliary clamping jaw and the second auxiliary clamping jaw each comprise first and second clamping portions arranged oppositely, one end of each of the first and second clamping portions being a connecting end and the other end being a movable end, the connecting end of each of the first and second clamping portions being rotatably connected to the rotating device, and the rotating device being configured to drive the movable end of each of the first and second clamping portions to rotate towards or away from the connecting end, so as to clamp or release the material.

[0012] The material clamping robot as claimed in any one of the preceding claims, wherein a first adjusting device is arranged between the first auxiliary clamping jaw and the first connecting support, and the first adjusting device is configured to drive the first auxiliary clamping jaw to move further along the first movement direction towards or away from the clamping space; and a second adjusting device is arranged between the second auxiliary clamping jaw and the second connecting support, and the second adjusting device is configured to drive the second auxiliary clamping jaw to move further along the first movement direction towards or away from the clamping space.

[0013] The material clamping robot as claimed in any one of the preceding claims, wherein the material clamping mechanism further comprises third and fourth clamping assemblies arranged oppositely on two sides of the main mounting support, the third and fourth clamping assemblies being arranged between the first and second clamping assemblies, the third and fourth clamping assemblies being capable of moving towards or away from each other along a second movement direction in the main mounting support, the second movement direction being perpendicular to the first movement direction, and the first, second, third and fourth clamping assemblies defining the clamping space therebetween.

[0014] The material clamping robot as claimed in any one of the preceding claims, wherein the third clamping assembly comprises a third clamping jaw and a third movement device connected to the third clamping jaw, the third movement device being configured to drive the third clamping jaw to move along the second movement direction towards or away from the clamping space; and the fourth clamping assembly comprises a fourth clamping jaw and a fourth movement device connected to the fourth clamping jaw, the fourth movement device being configured to drive the fourth clamping jaw to move along the second movement direction towards or away from the clamping space; and each of the third and fourth clamping jaws is provided with a second clamping groove facing the clamping space, the clamping space being defined between the second clamping groove of the third clamping jaw and the second clamping groove of the fourth clamping jaw.

[0015] As described above, in a clamping robot, the third clamping jaw is connected to the third moving device via a third connecting bracket, and a third adjusting device is provided between the third clamping jaw and the third connecting bracket, and the third adjusting device is used to drive the third clamping jaw to move further toward or away from the clamping space along the second moving direction; the fourth clamping jaw is connected to the fourth moving device via a fourth connecting bracket, and a fourth adjusting device is provided between the fourth clamping jaw and the fourth connecting bracket, and the fourth adjusting device is used to drive the fourth clamping jaw to move further toward or away from the clamping space along the second moving direction.

[0016] The present utility model also provides a material conveying mechanism, including the material clamping robot as described above, and a walking mechanism connected to the material clamping robot, the walking mechanism including a slide rail and a second drive device slidably connected to the slide rail, the material clamping robot also includes a base, the base is arranged at one end of the first drive device away from the material clamping mechanism, the material clamping robot is connected to the second drive device through the base, and the material clamping robot is driven to move along the slide rail by the second drive device.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. The clamping robot drives the clamping mechanism to perform multi-degree-of-freedom spatial motion relative to the material through the first driving device, so as to adjust the position, orientation and posture of the clamping mechanism according to the placement of the material, so that the clamping mechanism can achieve precise clamping of the material, thereby improving the material conveying efficiency and thus improving the production efficiency;

[0019] 2. Using a clamping robot to assist the clamping mechanism to complete product handling, flipping, loading and unloading, etc., can prevent the product from being damaged or contaminated during transportation, which is beneficial to improving production efficiency and product yield. Moreover, one clamping robot can meet the needs of multiple production lines, which can save labor costs and thus reduce production costs.

[0020] The present invention will be further described below with reference to the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a three-dimensional diagram of the material clamping robot of the present utility model;

[0022] Figure 2 A three-dimensional diagram of the clamping mechanism of the clamping robot of the present invention;

[0023] Figure 3 for Figure 2 Local magnification in Figure 1 ;

[0024] Figure 4 forFigure 2 Local magnification in Figure 2 ;

[0025] Figure 5 This is a reference diagram of the clamping mechanism in the clamping robot of the present invention in use;

[0026] Figure 6 It is a three-dimensional diagram of the material conveying mechanism of the present utility model. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.

[0028] Example 1:

[0029] like Figure 1 —5, the utility model provides a material-gripping robot 100, which can be used in automated production lines and automated auxiliary production lines for transporting materials; the material-gripping robot 100 includes a first driving device 120 and a material-gripping mechanism 130, one end of the first driving device 120 is connected to the material-gripping mechanism 130, the material-gripping mechanism 130 is used to clamp materials, and the first driving device 120 is used to drive the material-gripping mechanism 130 to perform multi-degree-of-freedom spatial movement, and the multi-degree-of-freedom spatial movement includes movement and rotation. The material-gripping robot 100 drives the material-gripping mechanism 130 to move and rotate relative to the material through the first driving device 120, so as to adjust the position, orientation and posture of the material-gripping mechanism 130 according to the placement state of the material, so that the material-gripping mechanism 130 can achieve precise material clamping, so as to improve the material transportation efficiency, thereby improving the production efficiency.

