Clamping and carrying system

Abstract

The utility model provides a clamping and carrying system which is characterized in that the clamping and carrying system comprises two clamping jaws, each clamping jaw comprises a clamping jaw body and a clamping part, the clamping part comprises a first clamping piece and a second clamping piece, the first clamping piece is fixedly arranged relative to the clamping jaw body, and the second clamping piece is fixedly arranged relative to the clamping jaw body. The second clamping piece is located above the first clamping piece and can move relative to the first clamping piece. The clamping parts of the two clamping jaws are oppositely arranged, the first clamping pieces of the two clamping jaws are used for jointly bearing the bottom of the edge of an object, and the second clamping pieces of the two clamping jaws can move towards the corresponding first clamping pieces so as to jointly clamp the top of the edge of the object.

Description

Technical Field

[0001] This application relates to the field of clamping, and more particularly to a clamping and handling system. Background Technology

[0002] With the development of electrification technology, electric grippers have been widely used in industrial production to hold objects. After the gripper holds the object, it moves along with the gripper through a moving device to achieve the purpose of handling.

[0003] Existing grippers use two opposing grippers to hold objects. After the objects are gripped, a brake mechanism within the grippers locks them in place for transport. However, the force required to lock using the brake is relatively limited, and relying on the brake every time poses a potential risk. Therefore, a gripping and transporting system could be designed to double the gripping force, making it more secure. Summary of the Invention

[0004] This application provides a clamping and handling system, which includes two grippers. Each gripper includes a gripper body and a clamping portion. The clamping portion includes a first clamping member and a second clamping member. The first clamping member is fixedly disposed relative to the gripper body, and the second clamping member is located above the first clamping member and can move relative to the first clamping member. The clamping portions of the two grippers are disposed opposite to each other. The first clamping members of the two grippers are used to jointly support the bottom edge of an object, and the second clamping members of the two grippers can move toward the corresponding first clamping member to jointly clamp the top edge of the object.

[0005] In some embodiments, the gripper transport system further includes a controller, which is communicatively connected to the two grippers and is used to control the movement of a second gripper in each gripper.

[0006] In some embodiments, the controller is configured to control the second gripper of the two grippers to contact the object at a time difference of more than one second.

[0007] In some embodiments, force sensors are provided on the second clamping members of the two grippers to sense the force applied by the grippers to the object; the controller is used to control the current of at least one of the grippers when the force values ​​detected by the two force sensors exceed the error range.

[0008] In some embodiments, the first gripper of the two jaws has a textured surface on the side facing the object.

[0009] In some embodiments, the second gripping member of the two jaws has a textured surface on the side facing the object.

[0010] In some embodiments, the clamping and handling system further includes two displacement devices, each of the grippers being mounted on one of the displacement devices, the displacement devices being used to control the movement of the grippers in the horizontal and vertical directions.

[0011] In some embodiments, a distance sensor is mounted on the side of the gripper body facing the object to detect the distance between the object and the gripper body.

[0012] In some embodiments, the length of the first clamping member extending beyond the clamping jaw body is greater than the length of the second clamping member extending beyond the clamping jaw body.

[0013] Since the clamping and handling system 100 uses two grippers, if the two grippers clamp the object at the same time, the clamped object may become unstable if there is a certain difference in the clamping force between the two grippers. Therefore, the controller 13 can be set to control the time difference between the second clamping parts of the two grippers 10 contacting the object to be more than one second, so as to increase the stability of clamping. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of a clamping and handling system provided in an embodiment of this application.

[0016] Figure 2 This is a schematic diagram of a clamping and handling system provided in another embodiment of this application.

[0017] Figure 3 This is a schematic diagram showing that a distance sensor is provided on the gripper of this application.

[0018] Figure 4 This is a schematic diagram of a gripper according to one embodiment of this application. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0021] Please see Figure 1-2 This application provides a clamping and handling system 100, including two grippers 10. Each gripper 10 includes a gripper body 11 and a clamping portion 12. The clamping portion 12 includes a first clamping member 121 and a second clamping member 122. The first clamping member 121 is fixedly disposed relative to the gripper body 11, and the second clamping member 122 is located above the first clamping member 121 and can move relative to the first clamping member 121. The clamping portions 12 of the two grippers 10 are disposed opposite to each other. The first clamping members 121 of the two grippers 10 are used to jointly support the bottom edge of an object 200, and the second clamping members 122 of the two grippers 10 can move toward the corresponding first clamping member 121 to jointly clamp the top edge of the object 200.

