Paw, conveying device and machining system
By designing a gripper with a floating structure and locking components, the problem of time-consuming gripper debugging and installation is solved, enabling rapid precision adjustment and efficient robotic operation, suitable for target parts and processing machines of various sizes.
Patent Information
- Application Number
- CN202520240840.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-14
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-02-14
AI Technical Summary
In existing technologies, the debugging and installation of the gripper takes a long time, which affects the precision adjustment efficiency of the robotic arm.
A gripper was designed, comprising a support, a floating plate, a floating structure, an adsorption component, and a locking component. The floating structure allows the floating plate to move in a plane perpendicular to a first direction, and the locking component enables rapid positioning and fixation, simplifying the precision adjustment process of the gripper.
It enables rapid and precise adjustment of the gripper, improves the operating efficiency and accuracy of the robot, reduces debugging and installation time, and enhances its applicability to target parts and processing machines of different sizes.
Smart Images
Figure CN223877015U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of industrial robots, in particular to a gripper, a conveying device and a processing system. BACKGROUND
[0002] In order to transport materials, a gripper is provided in the related art for cooperating with a mechanical arm. In use, the gripper is moved to different positions by the mechanical arm to perform material feeding and discharging processes.
[0003] However, in order to improve the precision of the mechanical hand, the gripper needs to be debugged and installed, which takes a long time. CONTENT OF THE UTILITY MODEL
[0004] The present application provides a gripper, a conveying device and a processing system to solve the problem of how to quickly adjust the precision of the gripper.
[0005] According to one aspect of the present application, a gripper is provided, comprising a support, a floating plate, a floating structure, an adsorption assembly and a locking assembly. The floating plate is arranged in a spaced manner along a first direction with the support. The floating structure is floatingly connected between the support and the floating plate, so that the floating plate can move relative to the support in a plane perpendicular to the first direction. The adsorption assembly is connected to the floating plate and can move together with the floating plate, and the adsorption assembly is used to adsorb and fix a target piece. The locking assembly is installed on the support, and the locking assembly has an unlocked position allowing the floating plate to move relative to the support, and a locked position fixing the floating plate relative to the support.
[0006] The above-mentioned gripper, by arranging the floating structure, allows the floating plate to move in the plane perpendicular to the first direction in the unlocked position, so as to facilitate the adjustment of the position of the floating plate for positioning the floating plate. After the floating plate is positioned, the locking assembly is switched to the locked position to fix the floating plate relative to the support. Since the floating plate is conveniently unlocked and locked relative to the support, and the floating plate can move in the plane to adjust the position when unlocked, the floating plate is convenient to adjust, so it is beneficial to quickly adjust the precision of the gripper.
[0007] In one embodiment, the floating structure comprises a first spiral spring. The first spiral spring is located between the support and the floating plate, one end of the first spiral spring is connected to the support, and the other end of the first spiral spring is connected to the floating plate.
[0008] In one embodiment, the floating structure further comprises a second spiral spring. The second spiral spring is sleeved outside the first spiral spring and connected between the support and the floating plate, and the elastic coefficient of the second spiral spring is greater than that of the first spiral spring.
[0009] In one embodiment, the floating structure has a plurality of floating structures, and the plurality of floating structures are arranged in a spaced manner along the outer side of the floating plate.
[0010] In one of the embodiments, the floating plate is provided with a through hole. The locking assembly includes an abutting member, a connecting rod and an extension member. The abutting member is located on the side of the floating plate away from the support in the first direction. The connecting rod is arranged in the through hole and connected between the support and the abutting member. One end of the extension member is connected to the support, and the other end of the extension member is retractable in the first direction to press the floating plate between the extension member and the abutting member to limit the floating plate in the locked position, or to retract from the floating plate to allow the floating plate to switch from the locked position to the unlocked position.
[0011] According to another aspect of the present application, a conveying device is provided, which includes a conveying mechanism, a correcting structure, a mechanical arm and a gripper as described in any one of the above embodiments. The correcting structure is arranged on the conveying mechanism. One end of the mechanical arm is connected to the conveying mechanism. The support is connected to the other end of the mechanical arm away from the conveying mechanism. The mechanical arm can drive the gripper to move relative to the conveying mechanism and can make the outer side of the floating plate abut against the correcting structure.