[0030] In this embodiment, if Figure 5 As shown, the clamping mechanism 130 is provided with a clamping space 1300 capable of accommodating materials. The clamping mechanism 130 has a first working state and a second working state corresponding to clamping the material and releasing the material, respectively. When the clamping mechanism 130 is in the first working state, the clamping space 1300 gradually shrinks until the clamping mechanism 130 can clamp and fix the material; when the clamping mechanism 130 is in the second working state, the clamping space 1300 gradually increases, so that the clamping mechanism 130 releases the material.

[0031] Specifically, such as Figure 3As shown, the clamping mechanism 130 includes a main mounting bracket 131 connected to the first drive device 120, a first clamp assembly 132 and a second clamp assembly 133 relatively arranged on both sides of the main mounting bracket 131, the first clamp assembly 132 and the second clamp assembly 133 are arranged on a side of the main mounting bracket 131 away from the first drive device 120, the first clamp assembly 132 and the second clamp assembly 133 can move toward or away from each other along the first moving direction in the main mounting bracket 131, so that the clamping mechanism 130 switches the first working state and the second working state; there is the clamping space 1300 between the first clamp assembly 132 and the second clamp assembly 133. In this embodiment, the first clamp assembly 132 and the second clamp assembly 133 are relatively arranged on the upper and lower sides of the main mounting bracket 131 along the first moving direction, that is, the first moving direction is the vertical direction of the main mounting bracket 131, that is, Figure 2 In the Z-axis direction. In actual application, when the first clamp assembly 132 and the second clamp assembly 133 move toward each other in the main mounting bracket 131 along the first moving direction, that is, the first clamp assembly 132 and the second clamp assembly 133 respectively move along the first moving direction toward the clamping space 1300, so that the clamping space 1300 gradually shrinks to a size matching the material, so that the first clamp assembly 132 and the second clamp assembly 133 can clamp the material, and at this time the clamping mechanism 130 is in the first working state; when the first clamp assembly 132 and the second clamp assembly 133 move away from each other in the main mounting bracket 131 along the first moving direction, that is, the first clamp assembly 132 and the second clamp assembly 133 respectively move along the first moving direction away from the clamping space 1300, so that the clamping space 1300 gradually increases, so that the first clamp assembly 132 and the second clamp assembly 133 release the material, and at this time the clamping mechanism 130 is in the second working state.

[0032] By moving the first clamp assembly 132 and the second clamp assembly 133 toward or away from each other along the first moving direction, the two are moved toward or away from the clamping space 1300, so that the clamping mechanism 130 can achieve the first working state and the second working state corresponding to clamping the material and releasing the material, with a high degree of automation, and the movement rules of the first clamp assembly 132 and the second clamp assembly 133 are simple and easy to implement.

[0033] Further, the first clamp assembly 132 comprises a first clamping jaw 1321 and a first moving device 1322 connected with the first clamping jaw 1321, the first clamping jaw 1321 is slidingly connected in the main mounting bracket 131 through the first moving device 1322, and the first moving device 1322 is used to drive the first clamping jaw 1321 to move along the first moving direction towards or away from the clamping space 1300; the second clamp assembly 133 comprises a second clamping jaw 1331 and a second moving device 1332 connected with the second clamping jaw 1331, the second clamping jaw 1331 is slidingly connected in the main mounting bracket 131 through the second moving device 1332, and the second moving device 1332 is used to drive the second clamping jaw 1331 to move along the first moving direction towards or away from the clamping space 1300; the first clamping jaw 1321 and the second clamping jaw 1331 are driven to move along the first moving direction towards or away from the clamping space 1300 by the first moving device 1322 and the second moving device 1332 respectively, so that the first clamping jaw 1321 and the second clamping jaw 1331 move towards or away from each other along the first moving direction, so as to realize the clamping or loosening of the material by the material clamping mechanism 130; optionally, the first moving device 1322 and the second moving device 1332 can adopt a driving device that can realize linear movement, such as a cylinder driving device, a slide rail driving device, etc.

[0034] Further, the first clamping jaw 1321 and the second clamping jaw 1331 are provided with a first clamping groove 1320 facing the clamping space 1300, and the first clamping groove 1320 in the first clamping jaw 1321 and the first clamping groove 1320 in the second clamping jaw 1331 form the clamping space 1300; the first clamping groove 1320 in the first clamping jaw 1321 and the first clamping groove 1320 in the second clamping jaw 1331 are respectively matched with the upper and lower outer contours of the material, so that the material can be directly clamped between the first clamping jaw 1321 and the second clamping jaw 1331 through the first clamping grooves 1320 on the upper and lower sides, so that the material can be fixed in the clamping space 1300.

[0035] Preferably, the first clamp assembly 132 and the second clamp assembly 133 can adopt the same structure, so as to reduce the manufacturing cost of the material clamping mechanism 130, and when assembling, the first clamping groove 1320 in the first clamping jaw 1321 and the first clamping groove 1320 in the second clamping jaw 1331 can be installed towards each other.

