Tray clamping jaw assembly

Abstract

The tray clamping jaw assembly comprises a tray, a positioning groove is formed in the circumferential side face of the tray, and a first arc face is arranged in the positioning groove. The clamping jaw mechanism comprises a first clamping jaw, a second clamping jaw and a driver for driving the first clamping jaw and the second clamping jaw to get close to each other or get away from each other, the first clamping jaw and the second clamping jaw are arranged on the two opposite sides of the tray and are each rotationally provided with a rotating piece, and the rotating pieces directly face the positioning groove in the moving direction of the first clamping jaw; a second cambered surface is arranged on the peripheral side face of the rotating piece and matched with the first cambered surface. Collision between the tray and the clamping jaw can be effectively reduced, and mechanical abrasion and noise of the clamping jaw and the tray are reduced.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and in particular to a pallet gripper assembly. Background Technology

[0002] In the field of industrial automation, grippers are widely used in material handling. By precisely gripping, positioning, and transferring workpieces or pallets, they can replace manual labor in repetitive operations, significantly improving production efficiency. Traditional grippers often employ a rigid structural design and lack a cushioning mechanism. Therefore, rigid contact is a common problem when gripping pallets. For example, when the grippers close, they often collide directly with the pallet surface or sidewall, causing vibration and noise during gripping. This hard contact accelerates the wear of the gripper's mechanical structure and may also cause pallet deformation or material displacement, affecting the pallet's positioning accuracy. Summary of the Invention

[0003] Therefore, the technical problem to be solved by this utility model is to overcome the lack of a buffer mechanism between the gripper and the pallet in the prior art, and the problem of vibration and noise when the gripper clamps the pallet. In this way, a pallet gripper assembly is provided, which can effectively reduce the collision between the pallet and the gripper and reduce the mechanical wear of the gripper and the pallet.

[0004] To solve the above-mentioned technical problems, this utility model provides a pallet gripper assembly, including,

[0005] The tray has a positioning groove on its peripheral side, and a first arc surface is provided in the positioning groove;

[0006] The gripper mechanism includes a first gripper, a second gripper, and a driver for driving the first gripper and the second gripper to move closer or further apart from each other. The first gripper and the second gripper are disposed on opposite sides of the tray. Both the first gripper and the second gripper are rotatably provided with a rotating member. The rotating member is disposed directly opposite the positioning groove along the moving direction of the first gripper, and the peripheral side of the rotating member is provided with a second arc surface, which matches the first arc surface.

[0007] In one embodiment of this utility model, the first arc surface is configured as a circular arc surface, and the rotating member is configured as a cylinder that rotates around its center line. The first arc surface matches the circumferential surface of the cylinder, and the center line of the cylinder is parallel to the center line of the circular arc surface.

[0008] In one embodiment of this utility model, the center line of the rotating member extends in the vertical direction.

[0009] In one embodiment of this utility model, the rotating component is configured as a ball bearing, and the inner rings of the ball bearings located on both sides of the tray are respectively connected to the first clamp and the second clamp.

[0010] In one embodiment of this utility model, a mounting plate is further included, the driver is disposed on the mounting plate, and the first gripper and the second gripper are both slidably connected to the mounting plate.

[0011] In one embodiment of the present invention, the gripper mechanism further includes a first arm and a second arm, the first arm and the second arm being distributed on opposite sides of the tray, the first arm and the second arm being slidably connected to the mounting plate, the first arm being provided with a plurality of first grippers, and the second arm being provided with a plurality of second grippers.

[0012] In one embodiment of this utility model, both the first arm and the second arm are provided with clearance openings in the middle.

[0013] In one embodiment of the present invention, both the first gripper and the second gripper include a clamping portion and a supporting portion connected to the clamping portion. The clamping portion abuts against the peripheral side of the tray, and the supporting portion abuts against the bottom surface of the tray. The supporting portion is disposed on both sides of the rotating member.