[0012] In one of the embodiments, the correcting structure includes a first correcting plate and a second correcting plate. The outer side of the floating plate has a first side and a second side adjacent to each other, the first side is located on one side of the floating plate in the second direction, and the second side is located on one side of the floating plate in the third direction; wherein the first direction, the second direction and the third direction are perpendicular to each other. The first side and the second side can abut against the first correcting plate and the second correcting plate respectively.
[0013] In one of the embodiments, the conveying mechanism is provided with a raw material placement area, a semi-finished product placement area and a finished product placement area respectively.
[0014] In one of the embodiments, the conveying mechanism includes a track and a vehicle body, the vehicle body is movably arranged on the track; the mechanical arm and the correcting structure are arranged on the vehicle body. The track includes a track body and a slide wire, the slide wire is arranged spaced apart from the track body.
[0015] According to another aspect of the present application, a processing system is provided, which includes a conveying device as described in any one of the above embodiments, a plurality of processing platforms and a plurality of positioning jigs, the plurality of positioning jigs are arranged one-to-one on the plurality of processing platforms. The mechanical arm can drive the gripper to move relative to the processing platform and can make the outer side of the floating plate abut against the positioning jig. BRIEF DESCRIPTION OF DRAWINGS
[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.
[0017] Figure 1A top view of the processing system in an embodiment of the present application.
[0018] Figure 2 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the processing machine, the material placing position and the positioning jig in the embodiment shown.
[0019] Figure 3 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the conveying device in the embodiment shown (the target piece is additionally shown in the figure).
[0020] Figure 4 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the part structure of the gripper and the mechanical arm in the embodiment shown.
[0021] Figure 5 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the floating plate and the correction structure in the embodiment shown.
[0022] Figure 6 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the track in the embodiment shown.
[0023] Figure 7 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the gripper in the embodiment shown.
[0024] Figure 8 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the part structure of the gripper in the embodiment shown.
[0025] Figure 9 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the gripper in the embodiment shown from another perspective.
[0026] Figure 10 A top view of the processing system in an embodiment of the present application. Figure 1 A schematic view of the gripper in the embodiment shown from yet another perspective.
[0027] Explanation of main element symbols:
[0028] Processing system 1
[0029] Conveying device 100
[0030] Conveying mechanism 10
[0031] Track 11
[0032] Track body 111
[0033] Slide wire 112
[0034] Vehicle body 12
[0035] Raw material placing area 121
[0036] Semi-finished product placement area 122
[0037] Finished product placement area 123
[0038] Mechanical arm electric control cabinet 124
[0039] Control panel 125
[0040] Vehicle body electric control cabinet 126
[0041] Mechanical arm 20
[0042] Hand claw 30
[0043] Support 31
[0044] Floating plate 32
[0045] Via hole 32a
[0046] First side surface 321
[0047] Second side surface 322
[0048] Floating structure 33
[0049] First coil spring 331
[0050] Second coil spring 332
[0051] Suction assembly 34
[0052] Suction disc 341
[0053] Locking assembly 35
[0054] Abutting piece 351
[0055] Telescopic piece 352
[0056] Cylinder body 3531
[0057] Piston rod 3532
[0058] Correction structure 40
[0059] First correction plate 41
[0060] Second correction plate 42
[0061] Machining machine table 200
[0062] Discharging position 201
[0063] Positioning jig 300
[0064] First positioning plate 301
[0065] Second positioning plate 302
[0066] Material receiving table 400
[0067] feeding table 500
[0068] target piece 2
[0069] first direction Z
[0070] second direction X
[0071] third direction Y
[0072] The following detailed description will further describe the present application with reference to the above-mentioned drawings. DETAILED DESCRIPTION
[0073] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.
[0074] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. When an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.
[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
[0076] Some embodiments of the present application are described in detail. The following embodiments and features of the embodiments can be combined with each other in the case of no conflict.
[0077] Embodiments
[0078] Figure 1 is a top view of a processing system 1 in an embodiment of the present application; Figure 2 is Figure 1 is a schematic view of a processing machine 200, a feeding position 201 and a positioning jig 300 in the embodiment shown; Figure 3 is Figure 1 is a structural schematic view of a conveying device 100 in the embodiment shown (the target piece 2 is additionally shown in the figure); Figure 4 is Figure 1Partial structural diagram of the gripper 30 and the mechanical arm 20 in the embodiment.