[0036] In some other embodiments, the first clamp assembly 132 is provided with two sets, and the first clamp assembly 132 is arranged along the upper side edges of the main mounting bracket 131. The second clamp assembly 133 is also provided with two sets, and the two second clamp assemblies 133 and the two first clamp assemblies 132 are arranged one by one in correspondence, so as to further improve the clamping stability of the material clamping mechanism 130 on the material.

[0037] Specifically, as shown in Figure 4 The material clamping mechanism 130 further comprises a third clamp assembly 137 and a fourth clamp assembly 138 arranged oppositely on both sides of the main mounting bracket 131. The third clamp assembly 137 and the fourth clamp assembly 138 are arranged between the first clamp assembly 132 and the second clamp assembly 133. The third clamp assembly 137 and the fourth clamp assembly 138 can move towards or away from each other in the main mounting bracket 131 along a second moving direction. The second moving direction is perpendicular to the first moving direction. The first clamp assembly 132, the second clamp assembly 133, the third clamp assembly 137, and the fourth clamp assembly 138 form the clamping space 1300. In this embodiment, the third clamp assembly 137 and the fourth clamp assembly 138 are arranged oppositely on the left and right sides of the main mounting bracket 131 along the second moving direction, that is, the second moving direction is the horizontal direction of the main mounting bracket 131, that is, the X-axis direction in Figure 2 In actual application, when the third clamp assembly 137 and the fourth clamp assembly 138 move towards each other in the main mounting bracket 131 along the second moving direction, that is, the third clamp assembly 137 and the fourth clamp assembly 138 respectively move towards the clamping space 1300 along the second moving direction, the clamping space 1300 gradually decreases to the size matching the material, so that the third clamp assembly 137 and the fourth clamp assembly 138 can clamp the material. At this time, the material clamping mechanism 130 is in the first working state. When the third clamp assembly 137 and the fourth clamp assembly 138 move away from each other in the main mounting bracket 131 along the second moving direction, that is, the third clamp assembly 137 and the fourth clamp assembly 138 respectively move away from the clamping space 1300 along the second moving direction, the clamping space 1300 gradually increases, so that the third clamp assembly 137 and the fourth clamp assembly 138 loosen the material. At this time, the material clamping mechanism 130 is in the second working state.

[0038] The third clamp assembly 137 and the fourth clamp assembly 138 are moved towards or away from each other along the second moving direction, so that the two are moved towards or away from the clamping space 1300, thereby the clamping mechanism 130 can realize the first working state and the second working state corresponding to clamping and releasing the material, and the degree of automation is high, and the movement rule of the third clamp assembly 137 and the fourth clamp assembly 138 is simple and easy to realize. In addition, by arranging the corresponding clamp assemblies on the four sides of the main mounting bracket 131, the clamping stability of the clamping mechanism 130 to the material is improved, the normal conveying of the material by the clamping robot 100 is ensured, and the transportation safety of the material is further protected.

[0039] Further, the third clamp assembly 137 comprises a third clamp jaw 1371 and a third moving device 1372 connected with the third clamp jaw 1371, the third clamp jaw 1371 is slidably connected in the main mounting bracket 131 through the third moving device 1372, and the third moving device 1372 is used to drive the third clamp jaw 1371 to move towards or away from the clamping space 1300 along the second moving direction; the fourth clamp assembly 138 comprises a fourth clamp jaw 1381 and a fourth moving device 1382 connected with the fourth clamp jaw 1381, the fourth clamp jaw 1381 is slidably connected in the main mounting bracket 131 through the fourth moving device 1382, and the fourth moving device 1382 is used to drive the fourth clamp jaw 1381 to move towards or away from the clamping space 1300 along the second moving direction; the third clamp jaw 1371 and the fourth clamp jaw 1381 are driven by the third moving device 1372 and the fourth moving device 1382 respectively to move towards or away from the clamping space 1300 along the second moving direction, so that the third clamp jaw 1371 and the fourth clamp jaw 1381 are moved towards or away from each other along the second moving direction, so as to realize the clamping or releasing of the material by the clamping mechanism 130; optionally, the third moving device 1372 and the fourth moving device 1382 can be a driving device capable of realizing linear movement, such as a cylinder driving device, a slide rail driving device, etc.

[0040] Furthermore, the third clamping jaw 1371 and the fourth clamping jaw 1381 are both provided with a second clamping groove 1370 facing the clamping space 1300, and the clamping space 1300 is formed between the second clamping groove 1370 in the third clamping jaw 1371 and the second clamping groove 1370 in the fourth clamping jaw 1381; the second clamping groove 1370 in the third clamping jaw 1371 and the second clamping groove 1370 in the fourth clamping jaw 1381 are respectively adapted to the left and right outer contours of the material, so that the material can directly pass through the second clamping grooves 1370 on the left and right sides and be directly clamped between the third clamping jaw 1371 and the fourth clamping jaw 1381, so that the material can be fixed in the clamping space 1300. That is, in this embodiment, the clamping space 1300 is formed among the first clamping groove 1320 in the first clamping jaw 1321 , the first clamping groove 1320 in the second clamping jaw 1331 , the second clamping groove 1370 in the third clamping jaw 1371 , and the second clamping groove 1370 in the fourth clamping jaw 1381 .

