Gripper, robot hand and machining device

Abstract

The application relates to the technical field of automatic grabbing devices, and particularly discloses a hand claw, a mechanical hand and a machining device. The hand claw comprises a base, a driving piece, a sliding block, a sliding rail, a supporting seat, a pressing assembly and the like. The driving piece comprises a body arranged on one side of the base and an output shaft in driving connection with the body. The sliding block is arranged on the other side of the base. The sliding rail is in sliding connection with the sliding block and is arranged in parallel with the output shaft. The supporting seat comprises a connecting piece and a supporting piece. The connecting piece is connected with the output shaft and the sliding rail respectively. The supporting piece is connected with the side of the connecting piece away from the output shaft and the sliding rail. The pressing assembly comprises a power piece and a pressing piece. The power piece is arranged on the side of the connecting piece away from the supporting piece. The pressing piece is connected with the power piece. The pressing piece is arranged opposite to the supporting piece. The hand claw can be adapted to a transfer combination, the feeding and discharging efficiency is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] This application relates to the field of automated gripping device technology, specifically to a gripper, a robotic arm, and processing equipment. Background Technology

[0002] During product manufacturing, foam is typically used for surface protection during transport and storage. To further save space, foam and the product are usually stacked in an alternating pattern, providing both protection and space efficiency. Before further processing, the assembly formed by the foam and product stacks needs to be transported. Currently, due to the lack of suitable automated gripping devices, manual transport is commonly used. However, manual transport suffers from high labor intensity and low loading / unloading efficiency. Utility Model Content

[0003] In view of the above, it is necessary to propose a gripper, a robotic arm, and processing equipment, so that the gripper can be adapted to the transfer assembly, improve loading and unloading efficiency, and reduce labor intensity.

[0004] This application provides a gripper, comprising: a base; a driving member, including a body disposed on one side of the base and an output shaft drivenly connected to the body; a slider disposed on the other side of the base; a slide rail slidably connected to the slider and disposed parallel to the output shaft; a support base, including a connector and a support member, the connector being connected to the output shaft and the slide rail respectively, and the support member being connected to the side of the connector opposite to the output shaft and the slide rail; and a clamping assembly, including a power member and a clamping member, the power member being disposed on the side of the connector opposite to the support member, the clamping member being connected to the power member, and the clamping member being disposed opposite to the support member.

[0005] In some embodiments, the gripper further includes a diagonal brace, which includes a first connecting portion, a second connecting portion, and a support portion. The first connecting portion is connected to the slide rail, the second connecting portion is connected to the connector and is adjacent to the support member, and the two ends of the support portion are respectively connected to the first connecting portion and the second connecting portion. The support portion is inclined relative to the slide rail.

[0006] In some embodiments, the support further includes a plurality of reinforcing members, which are spaced apart and each reinforcing member is connected between the connector and the support.

[0007] In some embodiments, the support further includes two first folded edges and two second folded edges, the two first folded edges being spaced apart on opposite sides of the connector, and the two second folded edges being spaced apart on opposite sides of the support.

[0008] In some embodiments, the gripper further includes a buffer seat, a first buffer, and a second buffer. The buffer seat is connected to the end of the slide rail opposite to the connector. The first buffer is disposed on the base and on the side of the buffer seat opposite to the connector. The second buffer is disposed on the base and on the side of the buffer seat facing the connector.

[0009] In some embodiments, the gripper further includes a connecting seat, one side of which is connected to the output shaft and the slide rail respectively, and the other side of which is connected to the connector.

[0010] In some embodiments, at least one of the connector, the support member, and the clamping member is provided with a plurality of weight-reducing holes.

[0011] In some embodiments, the gripper further includes a sensor disposed on the connector and adjacent to the clamping assembly.

[0012] In use, the gripper is connected to an external robotic arm via a base. The external robotic arm moves the gripper to a position corresponding to the assembly to be loaded or unloaded. The drive unit drives the output shaft to move, which in turn moves the slide rail and the support, causing the support member of the support to insert into the bottom of the assembly. After the support member is inserted into the bottom of the assembly, the power component of the clamping assembly drives the clamping member to move toward the support member, pressing the clamping member against the assembly. This allows the clamping member, connecting member, and support member to work together to clamp the assembly. After the gripper clamps the assembly, the external robotic arm moves the gripper and the assembly, and during the movement, it rotates the gripper and the assembly so that the clamping member faces down and the support member faces up. After the gripper and the assembly rotate, the external robotic arm moves the rotated gripper and the assembly to the loading / unloading position. The power component drives the clamping member to move away from the support member, causing the clamping member to release the assembly, allowing the external robotic arm to move the gripper away from the assembly, thus realizing the loading and unloading of the assembly. Understandably, in other embodiments, the external robotic arm may move the gripper and assembly without causing them to flip, and this can be set according to the actual loading and unloading requirements.