[0079] Referring to Figure 1 and Figure 2 , the embodiment provides a processing system 1, which comprises a conveying device 100, a plurality of processing benches 200, and a plurality of positioning jigs 300. In combination with Figure 3 and Figure 4 , the conveying device 100 comprises a conveying mechanism 10, a mechanical arm 20, and a gripper 30, one end of the mechanical arm 20 is connected to the conveying mechanism 10, and the gripper 30 comprises a support 31 and a floating plate 32, the support 31 is connected to the end of the mechanical arm 20 away from the conveying mechanism 10.
[0080] The plurality of positioning jigs 300 are provided one by one in the plurality of processing benches 200. The mechanical arm 20 can drive the gripper 30 to move relative to the processing benches 200, and can make the outer side of the floating plate 32 abut against the positioning jigs 300. It should be noted that, Figure 1 only used for showing the relative positions of the conveying device 100 and the plurality of processing benches 200, Figure 2 only used for showing the relative positions of the processing benches 200, the material placing positions 201, and the positioning jigs 300, and does not represent the real structures of the conveying device 100, the processing benches 200, and the positioning jigs 300. The processing bench 200 in the embodiment is, for example, a CNC (Computer Numerical Control) processing bench.
[0081] In use, the conveying device 100 is used to convey a plurality of target pieces 2 (such as materials or packaging materials) to different processing stations 200 respectively, so as to place the target pieces 2 in the processing stations 200 for processing. Specifically, when the conveying device 100 feeds the corresponding processing station 200, the conveying mechanism 10 first moves to the position of the corresponding processing station 200, and the mechanical arm 20 drives the gripper 30 to take the material from the conveying device 100. Then, the mechanical arm 20 drives the gripper 30 to move to the position of the positioning jig 300 of the processing station 200, and makes the outer side of the floating plate 32 of the gripper 30 abut against the positioning jig 300, so as to position the floating plate 32 relative to the material placing position 201 of the processing station 200. After positioning, the floating plate 32 is fixed relative to the support 31, and then the mechanical arm 20 drives the gripper 30 to move from the position of the positioning jig 300 to the material placing position 201 of the processing station 200, and the gripper 30 places the material at the material placing position 201. In this way, the gripper 30 is first positioned at the positioning jig 300 before placing the material at the material placing position 201 each time, and since the relative positions of the positioning jig 300 and the material placing position 201 on each processing station 200 are unchanged, the relative position of the material at the positioning jig 300 and the material placing position 201 is unchanged when the positioning jig 300 is positioned, so as to eliminate errors, thereby improving the position accuracy of the material at the material placing position 201 after the mechanical arm 20 moves the material from the positioning jig 300 to the material placing position 201, and further improving the processing accuracy of the material.
[0082] Optionally, as shown in Figure 2 , the positioning jig 300 includes a first positioning plate 301 and a second positioning plate 302, and the first positioning plate 301 and the second positioning plate 302 are arranged at an angle. The adjacent two side edges of the floating plate 32 (see Figure 4 ) can abut against the first positioning plate 301 and the second positioning plate 302 respectively, so as to position the floating plate 32. For example, the positioning jig 300 has an L-shaped structure.
[0083] Referring to Figure 3 , the conveying device 100 in the embodiment includes a conveying mechanism 10, a mechanical arm 20, a gripper 30, and a correction structure 40. The correction structure 40 is arranged on the conveying mechanism 10, the mechanical arm 20 can drive the gripper 30 to move relative to the conveying mechanism 10, and the outer side of the floating plate 32 (see Figure 4 ) can abut against the correction structure 40.
[0084] The above conveying device 100, by setting the correction structure 40, makes the mechanical arm 20 before taking materials on the conveying mechanism 10, can first on the correction structure 40 make the floating plate 32 relative to the correction structure 40 positioning, then the floating plate 32 relative to the support 31 fixed. And because the correction structure 40 and the relative position of the material taking place on the conveying mechanism 10 is unchanged, the relative position of the gripper 30 positioned by the correction structure 40 and the material taking place is unchanged, thereby eliminating the error. Then, the mechanical arm 20 drives the gripper 30 to move from the position of the correction structure 40 to the material taking place on the conveying mechanism 10, improves the position accuracy when taking materials.