[0014] In one embodiment of the present invention, the clamping part is provided with a mounting groove, the rotating member is disposed in the mounting groove, and the rotating member protrudes from the mounting groove.

[0015] In one embodiment of the present invention, the tray is provided with a limiting part, which is disposed above the positioning groove.

[0016] In one embodiment of this utility model, the driver is configured as a gripper cylinder.

[0017] In one embodiment of the present invention, a visual inspection mechanism disposed on the mounting plate is also included.

[0018] In one embodiment of this utility model, the tray is provided with a cross groove.

[0019] In one embodiment of this utility model, a connecting flange is provided at the center of the mounting plate.

[0020] In one embodiment of the present invention, a plurality of buffer members are further provided on the mounting plate, the plurality of buffer members being disposed facing the output end of the gripper cylinder, and the buffer members being disposed in front of the output end in the direction of extension.

[0021] In one embodiment of the present invention, a buffer member is provided on the first arm body, and a buffer body is provided on the second arm body, the buffer body being disposed opposite to the buffer member and extending along the moving direction of the second arm body.

[0022] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial effects:

[0023] The pallet gripper assembly of this utility model uses a first gripper and a second gripper to clamp the two ends of the pallet from both sides to achieve pallet gripping. When the first gripper and the second gripper are closed, as the rotating component gradually enters the positioning groove, the second arc surface slides along the first arc surface, allowing the first gripper and the second gripper to flexibly roll into contact with the pallet. The contact time between the arc surfaces is extended, and the local pressure is effectively dispersed, reducing the problem of pallet surface indentation or deformation caused by stress concentration. The rotational freedom of the rotating component can absorb some impact energy, reduce the impact force between the gripper and the pallet at the moment of collision, and reduce the mechanical wear and noise of the gripper. Attached Figure Description

[0024] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the pallet gripper assembly structure in a preferred embodiment of the present invention;

[0026] Figure 2 for Figure 1 Another schematic diagram of the gripper mechanism shown;

[0027] Figure 3 for Figure 1 A schematic diagram of the structure of the pallet gripper assembly shown from the bottom view;

[0028] Figure 4 for Figure 1 The diagram shows the structure of the tray shown.

[0029] Figure 5 for Figure 2 An enlarged view of point A shown.

[0030] Explanation of reference numerals in the accompanying drawings: 1. Tray; 11. Positioning groove; 12. Limiting part; 13. First arc surface; 2. Gripper mechanism; 21a. First arm body; 21b. Second arm body; 211a. Clearance opening; 22a. First gripper; 22b. Second gripper; 221b. First support part; 222b. Clamping part; 223b. Second support part; 224b. Mounting groove; 23. Driver; 24a. First rotating part; 24b. Second rotating part; 241b. Second arc surface; 25. Second buffer part; 26. First buffer part; 27. Third buffer part; 28. Buffer body; 29a. Second connecting part; 29b. First connecting part; 3. Vision inspection mechanism; 4. Cross groove; 5. Mounting plate; 6. Connecting flange. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0032] Reference Figure 1 and Figure 2 As shown, in one embodiment of this utility model, a pallet gripper assembly is disclosed, comprising,

[0033] The tray 1 has a positioning groove 11 on its peripheral side, and a first arc surface 13 is provided in the positioning groove 11.

[0034] The gripper mechanism 2 includes a first gripper 22a, a second gripper 22b, and a driver 23 for driving the first gripper 22a and the second gripper 22b to move closer or further apart from each other. The first gripper 22a and the second gripper 22b are disposed on opposite sides of the tray 1. Both the first gripper 22a and the second gripper 22b are rotatably provided with rotating members. The rotating members are disposed directly opposite the positioning groove 11 along the moving direction of the first gripper 22a, and the peripheral side of the rotating members is provided with a second arc surface 241b. The first arc surface 13 matches the second arc surface 241b.

