Clamping and sucking mechanism and manipulator

Abstract

According to the clamping and sucking mechanism and the mechanical arm, the clamping and sucking mechanism ingeniously integrates the clamping function and the sucking function, stable clamping of a workpiece is achieved through the clamping module, meanwhile, the first sucking module and the sucking execution module are arranged, and the workpiece can be operated in a sucking mode when needed; the multifunctional integrated design is achieved, the overall structure is simplified, the occupied space of equipment is saved, and the equipment cost is reduced. The clamping module and the first suction module can realize stable cooperative work under the coordination of the linear driving module. When the workpiece is clamped, if suction operation is needed, the linear driving module can accurately control the descending position and speed of the first suction module, so that the first suction module and the clamping module act together, the workpiece is kept stable in the whole operation process, and the workpiece processing precision and quality are effectively improved; and the machining error and the defective rate caused by shaking or displacement of the workpiece are reduced.

Description

Technical Field

[0001] This utility model relates to the field of clamping and suction mechanism technology, and in particular to a clamping and suction mechanism and a robotic arm. Background Technology

[0002] In current automated production lines, intelligent warehousing and logistics, and precision assembly operations, the actuators (i.e., gripping and suction mechanisms) of robotic arms are key functional components. Existing actuators are mainly divided into two categories: gripping (mechanical grippers) and suction (vacuum chucks). However, these mechanisms have significant limitations in practical applications, exhibiting limited functionality, poor adaptability, and inability to meet practical needs. Utility Model Content

[0003] This invention provides a clamping and suction mechanism and a robotic arm to solve the problems of limited functionality and poor adaptability of existing actuators.

[0004] A clamping and suction mechanism includes a connecting base, a clamping module, a linear drive module, a first suction module, and a suction execution module;

[0005] The clamping module is mounted on the connecting base and is used to clamp the workpiece;

[0006] The linear drive module is mounted on the connecting base, and the first suction module is mounted on the linear drive module.

[0007] The linear drive module drives the first suction module to move up and down along the first direction, so that the first suction module may or may not contact the workpiece.

[0008] The suction execution module is connected to the first suction module and controls the first suction module to suction the workpiece.

[0009] Preferably, the clamping module includes a parallel opening and closing cylinder and two grippers; the parallel opening and closing cylinder is mounted on the connecting base, and the two grippers are respectively mounted on the two opening and closing ends of the parallel opening and closing cylinder, and the two grippers are symmetrically arranged in the second direction, and the two grippers cooperate to clamp the workpiece.

[0010] Preferably, each of the grippers is equipped with a protective pad, and the protective pads on the two grippers cooperate to clamp the workpiece.

[0011] Preferably, the linear drive module includes a lifting cylinder and a push plate; the lifting cylinder is mounted on the connecting base, the push plate is mounted on the piston rod end of the lifting cylinder, and the first suction module is mounted on the push plate.

[0012] Preferably, the linear drive module further includes a guide rod, and the lifting cylinder is provided with a guide through hole arranged along the first direction; the guide rod is inserted into the guide through hole, and one end of the guide rod is connected to the push plate.

[0013] Preferably, the first suction module includes a first support frame and a first suction cup; the first support frame is mounted on the linear drive module and located between the two grippers;

[0014] The first suction cup is mounted on the first support frame and connected to the suction execution module via an air pipe for suctioning workpieces.

[0015] Preferably, the clamping and suction mechanism further includes a second suction module connected to the suction execution module, and each of the grippers is provided with a second suction module; the suction execution module controls the two second suction modules to suction the tray supporting the workpiece.

[0016] Preferably, the second suction module includes a second suction cup and a vacuum channel disposed within the gripper, the vacuum channel being connected to the suction execution module via an air pipe;

[0017] The second suction cup is mounted on the gripper and communicates with the vacuum channel to pick up the tray supporting the workpiece.

[0018] Preferably, the clamping and suction mechanism further includes a vision positioning module, which includes a second support frame and a camera. The second support frame is mounted on the connecting base, and the camera is mounted on the second support frame for scanning and positioning the workpiece.