[0085] Figure 5 For Figure 1 The schematic view of the floating plate 32 and the correction structure 40 in the embodiment shown.
[0086] In some embodiments, as shown in Figure 5 The correction structure 40 includes a first correction plate 41 and a second correction plate 42. The outer side of the floating plate 32 has adjacent first and second side surfaces 321 and 322, the first side surface 321 is located on one side of the floating plate 32 along the second direction X, and the second side surface 322 is located on one side of the floating plate 32 along the third direction Y. Wherein, the first direction Z, the second direction X and the third direction Y are perpendicular to each other. The first and second side surfaces 321 and 322 can be respectively positioned with the first and second correction plates 41 and 42. In this way, by positioning the first side surface 321 with the first correction plate 41 and positioning the second side surface 322 with the second correction plate 42, the floating plate 32 is positioned when the first and second correction plates 41 and 42 are in contact with the floating plate 32. Optionally, the correction structure 40 is L-shaped. When the first and second correction plates 41 and 42 are in contact with the floating plate 32, the first side surface 321 is in surface contact with the first correction plate 41, and the second side surface 322 is in surface contact with the second correction plate 42, thereby facilitating the positioning accuracy of the floating plate 32.
[0087] In some embodiments, as shown in Figure 3 The conveying mechanism 10 is respectively provided with a raw material placement area 121, a semi-finished product placement area 122 and a finished product placement area 123. The raw material placement area 121 is used to store unprocessed materials, and the finished product placement area 123 is used to store processed materials. The semi-finished product placement area 122 is used to store materials during processing, so as to facilitate the same material to be processed on different processing machines 200 (see Figure 1) processing, for example, a plurality of processing stations 200 are divided into multiple groups, and the materials need to be processed by different groups of processing stations 200, then during processing, according to the processing procedure of the materials, the materials are placed from the raw material placement area 121 into the first group of processing stations 200 for processing, after the materials are processed, the materials are taken out, placed in the semi-finished product placement area 122, and then the materials are taken out from the semi-finished product placement area 122 and placed in the next group of processing stations 200, until all processing procedures are completed, and the materials are taken out from the last group of processing stations 200 and placed in the finished product placement area 123.
[0088] In some embodiments, as shown in Figure 1 , the processing system 1 further includes a material receiving table 400 and a material feeding table 500. Before starting processing, the materials are placed on the material feeding table 500 (for example, the materials can be manually fed into the material feeding table 500), and the materials on the material feeding table 500 are placed on the raw material placement area 121 by the gripper 30 (see Figure 3 ), then the conveying device 100 places a plurality of materials on a plurality of processing stations 200 respectively, and takes out the materials respectively, after the materials are processed, the gripper 30 places the materials on the finished product placement area 123. When a certain number (for example, 8 to 10) of materials are placed in the finished product placement area 123, the conveying device 100 can be moved to the position of the material receiving table 400, and the materials in the finished product placement area 123 are placed on the material receiving table 400.
[0089] Figure 6 For Figure 1 , a structural diagram of the track 11 in the embodiment is shown.
[0090] In some embodiments, as shown in Figure 3 , the conveying mechanism 10 includes a track 11 and a vehicle body 12, the vehicle body 12 is movably arranged on the track 11, and the mechanical arm 20 and the correction structure 40 are arranged on the vehicle body 12 respectively. As shown in Figure 6 , the track 11 includes a track body 111 and a slide wire 112, and the slide wire 112 is arranged apart from the track body 111. In this way, the vehicle body 12 is powered by the slide wire 112, the track body 111 has a simple structure and is easy to disassemble and assemble, and can be quickly laid or removed according to production needs. The conveying mechanism 10 in the embodiment is, for example, an RGV (Rail Guided Vehicle).