[0041] Preferably, the third clamp assembly 137 and the fourth clamp assembly 138 can adopt the same structure to help reduce the manufacturing cost of the clamping mechanism 130. During assembly, the second clamping groove 1370 in the third clamping jaw 1371 and the second clamping groove 1370 in the fourth clamping jaw 1381 can be installed relative to each other.

[0042] In this embodiment, the third clamping jaw 1371 is connected to the third moving device 1372 via a third connecting bracket 1373. The third moving device 1372 drives the third connecting bracket 1373 to move toward or away from the clamping space 1300 along the second moving direction, thereby driving the third clamping jaw 1371 to move synchronously. Furthermore, a third adjusting device 1374 is provided between the third clamping jaw 1371 and the third connecting bracket 1373. The third adjusting device 1374 is used to drive the third clamping jaw 1371 to move further toward or away from the clamping space 1300 along the second moving direction. The third clamping jaw 1371 is slidably connected to the third connecting bracket 1373 via the third adjusting device 1374. Optionally, the third adjusting device 1374 can be a drive device capable of achieving linear movement, such as a cylinder drive device, a slide rail drive device, etc. In actual application, the third clamping jaw 1371 has a first moving stroke and a second moving stroke. The first moving stroke is that the third clamping jaw 1371 moves synchronously with the third connecting bracket 1373 along the second moving direction through the third moving device 1372, and the second moving stroke is that the third clamping jaw 1371 moves relative to the third connecting bracket 1373 along the second moving direction through the third adjusting device 1374.

[0043] Correspondingly, in the embodiment, the fourth clamping jaw 1381 is connected with the fourth moving device 1382 through the fourth connecting bracket 1383, the fourth connecting bracket 1383 is driven to move along the second moving direction to approach or move away from the clamping space 1300 by the fourth moving device 1382, and the fourth clamping jaw 1381 is driven to move synchronously. Further, the fourth clamping jaw 1381 and the fourth connecting bracket 1383 are further provided with the fourth adjusting device 1384, the fourth adjusting device 1384 is used for driving the fourth clamping jaw 1381 to further move along the second moving direction to approach or move away from the clamping space 1300; the fourth clamping jaw 1381 is slidably connected to the fourth connecting bracket 1383 through the fourth adjusting device 1384, and optionally, the fourth adjusting device 1384 adopts a driving device that can realize linear movement, for example, a cylinder driving device, a slide rail driving device, etc. In actual application, the fourth clamping jaw 1381 has a third moving stroke and a fourth moving stroke, the third moving stroke is that the fourth clamping jaw 1381 moves along the second moving direction synchronously with the fourth connecting bracket 1383 through the fourth moving device 1382, and the fourth moving stroke is that the fourth clamping jaw 1381 moves along the second moving direction relative to the fourth connecting bracket 1383 through the fourth adjusting device 1384.

[0044] The third clamping jaw 1371 and the fourth clamping jaw 1381 are further driven to move along the second moving direction to approach or move away from the clamping space 1300 by the third adjusting device 1374 and the fourth adjusting device 1384, which is beneficial to further adjust the positional relationship between the third clamping jaw 1371, the fourth clamping jaw 1381 and the material, make the third clamping jaw 1371 and the fourth clamping jaw 1381 realize more accurate clamping, and thus improve the clamping efficiency of the clamping mechanism 130.

[0045] In another embodiment, the third clamp assembly 137 comprises two third clamping jaws 1371, the third connecting bracket 1373 is arranged as a U-shaped bracket, the opening of the U-shaped bracket is outwardly mounted, and the two third clamping jaws 1371 are respectively mounted at the two ends of the U-shaped bracket, the third moving device 1372 comprises a cylinder driving device and a sliding rail driving device, one side of the main mounting bracket 131 is provided with two extension brackets arranged at intervals, and the two extension brackets are used for mounting the sliding rail driving device, the cylinder driving device is mounted on the main mounting bracket 131, the third connecting bracket 1373 is driven to move along the second moving direction to approach or move away from the clamping space 1300 by the cylinder driving device, so as to drive the third clamping jaw 1371 to move synchronously with the third connecting bracket 1373, and the third connecting bracket 1373 is assisted to move by the sliding rail driving device. The third moving device 1372 is composed of the cylinder driving device and the sliding rail driving device, which is beneficial to improve the clamping stability of the third clamp assembly 137 on the material. In addition, in this embodiment, the fourth clamp assembly 138 has the same structure as the third clamp assembly 137, which will not be repeated here.