[0035] In the pallet gripper assembly described in this embodiment, when the driver 23 drives the first gripper 22a and the second gripper 22b to approach each other and clamp the two ends of the pallet 1, if the pallet 1 is not accurately positioned, when the first gripper 22a and the second gripper 22b contact the peripheral side of the pallet 1, the rotating component first rolls along the positioning groove 11. Specifically, the second arc surface 241b rolls to contact the first arc surface 13 until the rotating component rolls to the middle of the positioning groove. At this time, the first gripper 22a and the second gripper 22b just clamp the pallet 1. The first arc surface 13 and the second arc surface 241b make flexible rolling contact, which prolongs the contact time between the pallet 1, the first gripper 22a, and the second gripper 22b. The local pressure on the peripheral side of the pallet 1 is effectively dispersed, reducing the problem of indentation or deformation on the surface of the pallet 1 caused by stress concentration. The rotating component rotates by friction, which can absorb some impact energy, reduce the impact force between the gripper and the pallet 1 at the moment of collision, and reduce the mechanical wear and noise of the gripper.

[0036] Reference Figure 2 As shown, in one embodiment of this utility model, the rotating component on the first gripper 22a is the first rotating component 24a, and the rotating component on the second gripper 22b is the second rotating component 24b.

[0037] Reference Figure 4As shown, in one embodiment of the present invention, the tray 1 is provided with four positioning grooves 11, which are evenly distributed on the two sides of the tray 1 facing each other, so as to correspondingly configure the first gripper 22a and the second gripper 22b to apply force evenly to the tray 1.

[0038] In one embodiment of this utility model, when the driver 23 drives the first gripper 22a and the second gripper 22b to move closer to each other, the first gripper 22a and the second gripper 22b clamp the tray 1 from both ends; conversely, the tray 1 is released when they move away from each other. The moving direction is the moving direction when the first gripper 22a and the second gripper 22b move closer to each other.

[0039] Reference Figure 3 and Figure 4 As shown, in one embodiment of this utility model, the first arc surface 13 is configured as a circular arc surface, and the rotating member is configured as a cylinder rotating around its center line. The first arc surface 13 matches the circumferential surface of the cylinder. When the cylinder enters the positioning groove 11, the cylinder can roll from the end to the middle along the circular arc surface, thereby reducing the coefficient of friction. Furthermore, the center line of the cylinder is parallel to the center line of the circular arc surface, allowing the cylinder to be installed vertically or horizontally.

[0040] Reference Figure 3 As shown, in one embodiment of this utility model, the center line of the rotating component extends in the vertical direction. When the pallet 1 is not positioned accurately, the rolling contact between the rotating component and the positioning groove 11 can enable the pallet 1 to adaptively adjust its own horizontal position and compensate for the positioning deviation.

[0041] Reference Figure 3 As shown, in one embodiment of this utility model, the rotating component is configured as a ball bearing. The inner rings of the ball bearings located on both sides of the tray 1 are respectively connected to the first clamping jaw 22a and the second clamping jaw 22b. The outer ring of the ball bearing is used for rolling contact with the first arc surface 13. The ball bearing has the advantages of low friction coefficient, long service life and high rigidity, which can further reduce friction and improve rotation efficiency and service life.

[0042] Reference Figure 2 As shown, in one embodiment of this utility model, a mounting plate 5 is also included. The driver 23 is disposed on the mounting plate 5. The first gripper 22a and the second gripper 22b are slidably connected to the mounting plate 5, which can improve the rigidity of the tray clamping assembly and reduce the friction between the first gripper 22a, the second gripper 22b and the mounting plate 5.

[0043] Reference Figure 2As shown, in one embodiment of this utility model, the gripper mechanism 2 further includes a first arm 21a and a second arm 21b. The first arm 21a and the second arm 21b are distributed on opposite sides of the tray 1. The first arm 21a and the second arm 21b are slidably connected to the mounting plate 5. The first arm 21a is provided with two first grippers 22a, and the second arm 21b is provided with two second grippers 22b. The first arm 21a and the second arm 21b can enhance the gripping ability of the grippers, such as when using a large-size tray 1.