[0091] Optionally, the slide wire 112 is used to provide 36V alternating current, and the vehicle body 12 is provided with a voltage booster for boosting the 36V to 220V for use, for example, for supplying power to the mechanical arm 20, the power supply of the vehicle body 12 and other electrical signals. The track 11 adopts a modular design, and has a simple and clear layout. Compared with the traditional tank chain connection mode, the track 11 has better aesthetics, stronger safety and higher stability, and is more convenient to disassemble and assemble.
[0092] In some embodiments, as shown in Figure 1 The plurality of processing stations 200 are arranged on both sides of the track 11 and spaced apart from each other along the extension direction of the track 11. The feeding station 500 is arranged near one end of the track 11, and the collecting station 400 is arranged near the other end of the track 11.
[0093] In some embodiments, as shown in Figure 3 The vehicle body 12 is also provided with a mechanical arm electric control cabinet 124, a control panel 125, and a vehicle body electric control cabinet 126. The mechanical arm control system is arranged in the mechanical arm electric control cabinet 124, and the booster and the vehicle body driving system are arranged in the vehicle body electric control cabinet 126. In use, the vehicle body driving system is controlled by the upper computer to move the vehicle body 12 to different positions, for example, as shown in Figure 1 The vehicle body 12 is moved to the positions of the feeding station 500, the processing station 200, and the collecting station 400, respectively.
[0094] In some embodiments, the vehicle body 12 is also provided with a packaging material placement area. During the running process, the mechanical arm 20 can take the packaging material from the packaging material placement area and place it in the finished product placement area 123 to meet the needs of the finished product for packaging materials.
[0095] The conveying device 100 provided in the embodiment is highly adaptable and has complete functions, and can be applied to most mobile scenes. In use, the conveying device 100 is dispatched by the upper computer to take materials from the feeding station 500. The processing station 200 sends a signal (processing is completed) to the PLC (Programmable Logic Controller) in advance, the upper computer collects the PLC signal, controls the target position of the vehicle body 12 and the mechanical arm 20 through logical judgment, and the mechanical arm 20 can perform corresponding auxiliary actions (such as taking and placing packaging materials) while the vehicle body 12 is moving. The conveying device 100 completes the first material taking and placing action in the first group of processing stations 200, and the materials taken out by the processing station 200 are placed on the vehicle body 12. After this action is completed, the conveying device 100 sends the materials to the next work station, and after the conveying device 100 reaches the next target position, the second material taking and placing is performed in the second group of corresponding processing stations 200. After the processing is completed, the vehicle body 12 moves to the position to take the materials, takes out the packaging materials in the vehicle body 12, and places 8 materials. Then, the vehicle body 12 runs to the collecting station 400 to convey the materials to the assembly line for output.
[0096] Figure 7 The structure of the gripper 30 in the embodiment shown in Figure 1 The structure of the gripper 30 in the embodiment shown in
[0097] Referring to Figure 7The hand claw 30 provided in the embodiment includes a support 31, a floating plate 32, a floating structure 33, a suction assembly 34, and a locking assembly 35. The floating plate 32 is spaced apart from the support 31 along a first direction Z. The floating structure 33 is floatingly connected between the support 31 and the floating plate 32, so that the floating plate 32 can move relative to the support 31 in a plane perpendicular to the first direction Z. The suction assembly 34 is connected to the floating plate 32 and can move together with the floating plate 32. The suction assembly 34 is used to suck and fix the target piece 2 (see Figure 3 ). The locking assembly 35 is installed on the support 31. The locking assembly 35 has an unlocked position allowing the floating plate 32 to move relative to the support 31, and a locked position fixing the floating plate 32 relative to the support 31.
[0098] The hand claw 30 described above, by providing the floating structure 33, allows the floating plate 32 to move relative to the support 31 in the plane perpendicular to the first direction Z in the unlocked position, so as to facilitate the adjustment of the position of the floating plate 32 for positioning the floating plate 32. After the floating plate 32 is positioned, the locking assembly 35 is switched to the locked position to fix the floating plate 32 relative to the support 31. Since the floating plate 32 is conveniently unlocked and locked relative to the support 31, and can move in the plane to adjust the position when unlocked, the floating plate 32 is conveniently adjusted, so as to facilitate the rapid adjustment of the precision of the hand claw 30. Moreover, the target piece 2 is sucked by the suction assembly 34, so as to improve the applicability of the hand claw 30 to target pieces 2 of different sizes and different processing machines 200.