[0022] The object 200 can be a material frame or a pallet. By clamping the object 200 in this way, since the motor drives the single-sided gripper to press down, that is, only the fingertip on one side is driven, the force of the two grippers clamping the object will be greatly increased, making the handling process more secure.

[0023] In some embodiments, the gripper transport system 100 further includes a controller 13, which is communicatively connected to the two grippers 10 and is used to control the movement of the second gripper 122 of each gripper 10. The two grippers 10 are communicatively connected to a controller to facilitate coordinated control of gripping.

[0024] Since the clamping and handling system 100 uses two grippers, if the two grippers clamp the object at the same time, the clamped object may become unstable if there is a certain difference in the clamping force between the two grippers. Therefore, the controller 13 can be set to control the time difference between the second clamping parts of the two grippers 10 contacting the object to be more than one second, so as to increase the stability of clamping.

[0025] In some embodiments, force sensors 123 are provided on the second clamping members 122 of both grippers 10 to sense the force applied by the grippers 10 to the object. When the force values ​​detected by the two force sensors 123 exceed the error range, the controller can control the current of at least one gripper 10 to keep the force applied by the two grippers 10 relatively equal, thereby increasing the stability of the clamping.

[0026] In some embodiments, the surface of the first gripper 121 of the two jaws 10 facing the object is textured to increase the friction between the gripper and the object and improve the stability of the gripping. Similarly, the surface of the second gripper 122 of the two jaws 10 facing the object can also be textured.

[0027] In some embodiments, the clamping and handling system 100 further includes two displacement devices 14, each gripper 10 is mounted on a displacement device 14, and the displacement device 10 can control the movement of the gripper 10 in the horizontal and vertical directions, so that the position of each gripper 10 can be adjusted separately, and can be adapted to clamp objects of different shapes and forms.

[0028] In some embodiments, a distance sensor 15 is installed on the side of the gripper body 11 facing the object to detect the distance between the object and the gripper body 11. This allows the sensor to detect whether the object is in contact with the gripper body when gripping the object, thus avoiding the risk of the object being too close to the gripper body and impacting it.

[0029] In some embodiments, the length of the first clamping member 121 extending out of the clamping claw body 11 is greater than the length of the second clamping member 122 extending out of the clamping claw body 11, so that the force applied by the second clamping member 122 to the object can be fully borne within the range of the first clamping member 121, thereby improving the safety and stability of clamping the object.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping and conveying system, characterized in that: The clamping and handling system includes two jaws, each jaw including a jaw body and a clamping portion. The clamping portion includes a first clamping member and a second clamping member. The first clamping member is fixedly disposed relative to the jaw body, and the second clamping member is located above the first clamping member and can move relative to the first clamping member. The clamping portions of the two jaws are disposed opposite to each other. The first clamping members of the two jaws are used to jointly support the bottom edge of an object, and the second clamping members of the two jaws can move toward the corresponding first clamping member to jointly clamp the top edge of the object.

2. The clamping and conveying system as described in claim 1, characterized in that: The gripper transport system also includes a controller, which is communicatively connected to the two grippers and is used to control the movement of the second gripper of each gripper.

3. The gripper handling system of claim 2, wherein: The controller is configured to control the second gripper of the two grippers to contact the object at a time difference of more than one second.

4. The clamping and conveying system as described in claim 2, characterized in that: Each of the two grippers is equipped with a force sensor on its second gripping component to sense the force applied by the gripper to the object; The controller is used to control the current of at least one of the grippers when the force values ​​detected by the two force sensors exceed the error range.

5. The clamping and conveying system as described in claim 1, characterized in that: The surface of the first gripper of the two jaws facing the object has a textured surface.

6. The clamping and conveying system as described in claim 4, characterized in that: The second clamping member of the two grippers has a textured surface on the side facing the object.

7. The gripper handling system of claim 1, wherein: The clamping and handling system further includes two displacement devices, each of the grippers is mounted on one of the displacement devices, and the displacement devices are used to control the movement of the grippers in the horizontal and vertical directions.

8. The gripper handling system of claim 1, wherein: A distance sensor is installed on the side of the gripper body facing the object, for detecting the distance between the object and the gripper body.

9. The gripper handling system of claim 1, wherein: The length of the first clamping member extending beyond the clamping jaw body is greater than the length of the second clamping member extending beyond the clamping jaw body.

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