[0019] A robotic arm includes a robotic arm and a gripping and suction mechanism, wherein a connecting base of the gripping and suction mechanism is mounted on the execution end of the robotic arm.

[0020] The clamping and suction mechanism provided in this embodiment cleverly integrates clamping and suction functions into one unit. The clamping module achieves stable workpiece clamping, meeting routine operational needs. Simultaneously, it is equipped with a first suction module and a suction execution module, enabling workpiece manipulation via suction when required. This multi-functional integrated design reduces the need for multiple independent devices to achieve different operating modes, greatly simplifying the overall structure, saving space, and lowering costs. The linear drive module can drive the first suction module to move up and down along a first direction, allowing the first suction module to precisely control its contact state with the workpiece according to actual work requirements. When clamping is needed, the first suction module can be in a non-contact position to avoid interference; when suction is needed, it can quickly descend to contact the workpiece and complete the suction action. This provides flexibility in operating modes, enabling the mechanism to adapt to the processing of workpieces of various shapes, sizes, and materials, improving the equipment's versatility and applicability. The clamping module and the first suction module, coordinated by the linear drive module, achieve stable collaborative operation. While clamping the workpiece, if a suction operation is required, the linear drive module can precisely control the descent position and speed of the first suction module, allowing it to work in conjunction with the clamping module to ensure the workpiece remains stable throughout the operation. This effectively improves the accuracy and quality of workpiece processing and reduces machining errors and defect rates caused by workpiece wobbling or displacement. Because this mechanism integrates clamping and suction functions and enables rapid and flexible switching between operating modes, it significantly improves workpiece processing efficiency. During production, there is no need to frequently change different tools or equipment to complete clamping and suction operations, reducing operation steps and time, thereby shortening the processing cycle of a single workpiece and improving overall production efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a first axonometric view of the clamping and suction mechanism in one embodiment of the present invention;

[0023] Figure 2 This is a second isometric view of the clamping and suction mechanism in one embodiment of the present invention;

[0024] Figure 3 This is a partial structural diagram of the clamping and suction mechanism in one embodiment of the present invention.

[0025] The components include: 1. Connecting base; 2. Clamping module; 21. Parallel opening and closing cylinder; 22. Gripper; 23. Protective pad; 3. Linear drive module; 31. Lifting cylinder; 32. Push plate; 33. Guide rod; 34. Guide through hole; 4. First suction module; 41. First support frame; 42. First suction cup; 5. Suction execution module; 6. Second suction module; 61. Second suction cup; 62. Vacuum channel; 7. Visual positioning module; 71. Second support frame; 72. Camera. Detailed Implementation

[0026] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0028] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] This utility model embodiment provides a clamping and suction mechanism, see reference. Figure 1 , Figure 2 and Figure 3 It includes a connecting base 1, a clamping module 2, a linear drive module 3, a first suction module 4, and a suction execution module 5; the clamping module 2 is mounted on the connecting base 1 and is used to clamp the workpiece; the linear drive module 3 is mounted on the connecting base 1, the first suction module 4 is mounted on the linear drive module 3, the linear drive module 3 drives the first suction module 4 to move up and down along a first direction, so that the first suction module 4 may or may not contact the workpiece; the suction execution module 5 is connected to the first suction module 4 and controls the first suction module 4 to suction the workpiece.

[0030] The first direction is the vertical direction of the clamping and suction mechanism.

[0031] As an example, this clamping and suction mechanism can be applied to various fields, such as automated production lines, logistics sorting, and electronic product assembly; specifically, it is installed on the actuator end of the robotic arm of an industrial robot (i.e., the flange of the sixth axis). The connecting base 1 serves as a reference, specifically a T-shaped structure. The horizontal plate of the T-shaped structure connects to the actuator end of the robotic arm, and the vertical plate of the T-shaped structure is used to mount other modules. The clamping module 2 can stably clamp and fix the workpiece. The first suction module 4 and the suction execution module 5 cooperate to suction and fix the workpiece. The linear drive module 3 can adjust the position of the first suction module 4, making it contact or not contact the workpiece.