[0099] It should be noted that a processing system is provided in the related art. The processing system corrects the position of the target piece in real time by taking a picture of the target piece by a CCD camera when the target piece is placed on the processing machine. However, the service life of the CCD camera is short and the anti-interference ability is low when the CCD camera is applied to the processing machine. The hand claw 30 described above adjusts the floating plate 32 dynamically by the floating structure 33, and does not need to take a picture for positioning by the CCD camera, so as to save cost and improve efficiency, and is not affected by the size of the target piece 2 and the use environment.
[0100] Figure 8 For Figure 1 A schematic diagram of part of the structure of the hand claw 30 in the embodiment shown.
[0101] In some embodiments, as Figure 8As shown, the floating structure 33 comprises a first coil spring 331. The first coil spring 331 is located between the bracket 31 and the floating plate 32, one end of the first coil spring 331 is connected to the bracket 31, and the other end of the first coil spring 331 is connected to the floating plate 32. In this way, by arranging the first coil spring 331, the floating plate 32 is allowed to float relative to the bracket 31 in the first direction Z and move relative to the bracket 31 in a plane perpendicular to the first direction Z in the unlocked position, thereby improving the degree of freedom of the floating plate 32 and facilitating the adjustment and positioning of the floating plate 32.
[0102] In some embodiments, as shown in Figure 8 As shown, the floating structure 33 further comprises a second coil spring 332, which is sleeved outside the first coil spring 331 and connected between the bracket 31 and the floating plate 32, and the elastic coefficient of the second coil spring 332 is greater than that of the first coil spring 331. In this way, by arranging the second coil spring 332, the shaking of the floating plate 32 is reduced when the floating plate 32 switches from the locked position to the unlocked position, thereby improving the position stability of the floating plate 32.
[0103] In some embodiments, as shown in Figure 7 As shown, the floating structure 33 has a plurality of floating structures 33, which are arranged at intervals along the outer side of the floating plate 32 to improve the position stability of the floating plate 32 in the unlocked position. In this embodiment, the floating structure 33 has four floating structures 33.
[0104] Figure 9 For Figure 1 The structural schematic diagram of the gripper 30 in the embodiment shown in another view; Figure 10 For Figure 1 The structural schematic diagram of the gripper 30 in the embodiment shown in another view.
[0105] In some embodiments, as shown in Figure 9 As shown, the floating plate 32 is provided with a through hole 32a. The locking assembly 35 comprises an abutting piece 351, a connecting rod (not shown in the figure) and a telescopic piece 352 (such as a pneumatic cylinder). In combination with Figure 10 As shown, the abutting piece 351 is located on the side of the floating plate 32 away from the bracket 31 in the first direction Z, the connecting rod is arranged through the through hole 32a and connected between the bracket 31 and the abutting piece 351. One end of the telescopic piece 352 is connected to the bracket 31, and the other end of the telescopic piece 352 can be telescoped in the first direction Z to press the floating plate 32 between the telescopic piece 352 and the abutting piece 351, thereby limiting the floating plate 32 in the locked position, or to move away from the floating plate 32 to allow the floating plate 32 to switch from the locked position to the unlocked position. In this way, the floating plate 32 is switched between the locked position and the unlocked position by the telescoping of the telescopic piece 352, and the structure is simple. Optionally, the abutting piece 351 is configured in a disc shape.
[0106] In some embodiments, as shown in Figure 9 Fig. 3, the telescopic member 352 comprises a cylinder 3531 and a piston rod 3532 movably penetrating the cylinder 3531 in the first direction Z, and the cylinder 3531 is connected to the bracket 31. In the locked position, the piston rod 3532 extends from one end of the cylinder 3531 and abuts against one side of the floating plate 32 away from the abutting member 351, so as to tightly abut the floating plate 32 between the piston rod 3532 and the abutting member 351, thereby fixing the floating plate 32 relative to the bracket 31.