[0013] The gripper provided in this application embodiment, through the coordinated cooperation of the base, drive component, slider, slide rail, support seat and clamping assembly, enables the gripper to adapt to the transfer assembly, which is beneficial to improve the loading and unloading efficiency of the assembly and reduce the labor intensity of manual labor.

[0014] This application also provides a robotic hand, including a robotic arm and a gripper as described in any of the above technical solutions, wherein the base of the gripper is connected to the robotic arm.

[0015] The aforementioned robotic arm has grippers that can be adapted to the transfer assembly, which helps to improve the loading and unloading efficiency of the assembly and reduce the labor intensity of manual labor.

[0016] This application embodiment also provides a processing device, including: a robotic arm as described in the above technical solution; a movable storage mechanism for storing an assembly; a processing production line disposed adjacent to the robotic arm for disassembling the assembly into a product and a protective component, processing the product, assembling the protective component and the processed product; and a buffer mechanism disposed between the robotic arm and the processing production line for buffering the assembly between the movable storage mechanism and the processing production line.

[0017] The aforementioned processing equipment has a robotic arm whose grippers can be adapted to transport assemblies, which helps to improve the loading and unloading efficiency of the assemblies and reduce the labor intensity of manual labor. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the hand claw provided in an embodiment of this application.

[0019] Figure 2 yes Figure 1 An exploded view of the hand claw from another perspective.

[0020] Figure 3 This is a schematic diagram of the structure of the robotic arm and the assembly provided in the embodiments of this application.

[0021] Figure 4 This is a schematic diagram of the processing equipment and assembly provided in the embodiments of this application.

[0022] Explanation of main component symbols: Processing equipment 1, robotic arm 1000, gripper 100, base 10, base body 11, intermediate body 12, fixed body 13, first reinforcing body 14, second reinforcing body 15, driving component 20, body 21, output shaft 22, slider 30, slide rail 40, support seat 50, connector 51, support component 52, reinforcing component 53, first folded edge 54, second folded edge 55, weight reduction hole 56, clamping assembly 60, power component 61, clamping component 62, diagonal brace 70, first connecting part 71, second connecting part 72, support part 73, buffer seat 80, first buffer 81, second buffer 82, connecting seat 90, sensor 95, robotic arm 200, movable storage mechanism 2000, buffer mechanism 3000, assembly 2. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0027] Please see Figure 1 This application provides a gripper 100. The gripper 100 is used to adapt to the transport of stacked assemblies 2 (see [link to application]). Figure 3 The assembly 2 consists of protective components (not shown) and products (not shown) stacked and interleaved in sequence. The protective components can be foam. Understandably, the assembly 2 can also be a single-piece object, and the gripper 100 can also be adapted to transport other types of assemblies 2. This application embodiment does not specifically limit this.

[0028] Please refer to the above. Figure 2 The gripper 100 includes a base 10, a drive unit 20, a slider 30, a slide rail 40, a support 50, and a clamping assembly 60. The base 10 is used to mount the drive unit 20, the slider 30, and the slide rail 40. The base 10 is also used to connect with an external robotic arm 200 (see [link to documentation]). Figure 3 )connect.

[0029] The driving component 20 includes a body 21 disposed on one side of the base 10 and an output shaft 22 drivenly connected to the body 21. The driving component 20 can be a pen-shaped cylinder. The slider 30 is disposed on the other side of the base 10. In this embodiment, the slider 30 and the driving component 20 are respectively disposed on opposite sides of the base 10. It is understood that in other embodiments, the slider 30 and the driving component 20 can also be respectively disposed on adjacent sides of the base 10. The slide rail 40 is slidably connected to the slider 30 and is disposed parallel to the output shaft 22. In this embodiment, the slider 30 can be a six-axis slide. It is understood that in other embodiments, the slider 30 can also be a ball bearing slide.

[0030] The support 50 includes a connector 51 and a support member 52. The connector 51 is spaced apart from the base 10 and is connected to the output shaft 22 and the slide rail 40 respectively. The support member 52 is connected to the side of the connector 51 opposite to the output shaft 22 and the slide rail 40. In this embodiment, the support member 52 is vertically connected to the connector 51, so that the support 50 is approximately L-shaped. It can be understood that the vertical connection here can be understood as vertical, approximately vertical, or close to vertical, and this embodiment does not specifically limit it in this way.