[0044] Reference Figure 2 As shown, in one embodiment of the present invention, the first arm 21a is connected to one output terminal of the driver 23 via a first connector 29, and the second arm 21b is connected to the other output terminal of the driver 23 via a second connector 29a.

[0045] Reference Figure 2 As shown, in one embodiment of this utility model, both the first arm body 21a and the second arm body 21b are provided with slide rails, and the mounting plate 5 is provided with multiple sliders. The multiple sliders are slidably connected to the slide rails on the first arm body 21a and the second arm body 21b, respectively, to improve the repeatability of the positioning accuracy of the first gripper 22a and the second gripper 22b.

[0046] Reference Figure 2 As shown, in one embodiment of the present invention, both the first arm body 21a and the second arm body 21b are provided with a clearance opening 211a in the middle, so that the operator can operate the handle of the tray 1 through the clearance opening 211a.

[0047] Reference Figure 5 As shown, in one embodiment of this utility model, both the first gripper 22a and the second gripper 22b include a clamping portion 222b and a supporting portion connected to the clamping portion 222b. The clamping portion of the first gripper 22a is connected to the first arm 21a, and the clamping portion 222b of the second gripper 22b is connected to the second arm 21b. The clamping portion 222b is used to abut against the peripheral side of the tray 1 in the horizontal direction, serving as a horizontal positioning function. The supporting portion is used to abut against the bottom surface of the tray 1 in the vertical direction, serving as a support for the tray 1. The supporting portion includes a first supporting portion 221b and a second supporting portion 223b disposed on both sides of the rotating member.

[0048] Reference Figure 5As shown, in one embodiment of this utility model, the clamping part 222b is provided with a mounting groove 224b, which is a semi-circular groove. The rotating member is disposed in the mounting groove 224b and protrudes from the mounting groove 224b. It can be understood that half of the rotating member is disposed in the mounting groove 224b and the other half is exposed outside the mounting groove 224b, which can improve the structural compactness of the gripper mechanism 2.

[0049] Reference Figure 4 As shown, in one embodiment of the present invention, the tray 1 is provided with a limiting part 12, which is disposed above the positioning groove 11. When the rotating part is located in the positioning groove 11, the rotating part can abut against the bottom of the limiting part 12 to reduce the load on the support part.

[0050] Reference Figure 4 As shown, in one embodiment of the present invention, the driver 23 is configured as a gripper cylinder, and the first connector 29 and the second connector 29a are respectively connected to the two output ends of the gripper cylinder.

[0051] Reference Figure 1 As shown, in one embodiment of this utility model, a visual inspection mechanism 3 is further provided on the mounting plate 5. The visual inspection mechanism 3 is used to detect the accuracy of the positioning of the tray 1.

[0052] Reference Figure 1 As shown, in one embodiment of this utility model, the tray 1 is provided with a cross groove 4, and the symmetry of the cross groove 4 is used to improve the detection accuracy of the visual inspection mechanism 3.

[0053] Reference Figure 2 As shown, in one embodiment of the present invention, the mounting plate 5 is provided with a connecting flange 6 at its center, which is used to quickly connect the pallet gripper assembly to the robotic arm.

[0054] Reference Figure 2 As shown, in one embodiment of this utility model, a first buffer 26 and a second buffer 25 are further disposed on the mounting plate 5. The first buffer 26 and the second buffer 25 are respectively disposed opposite to the two output ends of the gripper cylinder, and both the first buffer 26 and the second buffer 25 are disposed in front of the output end extension direction, for buffering and limiting the two output ends of the gripper cylinder, thereby reducing the stroke of the two output ends of the gripper cylinder.