[0046] In an embodiment, as Figure 3As shown, the material clamping mechanism 130 further comprises a first auxiliary clamp assembly 134 arranged at one side of the first clamping jaw 1321 and a second auxiliary clamp assembly 135 arranged at one side of the second clamping jaw 1331, and the first auxiliary clamp assembly 134 and the second auxiliary clamp assembly 135 are arranged oppositely; the first auxiliary clamp assembly 134 comprises a first auxiliary clamping jaw 1341 arranged at one side of the first clamping jaw 1321, and the first auxiliary clamping jaw 1341 and the first clamping jaw 1321 are connected with the first moving device 1322 through a first connecting support 1343 and are simultaneously moved towards or away from the clamping space 1300 along the first moving direction by the first moving device 1322; the second auxiliary clamp assembly 135 comprises a second auxiliary clamping jaw 1351 arranged at one side of the second clamping jaw 1331, and the second auxiliary clamping jaw 1351 and the second clamping jaw 1331 are connected with the second moving device 1332 through a second connecting support 1353 and are simultaneously moved towards or away from the clamping space 1300 along the first moving direction by the second moving device 1332; in this way, the first auxiliary clamping jaw 1341 and the second auxiliary clamping jaw 1351 clamp or release the material, and when the material clamping mechanism 130 is in the first working state, the first auxiliary clamping jaw 1341 and the second auxiliary clamping jaw 1351 clamp the material, and when the material clamping mechanism 130 is in the second working state, the first auxiliary clamping jaw 1341 and the second auxiliary clamping jaw 1351 release the material. Optionally, the first connecting support 1343 and the second connecting support 1353 can adopt a T-shaped support. By additionally arranging the first auxiliary clamping jaw 1341 and the second auxiliary clamping jaw 1351, the clamping stability of the material clamping mechanism 130 to the material is improved; secondly, the first auxiliary clamping jaw 1341 and the first clamping jaw 1321 are synchronously moved by the first moving device 1322, and the second auxiliary clamping jaw 1351 and the second clamping jaw 1331 are synchronously moved by the second moving device 1332, so as to simplify the structure of the material clamping mechanism 130 and reduce the manufacturing cost of the material clamping mechanism 130.

[0047] Further, the first auxiliary clamping jaw 1341 and the second auxiliary clamping jaw 1351 are connected with the first connecting support 1343 and the second connecting support 1353 respectively through a rotating device 136, the first auxiliary clamping jaw 1341 and the second auxiliary clamping jaw 1351 both comprise oppositely arranged first clamping portions 13411 and second clamping portions 13412, one end of the first clamping portions 13411 and the second clamping portions 13412 is a connecting end, and the other end is a movable end, the connecting end of the first clamping portions 13411 and the second clamping portions 13412 is rotationally connected with the rotating device 136, and the rotating device 136 is used for driving the movable end of the first clamping portions 13411 and the second clamping portions 13412 to rotate around the connecting end towards or away from each other, so as to clamp or release the material. Since the first auxiliary clamping assembly 134 and the second auxiliary clamping assembly 135 are of the same structure, the following will be introduced by taking the first auxiliary clamping assembly 134 as an example. Specifically, in the first auxiliary clamping jaw 1341, the first clamping portions 13411 and the second clamping portions 13412 correspond to the front and back sides of the material, the connecting end of the first clamping portions 13411 and the connecting end of the second clamping portions 13412 are connected with the rotating device 136 respectively, the first clamping portions 13411 and the second clamping portions 13412 are driven to rotate around the respective connecting end through the rotating device 136, so that the movable end of the first clamping portions 13411 and the movable end of the second clamping portions 13412 rotate towards or away from each other, so as to realize the action of clamping or releasing the material by the first auxiliary clamping jaw 1341, and the material clamping mechanism 130 switches the first working state and the second working state; as shown in Figure 3 the first clamping portions 13411 and the second clamping portions 13412, and when the first clamping portions 13411 and the second clamping portions 13412 rotate towards each other, a third clamping groove capable of clamping the material is formed between the first clamping portions 13411 and the second clamping portions 13412.

[0048] Furthermore, a first adjustment device 1342 is provided between the first auxiliary clamping jaw 1341 and the first connecting bracket 1343. The first auxiliary clamping jaw 1341 is slidably connected to the first connecting bracket 1343 via the first adjustment device 1342, and the first adjustment device 1342 is used to drive the first auxiliary clamping jaw 1341 to further move along the first moving direction toward or away from the clamping space 1300. A second adjustment device 1352 is provided between the second auxiliary clamping jaw 1351 and the second connecting bracket 1353. The second auxiliary clamping jaw 1351 is slidably connected to the second connecting bracket 1353 via the second adjustment device 1352, and the second adjustment device 1352 is used to drive the second auxiliary clamping jaw 1351 to further move along the first moving direction toward or away from the clamping space 1300. Optionally, the first adjustment device 1342 and the second adjustment device 1352 can be a drive device capable of achieving linear movement, such as a cylinder drive device, a slide rail drive device, etc. In actual application, the first auxiliary clamping jaw 1341 has a fifth and sixth travel ranges. The fifth travel range is achieved by synchronous movement of the first auxiliary clamping jaw 1341 with the first clamping jaw 1321 via the first moving device 1322, and the sixth travel range is achieved by movement of the first auxiliary clamping jaw 1341 relative to the first connecting bracket 1343 along the first travel direction via the first adjusting device 1342. The second auxiliary clamping jaw 1351 has a seventh and eighth travel ranges. The seventh travel range is achieved by synchronous movement of the second auxiliary clamping jaw 1351 with the second clamping jaw 1331 via the second moving device 1332, and the eighth travel range is achieved by movement of the second auxiliary clamping jaw 1351 relative to the second connecting bracket 1353 along the first travel direction via the second adjusting device 1352. The first and second adjusting devices 1342 and 1352 further adjust the positional relationship of the first and second auxiliary clamping jaws 1341 and 1351 relative to the material, enabling the first and second auxiliary clamping jaws 1341 and 1351 to more accurately grip the material, thereby improving material transportation efficiency.