[0031] The clamping assembly 60 includes a power component 61 and a clamping component 62. The power component 61 is disposed on the side of the connecting member 51 opposite to the support member 52, and the clamping component 62 is connected to the power component 61 and is disposed opposite to the support member 52. In this embodiment, the power component 61 can be a linear cylinder, and the clamping component 62 is generally a flat plate structure. Understandably, in other embodiments, the clamping component 62 can also be an L-shaped structure.

[0032] In this embodiment, the gripper 100 is connected to an external robotic arm 200 via a base 10 during use. The external robotic arm 200 moves the gripper 100 to a position corresponding to the assembly 2 to be loaded / unloaded. The body 21 of the drive unit 20 drives the output shaft 22 to move, and the output shaft 22 drives the slide rail 40 and the support seat 50 to move, so that the support member 52 of the support seat 50 is inserted into the bottom of the assembly 2. After the support member 52 is inserted into the bottom of the assembly 2, the power member 61 of the clamping assembly 60 drives the clamping member 62 towards... The clamping member 62 moves towards the support member 52, causing the clamping member 62 to press against the assembly 2, thereby enabling the clamping member 62, the connecting member 51, and the support member 52 to cooperate in clamping the assembly 2. After the gripper 100 clamps the assembly 2, the external robotic arm 200 drives the gripper 100 and the assembly 2 to move to the loading / unloading position. The power member 61 drives the clamping member 62 to move away from the support member 52, causing the clamping member 62 to release the assembly 2, so that the external robotic arm 200 can drive the gripper 100 to disengage from the assembly 2, thereby realizing the loading / unloading of the assembly 2.

[0033] Understandably, in other embodiments, during the movement of the external robotic arm 200, the gripper 100 and the assembly 2 can also be rotated, so that the clamping member 62 faces downward and the supporting member 52 faces upward. The specific settings can be made according to the actual loading and unloading requirements.

[0034] In this embodiment, the base 10 includes a base 11, an intermediate body 12, and a fixing body 13 connected in sequence. The driving component 20 and the slider 30 are respectively disposed on opposite sides of the base 11. The fixing body 13 is approximately circular and is used to connect with the external robotic arm 200. The intermediate body 12 is used to reduce the force transmitted from the gripper 100 to the external robotic arm 200. Thus, by setting the specific structure of the base 10, it is convenient to install the driving component 20 and the slider 30, and at the same time, it facilitates the connection of the base 10 with the external robotic arm 200.

[0035] In this embodiment, the base 10 further includes a first reinforcing body 14 and a second reinforcing body 15. The first reinforcing body 14 and the second reinforcing body 15 are respectively disposed on opposite sides of the base 11. Both the first reinforcing body 14 and the second reinforcing body 15 are connected between the base 11 and the intermediate body 12. The first reinforcing body 14 is on the same side as the driving member 20, and the second reinforcing body 15 is on the same side as the slider 30. In this embodiment, the first reinforcing body 14 is L-shaped, and the second reinforcing body 15 is U-shaped. Thus, by providing the aforementioned first reinforcing body 14 and second reinforcing body 15, the connection strength between the intermediate body 12 and the base 11 is improved, thereby increasing the structural strength of the gripper 100.

[0036] In this embodiment, the support 50 also includes a plurality of reinforcing members 53. The reinforcing members 53 are spaced apart, and each reinforcing member 53 is connected between the connector 51 and the support member 52. Each reinforcing member 53 is approximately L-shaped. In this embodiment, there are four reinforcing members 53. Thus, by providing the aforementioned reinforcing members 53, the structural strength of the support 50 is improved, thereby increasing the load-bearing capacity of the support 50.

[0037] In this embodiment, the support 50 further includes two first folded edges 54 and two second folded edges 55. The two first folded edges 54 are spaced apart on opposite sides of the connector 51, and the two second folded edges 55 are spaced apart on opposite sides of the support 52. Thus, by providing the aforementioned first folded edges 54 and second folded edges 55, the structural strength of the connector 51 and the support 52 is improved.

[0038] In this embodiment, the connector 51, the support 52, and the clamping member 62 are all provided with multiple weight-reducing holes 56. Thus, by providing these weight-reducing holes 56, the weight of the support 50 and the clamping member 62 is reduced, facilitating control of the gripper 100's movement. It is understood that in other embodiments, weight-reducing holes 56 may also be provided on one or both of the connector 51, the support 52, and the clamping member 62. This application does not specifically limit this, and the specific configuration can be determined according to actual circumstances.