[0032] The clamping and suction mechanism in this example cleverly integrates clamping and suction functions into one unit. The clamping module 2 achieves stable workpiece clamping, meeting routine operational needs. Simultaneously, it is equipped with a first suction module 4 and a suction execution module 5, enabling workpiece manipulation via suction when needed. This multi-functional integrated design reduces the need for multiple independent devices to achieve different operating modes, greatly simplifying the overall structure, saving space, and lowering costs. The linear drive module 3 drives the first suction module 4 to move up and down in a first direction, allowing it to precisely control its contact state with the workpiece according to actual work requirements. When clamping is needed, the first suction module 4 can be in a non-contact position to avoid interference; when suction is needed, it can quickly descend to contact the workpiece and complete the suction action. This provides flexibility in operating modes, enabling the mechanism to handle workpieces of various shapes, sizes, and materials, improving the equipment's versatility and applicability. The clamping module 2 and the first suction module 4, coordinated by the linear drive module 3, achieve stable collaborative operation. While clamping the workpiece, if a suction operation is required, the linear drive module 3 can precisely control the descent position and speed of the first suction module 4, allowing it to work in conjunction with the clamping module 2 to ensure the workpiece remains stable throughout the operation. This effectively improves the accuracy and quality of workpiece processing and reduces processing errors and defect rates caused by workpiece wobbling or displacement. Because this mechanism integrates clamping and suction functions and enables rapid and flexible switching between operating modes, it significantly improves workpiece processing efficiency. During production, there is no need to frequently change different tools or equipment to complete clamping and suction operations, reducing operation steps and time, thereby shortening the processing cycle of a single workpiece and improving overall production efficiency.

[0033] Furthermore, the suction execution module 5 is connected to the first suction module 4, enabling precise control of the suction action of the first suction module 4 on the workpiece. This ensures that the suction force is moderate, reliably picking up the workpiece without damaging it due to excessive force. Simultaneously, precise control guarantees the accuracy of the suction position, preventing workpiece displacement during the suction process and providing a stable foundation for subsequent processing or assembly operations.

[0034] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The clamping module 2 includes a parallel opening and closing cylinder 21 and two grippers 22. The parallel opening and closing cylinder 21 is mounted on the connecting base 1, and the two grippers 22 are respectively mounted on the two opening and closing ends of the parallel opening and closing cylinder 21. The two grippers 22 are symmetrically arranged in the second direction, and the two grippers 22 cooperate to clamp the workpiece.

[0035] The second direction is the horizontal direction of the clamping and suction mechanism.

[0036] As an example, the clamping module 2 includes a parallel opening and closing cylinder 21 and two grippers 22. During installation, the parallel opening and closing cylinder 21 is mounted on the connecting base 1, and the two grippers 22 are respectively mounted on the two opening and closing ends of the parallel opening and closing cylinder 21. With this configuration, the opening and closing motion of the parallel opening and closing cylinder 21 drives the two grippers 22 to open and close in a parallel manner, so that the two grippers 22 can apply clamping force simultaneously and evenly when clamping the workpiece, which can avoid local deformation or damage to the workpiece due to uneven force. The two grippers 22 are symmetrically arranged in the second direction, which can position and fix the workpiece from two opposite directions when clamping it, ensuring that the workpiece maintains a stable position and posture during the clamping process, reducing workpiece shaking and displacement, and providing a precise reference for subsequent processing, assembly and other operations.

[0037] Furthermore, by controlling the stroke of the parallel opening and closing cylinder 21, the opening and closing distance between the two grippers 22 can be easily adjusted, thus adapting to the clamping of workpieces of different sizes. This allows the clamping module 2 to handle workpieces of various sizes without frequent fixture changes, improving the flexibility and applicability of the equipment and reducing production costs. The control of the parallel opening and closing cylinder 21 is relatively simple; typically, the opening and closing action of the grippers 22 is achieved simply by controlling the on / off state of the air source and the air pressure. A simple solenoid valve control method can be used, facilitating integration with the automated control system and reducing operational difficulty and equipment maintenance costs. At the same time, this simple control method also improves the reliability and stability of the equipment, reducing the probability of malfunctions.