[0107] In some embodiments, as shown in Figure 9 Fig. 4, the suction assembly 34 comprises a plurality of suction cups 341 arranged at intervals with each other in a plane perpendicular to the first direction Z, so as to be adsorbed to different positions of the target member 2 (see Fig. 1), thereby improving the adsorption stability of the target member 2. The target member 2 in the present embodiment can be in a sheet shape. Figure 3
[0108] In use, after the gripper 30 sucks the target member 2 through the suction cups 341, the robot arm 20 drives the gripper 30 to abut against the positioning jig 300 for positioning, at which time the gripper 30 is in the unlocked position. After the position of the floating plate 32 is adjusted, the piston rod 3532 is lowered to abut against the floating plate 32, so as to fix the floating plate 32. In this way, even when the position of the vehicle body 12 deviates after moving to the processing platform 200, the gripper 30 can be flexibly adjusted due to its elasticity, so that the relative position between the material sucked by the gripper 30 and the material placing position 201 of the processing platform 200 remains unchanged. Therefore, the position of the material grasped by the gripper 30 and the material placing position 201 is constant, thereby ensuring normal material placing on the processing platform 200.
[0109] The above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Even though the present application has been described in detail with reference to the foregoing preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalent replaced without departing from the spirit and scope of the present application.
Claims
1. A handgrip, characterized in that include: support; A floating plate is spaced apart from the support along a first direction; A floating structure is floatingly connected between the support and the floating plate, so that the floating plate can move relative to the support in a plane perpendicular to the first direction; An adsorption component is connected to the floating plate and can move with the floating plate. The adsorption component is used to adsorb and fix the target part. as well as, A locking assembly is mounted on the bracket, the locking assembly having an unlocked position that allows the floating plate to move relative to the bracket, and a locked position that fixes the floating plate relative to the bracket.
2. The gripper of claim 1, wherein: The floating structure includes a first helical spring; The first helical spring is located between the bracket and the floating plate, with one end of the first helical spring connected to the bracket and the other end of the first helical spring connected to the floating plate.
3. The gripper of claim 2, wherein: The floating structure also includes a second helical spring; The second helical spring is sleeved outside the first helical spring and connected between the bracket and the floating plate. The elastic coefficient of the second helical spring is greater than that of the first helical spring.
4. The gripper of claim 1, wherein: There are multiple floating structures, which are spaced apart from each other along the outer side of the floating plate.
5. The gripper of claim 1, wherein: The floating plate is provided with through holes; The locking assembly includes an abutment, a connecting rod, and a telescopic component; The abutment is located on the side of the floating plate away from the support along the first direction; The connecting rod passes through the through hole and connects the bracket and the abutment. One end of the telescopic member is connected to the bracket, and the other end of the telescopic member can extend and retract along the first direction to press the floating plate between the telescopic member and the abutment member, thereby limiting the floating plate to the locked position or moving it away from the floating plate, so as to allow the floating plate to switch from the locked position to the unlocked position.
6. A delivery device characterized by, include: Conveying mechanism; A correction structure is provided in the conveying mechanism; A robotic arm, one end of which is connected to the conveying mechanism; as well as, The gripper as described in any one of claims 1 to 5, wherein the support is connected to the end of the robotic arm away from the conveying mechanism; The robotic arm can move the gripper relative to the conveying mechanism and make the outer side of the floating plate abut against the correction structure.
7. The delivery device of claim 6, wherein: The correction structure includes a first correction plate and a second correction plate; The outer side of the floating plate has an adjacent first side and a second side, the first side being located on one side of the floating plate along a second direction, and the second side being located on one side of the floating plate along a third direction; wherein the first direction, the second direction, and the third direction are perpendicular to each other; The first side and the second side can respectively abut against the first correction plate and the second correction plate.
8. The delivery device of claim 6, wherein: The conveying mechanism is equipped with a raw material placement area, a semi-finished product placement area, and a finished product placement area.
9. The delivery device of claim 6, wherein: The conveying mechanism includes a track and a vehicle body, the vehicle body being movably mounted on the track; the robotic arm and the correction structure are respectively mounted on the vehicle body; The track includes a track body and a sliding contact line, with the sliding contact line and the track body spaced apart from each other.
10. A processing system characterized by, include: The conveying device according to any one of claims 6-9; A plurality of processing stations; And, A plurality of positioning jigs, each corresponding to one of the processing stations; The mechanical arm is capable of moving the gripper relative to the processing station and enabling the outer side of the floating plate to abut against the positioning jig.