[0049] It should be noted that in some embodiments of the first auxiliary clamp assembly 134, the first adjustment device 1342 and the rotation device 136 can be combined together, that is, the rotation device 136 is connected to the first adjustment device 1342, and the connecting ends of the first clamping portion 13411 and the second clamping portion 13412 of the first auxiliary clamping jaw 1341 are connected to the rotation device 136. In actual application, the first adjustment device 1342 can be used to drive the first auxiliary clamping jaw 1341 to move toward or away from the clamping space 1300 along the first movement direction. At the same time, the first clamping portion 13411 and the second clamping portion 13412 of the first auxiliary clamping jaw 1341 can be rotated toward or away from each other via the rotation device 136, thereby enabling the first auxiliary clamping jaw 1341 to clamp or release the material. The structure of the second auxiliary clamp assembly 135 is the same as that of the first auxiliary clamp assembly 134.

[0050] In another embodiment, the first auxiliary clamp assembly 134 is provided on both the left and right sides of the first clamp 1321, and the first connecting bracket 1343 is configured as a T-shaped bracket to install the two first auxiliary clamp assemblies 134 and the first clamp 1321; the second auxiliary clamp assembly 135 is provided on both the left and right sides of the second clamp 1331, and the second connecting bracket 1353 is configured as a T-shaped bracket to install the two second auxiliary clamp assemblies 135 and the second clamp 1331.

[0051] On the other hand, in this embodiment, the first driving device 120 of the clamping robot 100 is used to drive the clamping mechanism 130 to perform multi-degree-of-freedom spatial movement. In actual application, the orientation, position and posture of the clamping mechanism 130 can be adjusted according to the placement of the material at the loading station, the production line and the unloading station, so that the clamping space 1300 of the clamping mechanism 130 is aligned with the material and the material is clamped, thereby improving the flexibility of the clamping robot 100 to adapt to more diverse usage environments. Optionally, the first driving device 120 can be formed by multiple robotic arms, each of which is rotatably connected, or each of which is rotatably connected and slidingly connected, so that the clamping mechanism 130 can be rotated and moved in space.

[0052] It should be noted that, in this embodiment, Figure 1 The XYZ reference coordinate system in is established with the base 110 as the starting point, and Figure 2 — Figure 5 The reference coordinate system in Figure 1 The XYZ reference coordinate system is consistent with that in .

[0053] Example 2:

[0054] likeFigure 1 The utility model provides a material conveying mechanism, including the material clamping robot 100 as the embodiment one, with the material clamping robot 100 connection's walking mechanism 200, the walking mechanism 200 includes slide rail 210, with the slide rail 210 sliding connection's second drive arrangement 220, the material clamping robot 100 still includes base 110, the base 110 is located in the first drive arrangement 120 in the end away from the material clamping mechanism 130, and the both ends of first drive arrangement 120 are respectively rotatablely connected with base 110, material clamping mechanism 130, the material clamping robot 100 is connected with second drive arrangement 220 through base 110, and the material clamping robot 100 is moved along slide rail 210 through second drive arrangement 220. In practical application, can set up the feeding station, production line and the unloading station respectively on the both sides of slide rail 210 according to actual production needs, and the feeding station, production line and the unloading station accommodate the material under different production progress respectively, and the material clamping robot 100 can move back and forth between the feeding station, production line and the unloading station through the walking mechanism 200, and the material clamping mechanism 130 is driven to carry out the spatial motion of multiple degrees of freedom through the first drive arrangement 120, and the orientation, position and attitude of material clamping mechanism 130 are adjusted according to the material placement state at different stations, so that the material clamping mechanism 130 can accurately perform the action of clamping and loosening material, so that the material clamping robot 100 realizes the conveying of material, improves the degree of automation of material conveying mechanism, thereby improving the material conveying efficiency.