[0038] In this example, the parallel opening and closing cylinder 21 and the two grippers 22 have a compact design that occupies little space, allowing the clamping module 2 to be easily installed on the connecting base 1 without interfering with other components, which is beneficial for the overall layout and design of the equipment. In space-constrained automated equipment, this compact clamping module 2 can free up more space for other functional modules, improving the integration of the equipment.

[0039] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 Each gripper 22 is equipped with a protective pad 23, and the protective pads 23 on the two grippers 22 cooperate to clamp the workpiece.

[0040] As an example, a protective pad 23 is installed on each jaw 22. The protective pads 23 on the two jaws 22 cooperate to clamp the workpiece. In this configuration, the protective pads 23 are typically made of a soft and elastic material, such as rubber, silicone, or polyurethane. When the jaws 22 clamp the workpiece, the protective pads 23 are in direct contact with the workpiece surface, effectively buffering the clamping force and preventing the hard surfaces of the jaws 22 from directly scratching or squeezing the workpiece, thus preventing scratches, dents, or other damage to the workpiece surface. The surface of the protective pads 23 is usually designed with specific textures or patterns, such as raised areas, grooves, or granular structures, which increases the friction between the protective pads 23 and the workpiece surface, making the jaws 22 more secure in clamping the workpiece and preventing the workpiece from slipping or falling off during clamping. Especially when clamping workpieces with smooth surfaces (such as metal sheets or glass plates), the increased friction significantly improves clamping stability.

[0041] In one embodiment, reference is made to Figure 1 The linear drive module 3 includes a lifting cylinder 31 and a push plate 32; the lifting cylinder 31 is mounted on the connecting base 1, the push plate 32 is mounted on the piston rod end of the lifting cylinder 31, and the first suction module 4 is mounted on the push plate 32.

[0042] As an example, the linear drive module 3 includes a lifting cylinder 31 and a push plate 32. During installation, the lifting cylinder 31 is mounted on the connecting base 1, the push plate 32 is mounted on the piston rod end of the lifting cylinder 31, and the first suction module 4 is mounted on the push plate 32. This configuration allows the lifting cylinder 31 to drive the push plate 32 and the first suction module 4 to rise and fall, enabling the first suction module 4 to operate at different heights. When suctioning a workpiece, the first suction module 4 can descend to a suitable height to contact the workpiece and complete the suction action; when placing a workpiece, it can lift the suctioned workpiece to a designated height before placing it. This flexible lifting function makes the suction operation more convenient and faster, adaptable to different workflows and production needs, and improves production efficiency.

[0043] In this example, the lifting cylinder 31 drives the piston rod to perform linear reciprocating motion via pneumatic pressure. The motion is smooth and shock-free. The push plate 32 is rigidly connected to the piston rod, accurately transmitting the cylinder's motion to the first suction module 4. This ensures the first suction module 4 moves stably along the first direction, preventing wobbling or deviation during movement and improving the accuracy and stability of workpiece suction. As the core driving component, the lifting cylinder 31 has a relatively simple structure and occupies little space. The push plate 32, in conjunction with the first suction module 4 mounted on the piston rod end, results in a compact and reasonable overall layout. This allows the linear drive module 3 to be easily installed on the connecting base 1 without excessively occupying the overall space of the equipment, facilitating miniaturization and integration, and making it particularly suitable for space-constrained automated production lines or work scenarios.

[0044] In one embodiment, reference is made to Figure 1 The linear drive module 3 also includes a guide rod 33. The lifting cylinder 31 is provided with a guide through hole 34 arranged along the first direction. The guide rod 33 is inserted into the guide through hole 34, and one end of the guide rod 33 is connected to the push plate 32.

[0045] As an example, the linear drive module 3 also includes a guide rod 33. A guide hole 34 is provided on the lifting cylinder 31 along a first direction. During installation, the guide rod 33 is inserted into the guide hole 34, with one end of the guide rod 33 connected to the push plate 32. This arrangement provides stable guidance for the movement of the push plate 32, ensuring that each lifting movement follows the same path, thus guaranteeing positioning accuracy. When the push plate 32 rises or falls, the guide rod 33 restricts its movement to a straight line in the first direction, effectively eliminating yaw error and enabling the first suction module 4 (mounted on the push plate 32) to accurately reach the predetermined position, improving the accuracy of workpiece suction and placement. Two guide rods 33 are arranged symmetrically about the piston rod of the lifting cylinder 31, further providing stable guidance for the movement of the push plate 32.