[0055] Reference Figure 2As shown, in one embodiment of this utility model, a buffer body 28 is provided on the first arm body 21a, and a third buffer member 27 is provided on the second arm body 21b. The buffer body 28 is provided directly opposite the buffer member and extends along the moving direction of the second arm body 21b. When the distance between the first arm body 21a and the second arm body 21b approaches a preset distance, the third buffer member 27 abuts against the buffer body 28 to buffer and limit the first arm body 21a and the second arm body 21b, preventing the first gripper 22a and the second gripper 22b from damaging the tray 1.

[0056] Reference Figure 2 As shown, in one embodiment of the present invention, the first gripper 22a and the second gripper 22b are arranged facing each other.

[0057] The working principle of the pallet gripper assembly described in this utility model is as follows:

[0058] The robotic arm transfers the gripper mechanism 2 to the pallet placement area, ensuring that the four rotating parts are aligned with the four positioning slots 11 of the pallet 1. Then, the driver 23 drives the first gripper 22a and the second gripper 22b to move closer to each other until the rotating parts are inserted into the positioning slots 11 and the gripping part 222b abuts against the peripheral side of the pallet 1. The vision inspection mechanism 3 detects the position of the pallet 1. If the pallet 1 is accurately positioned, the robotic arm transfers the pallet 1 to the conveyor line, and the driver 23 drives the first gripper 22a and the second gripper 22b to open, placing the pallet 1 on the conveyor line.

[0059] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A pallet gripper assembly, characterized in that, include, The tray has a positioning groove on its peripheral side, and a first arc surface is provided in the positioning groove; The gripper mechanism includes a first gripper, a second gripper, and a driver for driving the first gripper and the second gripper to move closer or further apart from each other. The first gripper and the second gripper are disposed on opposite sides of the tray. Both the first gripper and the second gripper are rotatably provided with a rotating member. The rotating member is disposed directly opposite the positioning groove along the moving direction of the first gripper, and the peripheral side of the rotating member is provided with a second arc surface, which matches the first arc surface.

2. A pallet gripper assembly according to claim 1, characterized in that, The first arc surface is set as a circular arc surface, and the rotating component is set as a cylinder that rotates around its center line. The first arc surface matches the peripheral surface of the cylinder, and the center line of the cylinder is parallel to the center line of the circular arc surface.

3. A pallet gripper assembly according to claim 1, characterized in that, The centerline of the rotating component extends in the vertical direction.

4. A pallet gripper assembly according to claim 1, characterized in that, The rotating component is configured as a ball bearing, and the inner rings of the ball bearings located on both sides of the tray are respectively connected to the first clamp and the second clamp.

5. A pallet gripper assembly according to claim 1, characterized in that, It also includes a mounting plate, on which the driver is disposed, and the first gripper and the second gripper are slidably connected to the mounting plate.

6. A pallet gripper assembly according to claim 5, characterized in that, The gripper mechanism further includes a first arm and a second arm, which are distributed on opposite sides of the tray. Both the first arm and the second arm are slidably connected to the mounting plate. The first arm is provided with a plurality of first grippers, and the second arm is provided with a plurality of second grippers.

7. A pallet gripper assembly according to claim 6, characterized in that, Both the first arm and the second arm have clearance openings in the middle.

8. A pallet gripper assembly according to claim 1, characterized in that, Both the first gripper and the second gripper include a clamping portion and a supporting portion connected to the clamping portion. The clamping portion abuts against the peripheral side of the tray, and the supporting portion abuts against the bottom surface of the tray. The supporting portion is disposed on both sides of the rotating member.

9. A pallet gripper assembly according to claim 8, characterized in that, The clamping part is provided with a mounting groove, the rotating member is disposed in the mounting groove, and the rotating member protrudes from the mounting groove.

10. A pallet gripper assembly according to claim 1, characterized in that, The tray is provided with a limiting part, which is located above the positioning groove.

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