[0055] Optionally, the material conveying mechanism can be applied in a vacuum coating production line for conveying coated products, especially when the vacuum coating production line is a double-line production line and the coated products need to be coated on both sides, the two vacuum coating production lines are arranged opposite to each other on one side of the slide rail 210, and the corresponding feeding stations and discharging stations are arranged at intervals on the other side of the slide rail 210, the material inlet ends of the two vacuum coating production lines are close to the slide rail 210, and the moving direction of the clamping robot 100 on the slide rail 210 is perpendicular to the two vacuum coating production lines, the first side of the product is coated by the first vacuum coating production line, and the second side of the product is coated by the second vacuum coating production line, the material conveying mechanism is arranged between the two vacuum coating production lines, and the coated product is conveyed and turned over by the material conveying mechanism; specifically, when the material conveying mechanism is running, the clamping robot 100 is driven by the second driving device 220 to translate along the slide rail 210 relative to the two vacuum coating production lines, the first driving device 120 drives the clamping mechanism 130 to move in multiple degrees of freedom according to the position state of the product to be conveyed in the two vacuum coating production lines, so that the clamping mechanism 130 is positioned and clamped to the product to be conveyed, so as to realize the conveying of the clamping robot 100 to the coated product; in addition, a transfer rack is arranged between the two vacuum coating production lines, which is used to assist the clamping robot 100 to turn over the coated product. In actual application, after the clamping robot 100 completes the clamping of the product coated on the first side in the first vacuum coating production line, the product is placed in the transfer rack first, then the clamping mechanism 130 is driven by the first driving device 120 to turn over by 180°, so that the clamping mechanism 130 can be clamped to the back of the product and then the product is conveyed to the second vacuum coating production line for coating on the second side. The clamping robot and the transfer rack cooperate to complete the turning over of the coated product, so as to realize the coating of different sides of the product. The clamping mechanism 130 is driven by the first driving device 120 to move in multiple degrees of freedom in space to realize the turning over, and the transfer rack assists the turning over of the product, which simplifies the turning over process of the existing coated product and improves the turning over efficiency of the product, thereby improving the production efficiency of the vacuum coated product. In addition, the clamping robot 100 can also be used for conveying coated products in the feeding process and the finished product discharging process.

[0056] The clamping robot 100 assists the clamping mechanism 130 to complete the carrying, turning over, feeding and discharging of the product, which can avoid damage or pollution of the product during conveying, is conducive to improving the production efficiency and product yield, and one clamping robot 100 can meet the needs of multiple production lines, thereby saving labor costs and reducing production costs.

[0057] The above examples are merely used to further illustrate the technical content of the present invention for easier understanding by the reader. However, they do not limit the implementation of the present invention to these examples. Any technical extension or reinvention based on the present invention is protected by the present invention. The scope of protection of the present invention shall be determined by the claims.

Claims

1. A material gripping robot, characterized in that: The invention comprises a clamping mechanism (130) for clamping a material, and a first driving device (120) connected to the clamping mechanism (130), wherein the first driving device (120) is used to drive the clamping mechanism (130) to perform multi-degree-of-freedom spatial movement, wherein a clamping space (1300) capable of accommodating a material is provided in the clamping mechanism (130), and wherein the clamping mechanism (130) has a first working state and a second working state corresponding to clamping a material and releasing the material, respectively; When the clamping mechanism (130) is in a first working state, the clamping space (1300) gradually shrinks until the clamping mechanism (130) can clamp the material; when the clamping mechanism (130) is in a second working state, the clamping space (1300) gradually increases, allowing the clamping mechanism (130) to release the material.

2. A material gripping robot according to claim 1, characterized in that: The clamping mechanism (130) comprises a main mounting bracket (131) connected to the first driving device (120), a first clamp assembly (132) and a second clamp assembly (133) arranged on both sides of the main mounting bracket (131), wherein the first clamp assembly (132) and the second clamp assembly (133) are arranged on a side of the main mounting bracket (131) away from the first driving device (120), and the first clamp assembly (132) and the second clamp assembly (133) can move toward or away from each other along a first moving direction in the main mounting bracket (131) so that the clamping mechanism (130) switches between the first working state and the second working state; and the clamping space (1300) exists between the first clamp assembly (132) and the second clamp assembly (133).

3. A material gripping robot as claimed in claim 2, characterized in that: The first clamp assembly (132) comprises a first clamping jaw (1321) and a first moving device (1322) connected to the first clamping jaw (1321), wherein the first moving device (1322) is used to drive the first clamping jaw (1321) to move toward or away from the clamping space (1300) along the first moving direction; The second clamp assembly (133) comprises a second clamping jaw (1331) and a second moving device (1332) connected to the second clamping jaw (1331), wherein the second moving device (1332) is used to drive the second clamping jaw (1331) to move toward or away from the clamping space (1300) along the first moving direction; The first clamping jaw (1321) and the second clamping jaw (1331) are both provided with a first clamping groove (1320) facing the clamping space (1300), and the clamping space (1300) is formed between the first clamping groove (1320) in the first clamping jaw (1321) and the first clamping groove (1320) in the second clamping jaw (1331).