[0046] In one embodiment, reference is made to Figure 1 and Figure 2 The first suction module 4 includes a first support frame 41 and a first suction cup 42; the first support frame 41 is mounted on the linear drive module 3 and located between the two grippers 22; the first suction cup 42 is mounted on the first support frame 41 and is connected to the suction execution module 5 through an air pipe for suctioning workpieces.

[0047] As an example, the first suction module 4 includes a first support frame 41 and a first suction cup 42. During installation, the first support frame 41 is mounted on the linear drive module 3, located between the two grippers 22. This layout makes full use of the internal space of the equipment, avoids interference between components, makes the overall equipment structure more compact, improves space utilization, and is conducive to the miniaturization and integration design of the equipment. The first suction cup 42 is mounted on the first support frame 41 and connected to the suction execution module 5 through an air pipe. The suction execution module 5 can provide a stable negative pressure, enabling the first suction cup 42 to firmly adsorb the workpiece. The first support frame 41 provides a stable support structure for the first suction cup 42, ensuring the stability of the position and posture of the first suction cup 42 during the suction process, preventing it from shaking or shifting, thereby ensuring the stability and reliability of the workpiece suction and reducing the risk of the workpiece falling during the suction process. The first support frame 41 has an L-shaped structure, with the vertical part of the L-shaped structure fixed on the linear drive module 3 and the horizontal part of the L-shaped structure placed between the two grippers 22. The first suction cup 42 is a vacuum suction cup, and its quantity is designed according to actual needs, such as two. The two first suction cups 42 are arranged at intervals on the first support frame 41 to simultaneously pick up the workpiece, further ensuring the stability and reliability of picking up the workpiece.

[0048] In this example, the first suction module 4 is placed between the two grippers 22, allowing for a closer coordination between the suction and clamping operations. In automated production processes, it may be necessary to first pick up the workpiece using the first suction cup 42, and then use the two grippers 22 to perform further positioning, clamping, or transfer operations on the workpiece. This layout makes the collaborative work between the two functional modules smoother, reduces the transfer time and errors of the workpiece between different operations, and improves production efficiency.

[0049] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The clamping and suction mechanism also includes a second suction module 6 connected to the suction execution module 5. Each gripper 22 is provided with a second suction module 6. The suction execution module 5 controls the two second suction modules 6 to suction the tray supporting the workpiece.

[0050] As an example, the clamping and suction mechanism also includes a second suction module 6 connected to the suction execution module 5. During installation, one second suction module 6 is provided on each gripper 22. The suction execution module 5 controls the two second suction modules 6 to pick up the tray supporting the workpiece. This configuration indirectly achieves workpiece suction by using the second suction modules 6 to pick up the tray. For electronic components with fragile or easily deformable surfaces, direct clamping may damage the components, while the tray-picking method is safer and more reliable, and can adapt to a wider range of workpiece processing needs. With one second suction module 6 on each of the two grippers 22, the two suction points can be evenly distributed on the tray during suction, making the suction force on the tray more balanced. Compared to a single suction point, this uniform force distribution effectively prevents the tray from shifting or tilting during suction and movement, thus ensuring the workpiece's stable position on the tray, reducing the risk of workpiece falling or deviating due to tray shaking, and improving the reliability of the entire operation. Integrating the second suction module 6 onto the gripper 22, forming a single unit with the clamping and suction mechanism, eliminates the need for a separate, dedicated tray handling device, reducing the number of devices and their footprint, thereby lowering procurement and installation costs. Simultaneously, the integrated design makes the device more compact, improving space utilization.

[0051] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The second suction module 6 includes a second suction cup 61 and a vacuum channel 62 disposed in the gripper 22. The vacuum channel 62 is connected to the suction execution module 5 through an air pipe. The second suction cup 61 is mounted on the gripper 22 and communicates with the vacuum channel 62 for suctioning the tray supporting the workpiece.