4. A material gripping robot as claimed in claim 3, characterized in that: The clamping mechanism (130) further comprises a first auxiliary clamp assembly (134) provided on one side of the first clamping jaw (1321), and a second auxiliary clamp assembly (135) provided on one side of the second clamping jaw (1331), wherein the first auxiliary clamp assembly (134) and the second auxiliary clamp assembly (135) are arranged opposite to each other; The first auxiliary clamp assembly (134) comprises a first auxiliary clamp (1341) provided on one side of the first clamp (1321), the first auxiliary clamp (1341) and the first clamp (1321) being connected to the first moving device (1322) via a first connecting bracket (1343), and the first auxiliary clamp (1341) and the first clamp (1321) being driven by the first moving device (1322) to move simultaneously along the first moving direction toward or away from the clamping space (1300); The second auxiliary clamp assembly (135) includes a second auxiliary clamp (1351) provided on one side of the second clamp (1331), and the second auxiliary clamp (1351) and the second clamp (1331) are both connected to the second moving device (1332) through a second connecting bracket (1353), and the second auxiliary clamp (1351) and the second clamp (1331) are driven by the second moving device (1332) to move simultaneously along the first moving direction toward or away from the clamping space (1300).

5. A material gripping robot as claimed in claim 4, characterized in that: The first auxiliary clamping jaw (1341) and the second auxiliary clamping jaw (1351) are respectively connected to the first connecting bracket (1343) and the second connecting bracket (1353) through a rotating device (136). The first auxiliary clamping jaw (1341) and the second auxiliary clamping jaw (1351) each include a first clamping portion (13411) and a second clamping portion (13412) arranged opposite to each other. One end of the first clamping portion (13411) and the second clamping portion (13412) is a connecting end and the other end is a movable end. The connecting end of the first clamping portion (13411) and the second clamping portion (13412) is rotatably connected to the rotating device (136). The rotating device (136) is used to drive the movable ends of the first clamping portion (13411) and the second clamping portion (13412) to rotate toward or away from each other around the connecting end to clamp or loosen the material.

6. A material gripping robot according to claim 4, characterized in that: A first adjusting device (1342) is provided between the first auxiliary clamping jaw (1341) and the first connecting bracket (1343), and the first adjusting device (1342) is used to drive the first auxiliary clamping jaw (1341) to move further along the first moving direction toward or away from the clamping space (1300); A second adjusting device (1352) is provided between the second auxiliary clamping jaw (1351) and the second connecting bracket (1353), and the second adjusting device (1352) is used to drive the second auxiliary clamping jaw (1351) to move further along the first moving direction toward or away from the clamping space (1300).

7. A material gripping robot as claimed in claim 2, characterized in that: The clamping mechanism (130) further comprises a third clamp assembly (137) and a fourth clamp assembly (138) which are arranged on both sides of the main mounting bracket (131) relative to each other. The third clamp assembly (137) and the fourth clamp assembly (138) are arranged between the first clamp assembly (132) and the second clamp assembly (133). The third clamp assembly (137) and the fourth clamp assembly (138) can move toward or away from each other along a second moving direction in the main mounting bracket (131). The second moving direction is perpendicular to the first moving direction. The clamping space (1300) exists between the first clamp assembly (132), the second clamp assembly (133), the third clamp assembly (137) and the fourth clamp assembly (138).

8. A material gripping robot according to claim 7, characterized in that: The third clamp assembly (137) comprises a third clamping jaw (1371) and a third moving device (1372) connected to the third clamping jaw (1371), wherein the third moving device (1372) is used to drive the third clamping jaw (1371) to move toward or away from the clamping space (1300) along the second moving direction; The fourth clamp assembly (138) comprises a fourth clamping jaw (1381) and a fourth moving device (1382) connected to the fourth clamping jaw (1381), wherein the fourth moving device (1382) is used to drive the fourth clamping jaw (1381) to move toward or away from the clamping space (1300) along the second moving direction; The third clamping jaw (1371) and the fourth clamping jaw (1381) are both provided with a second clamping groove (1370) facing the clamping space (1300), and the clamping space (1300) is formed between the second clamping groove (1370) in the third clamping jaw (1371) and the second clamping groove (1370) in the fourth clamping jaw (1381).

9. A material gripping robot according to claim 8, characterized in that: The third clamping jaw (1371) is connected to the third moving device (1372) via a third connecting bracket (1373); a third adjusting device (1374) is further provided between the third clamping jaw (1371) and the third connecting bracket (1373); the third adjusting device (1374) is used to drive the third clamping jaw (1371) to move further toward or away from the clamping space (1300) along the second moving direction; The fourth clamping jaw (1381) is connected to the fourth moving device (1382) via a fourth connecting bracket (1383), and a fourth adjusting device (1384) is further provided between the fourth clamping jaw (1381) and the fourth connecting bracket (1383). The fourth adjusting device (1384) is used to drive the fourth clamping jaw (1381) to move further toward or away from the clamping space (1300) along the second moving direction.

10. A material conveying mechanism, characterized in that: The material-gripping robot (100) comprises a material-gripping robot (100) as claimed in any one of claims 1 to 9, and a walking mechanism (200) connected to the material-gripping robot (100), wherein the walking mechanism (200) comprises a slide rail (210) and a second driving device (220) slidably connected to the slide rail (210), and the material-gripping robot (100) further comprises a base (110), wherein the base (110) is arranged at one end of the first driving device (120) away from the material-gripping mechanism (130), and the material-gripping robot (100) is connected to the second driving device (220) via the base (110), and the material-gripping robot (100) is driven to move along the slide rail (210) via the second driving device (220).

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