[0052] As an example, the second suction module 6 includes a second suction cup 61 and a vacuum channel 62 disposed within the gripper 22. During installation, the vacuum channel 62 is connected to the suction execution module 5 via an air pipe. The second suction cup 61 is mounted on the gripper 22, specifically with a mounting groove machined on the bottom working surface of the gripper 22. The second suction cup 61 is embedded in the mounting groove and communicates with the vacuum channel 62. With this configuration, the gripping functions of the second suction cup 61 and the gripper 22 work together. When processing workpieces, the gripper 22 can be used to hold the workpiece for precise positioning and operation, while the second suction cup 61 can play a role when it is necessary to move the tray or perform indirect operations on the workpiece. For example, in the process of transferring a workpiece from one station to another, the gripper 22 can be used to hold the workpiece first, and then the second suction cup 61 can be used to pick up the tray and move the workpiece as a whole, improving the operational flexibility and adaptability of the equipment. Among them, the second suction cup 61 is a circular vacuum suction cup, and there are four of them. The four circular vacuum suction cups are distributed in a circle. The vacuum channel 62 in each gripper 22 controls the four circular vacuum suction cups through a vacuum air path that is divided into two, so as to achieve adsorption work together.

[0053] In this example, the vacuum channel 62 is located inside the gripper 22, and the second suction cup 61 is mounted on and connected to the gripper 22, achieving a tight integration of the suction function and the gripper structure. This eliminates the need for complex external piping and connectors on the gripper 22, making the entire clamping and suction mechanism more compact and improving the overall space utilization of the equipment. The suction execution module 5 is connected to the vacuum channel 62 via an air pipe, providing a stable and adjustable negative pressure to the second suction cup 61. The direct connection between the second suction cup 61 and the vacuum channel 62 ensures rapid and minimal loss of negative pressure, allowing the second suction cup 61 to firmly adhere to the tray supporting the workpiece. During the suction process, the stable negative pressure ensures that the tray will not fall off due to unexpected circumstances during handling, guaranteeing the reliability and safety of the suction operation.

[0054] In one embodiment, reference is made to Figure 1 and Figure 2 The clamping and suction mechanism also includes a vision positioning module 7, which includes a second support frame 71 and a camera 72. The second support frame 71 is mounted on the connecting base 1; the camera 72 is mounted on the second support frame 71 and is used to scan and position the workpiece.

[0055] As an example, the clamping and picking mechanism also includes a vision positioning module 7. The vision positioning module 7 can quickly complete the scanning and positioning of the workpiece without manual intervention, which greatly shortens the positioning time. Compared with the traditional manual or mechanical positioning methods, vision positioning can instantly obtain the position information of the workpiece and quickly transmit the data to the control system, enabling the clamping and picking mechanism to perform clamping operations immediately, which significantly improves production efficiency.

[0056] The vision positioning module 7 includes a second support frame 71 and a camera 72. During installation, the second support frame 71 is mounted on the connecting base 1, and the camera 72 is mounted on the second support frame 71. This configuration allows the camera 72 to clearly capture barcode or QR code information on the workpiece, thereby determining key information such as the workpiece's identity, specifications, and production batch. Simultaneously, combined with vision positioning technology, the camera 72 can accurately acquire the workpiece's position and orientation in space, providing precise positioning data for subsequent clamping and picking operations. The vision positioning module 7 is seamlessly integrated with other components of the clamping and picking mechanism (such as the gripper 22, the picking module, etc.) and the entire automated production line, forming a complete automated production system. Through communication with the control system, the vision positioning module 7 can provide real-time feedback on the workpiece's positioning information, enabling the clamping and picking mechanism to automatically adjust its gripping position and orientation based on the positioning results. This achieves automatic workpiece grasping, handling, and placement, reducing manual operation steps, minimizing the impact of human factors on the production process, and improving production stability and consistency.

[0057] This utility model provides a robotic arm, including a robotic arm and a gripping and suction mechanism, wherein the connecting base 1 of the gripping and suction mechanism is installed at the execution end of the robotic arm.

[0058] As an example, the robotic arm includes a robotic arm and a gripping and suction mechanism. During installation, the connecting base 1 of the gripping and suction mechanism is installed on the execution end of the robotic arm. During operation, the arm controller receives a gripping command and controls the robotic arm to move the gripping and suction mechanism to the designated position. The linear drive module 3 descends, and the suction execution module 5 controls the first suction module 4 to generate negative pressure, sucking up the workpiece. Then, the linear drive module 3 rises to its position, and the controller controls the parallel opening and closing cylinder 21 to drive the gripper 22 to close. When the gripper 22 contacts the workpiece, the first suction module 4 has also adhered to and adsorbed the workpiece. The gripping force and adsorption force act simultaneously to achieve stable gripping. After the workpiece is successfully transported to its position, the parallel opening and closing cylinder 21 drives the gripper 22 to release, the linear drive module 3 descends, and then the vacuum is released, smoothly placing the workpiece down. Furthermore, the suction execution module 5 controls the second suction module 6 to generate negative pressure, sucking up the tray carrying the workpiece. This achieves both tray transport and indirect workpiece suction, ensuring the suction function while avoiding damage to the workpiece.

[0059] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A clamping and suction mechanism, characterized in that, It includes a connecting base, a clamping module, a linear drive module, a first suction module, and a suction execution module; The clamping module is mounted on the connecting base and is used to clamp the workpiece; The linear drive module is mounted on the connecting base, and the first suction module is mounted on the linear drive module. The linear drive module drives the first suction module to move up and down along the first direction, so that the first suction module may or may not contact the workpiece. The suction execution module is connected to the first suction module and controls the first suction module to suction the workpiece.

2. The chucking suction mechanism according to claim 1, characterized in that, The clamping module includes a parallel opening and closing cylinder and two grippers; the parallel opening and closing cylinder is mounted on the connecting base, and the two grippers are respectively mounted on the two opening and closing ends of the parallel opening and closing cylinder, and the two grippers are symmetrically arranged in the second direction, and the two grippers cooperate to clamp the workpiece.

3. The chucking suction mechanism according to claim 2, characterized in that, Each of the grippers is equipped with a protective pad, and the protective pads on both grippers cooperate to clamp the workpiece.

4. The chucking suction mechanism according to claim 1, characterized in that, The linear drive module includes a lifting cylinder and a push plate; the lifting cylinder is mounted on the connecting base, the push plate is mounted on the piston rod end of the lifting cylinder, and the first suction module is mounted on the push plate.

5. The chucking suction mechanism according to claim 4, characterized in that, The linear drive module also includes a guide rod, and the lifting cylinder is provided with a guide through hole arranged along the first direction; the guide rod is inserted into the guide through hole, and one end of the guide rod is connected to the push plate.

6. The chucking suction mechanism according to claim 2, characterized in that, The first suction module includes a first support frame and a first suction cup; the first support frame is mounted on the linear drive module and located between the two grippers; The first suction cup is mounted on the first support frame and connected to the suction execution module via an air pipe for suctioning workpieces.

7. The chucking suction mechanism according to claim 2, wherein The clamping and suction mechanism further includes a second suction module connected to the suction execution module, and each of the grippers is provided with a second suction module; the suction execution module controls the two second suction modules to suction the tray supporting the workpiece.

8. The chucking suction mechanism according to claim 7, characterized in that, The second suction module includes a second suction cup and a vacuum channel disposed within the gripper, the vacuum channel being connected to the suction execution module via an air pipe; The second suction cup is mounted on the gripper and communicates with the vacuum channel to pick up the tray supporting the workpiece.

9. The chucking suction mechanism according to claim 1, characterized in that, The clamping and suction mechanism also includes a vision positioning module, which includes a second support frame and a camera. The second support frame is mounted on the connecting base, and the camera is mounted on the second support frame for scanning and positioning the workpiece.

10. A robot, characterized in that It includes a robotic arm and a gripping and suction mechanism as described in any one of claims 1-9, wherein the connecting base of the gripping and suction mechanism is mounted on the execution end of the robotic arm.

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