[0039] To improve the load-bearing capacity of the support 50, in this embodiment, the gripper 100 further includes a diagonal brace 70, which connects the slide rail 40 and the support 50. Specifically, the diagonal brace 70 includes a first connecting portion 71, a second connecting portion 72, and a support portion 73. The first connecting portion 71 is connected to the slide rail 40, the second connecting portion 72 is connected to the connecting member 51 and is adjacent to the support member 52, and the two ends of the support portion 73 are respectively connected to the first connecting portion 71 and the second connecting portion 72. The support portion 73 is inclined relative to the slide rail 40. Thus, by providing the aforementioned diagonal brace 70, the load-bearing capacity of the support 50 is improved.

[0040] To ensure the driving accuracy of the drive component 20 and prevent damage to it, in this embodiment, the gripper 100 further includes a buffer seat 80, a first buffer 81, and a second buffer 82. The buffer seat 80 is connected to the end of the slide rail 40 opposite to the connector 51. The first buffer 81 is disposed on the base 10 and on the side of the buffer seat 80 opposite to the connector 51. The second buffer 82 is disposed on the base 10 and on the side of the buffer seat 80 facing the connector 51. Specifically, the first buffer 81 is disposed on the second reinforcement body 15. There are two second buffers 82, disposed on both sides of the slide rail 40 and on opposite sides of the base 11. Thus, by setting the buffer seat 80, the first buffer 81, and the second buffer 82, the first buffer 81 and the second buffer 82 respectively abut against the buffer seat 80 to limit the slide rail 40, thereby limiting the movement distance of the output shaft 22, thus ensuring the driving accuracy of the drive component 20, and preventing damage to the drive component 20 due to excessive movement.

[0041] In this embodiment, the gripper 100 also includes a connecting seat 90. One side of the connecting seat 90 is connected to the output shaft 22 and the slide rail 40, respectively, and the other side of the connecting seat 90 is connected to the connector 51. Thus, by providing the connecting seat 90, the connector 51 of the support 50 is connected to the output shaft 22 and the slide rail 40 through the connecting seat 90, which helps to improve the connection strength of the gripper 100 and reduces the difficulty of connecting the output shaft 22 and the slide rail 40 to the connector 51.

[0042] In this embodiment, the gripper 100 also includes a sensor 95. The sensor 95 is disposed on the connector 51 and adjacent to the clamping assembly 60. Specifically, the sensor 95 is disposed on one of the first folded edges 54. The sensor 95 can be a distance sensor, an infrared sensor, a proximity switch, etc. Thus, by providing the aforementioned sensor 95, when the gripper 100 approaches the assembly 2, the sensor 95 can sense the assembly 2, thereby preventing the gripper 100 from being idle and improving the accuracy of the gripper 100.

[0043] The gripper 100 provided in this embodiment, through the coordinated cooperation of the base 10, drive component 20, slider 30, slide rail 40, support seat 50, and clamping assembly 60, enables the gripper 100 to adapt to the transfer assembly 2, thereby improving the loading and unloading efficiency of the assembly 2 and reducing the labor intensity of manual labor. The gripper 100 provided in this embodiment further enhances the load-bearing capacity of the support seat 50 through the coordinated cooperation of the diagonal brace 70. The gripper 100 provided in this embodiment further ensures the driving accuracy of the drive component 20 and prevents damage to the drive component 20 through the coordinated cooperation of the buffer seat 80, the first buffer 81, and the second buffer 82. The gripper 100 provided in this embodiment further improves the accuracy of the gripper 100 through the coordinated cooperation of the sensor 95.

[0044] Please see Figure 3 This application also provides a robotic arm 1000. The robotic arm 1000 includes a robotic arm 200 and a gripper 100 as described above, with a base 10 of the gripper 100 connected to the robotic arm 200. Specifically, the fixing body 13 of the base 10 is connected to the robotic arm 200. The robotic arm 1000 of this application embodiment, through the gripper 100, can adapt to the transfer assembly 2, which is beneficial to improving the loading and unloading efficiency of the assembly 2 and reducing the labor intensity of manual labor.

[0045] Please see Figure 4 This application also provides a processing device 1. The processing device 1 includes a robotic arm 1000, a movable storage mechanism 2000, a processing production line (not shown), and a buffer mechanism 4000, as described above. The movable storage mechanism 2000 is used to store the assembly 2. The processing production line is disposed adjacent to the robotic arm 1000 and is used to disassemble the assembly 2 into products and protective components, process the products, assemble the protective components, and process the finished products. The buffer mechanism 4000 is disposed between the robotic arm 1000 and the processing production line, and is used to buffer the assembly 2 between the movable storage mechanism 2000 and the processing production line. The movable storage mechanism 2000 can be a trolley with storage function, the processing production line can be a sandblasting production line, and the buffer mechanism 4000 is generally a frame structure. It is understood that in other embodiments, the processing production line can also be a polishing, grinding, or other production line; this application does not specifically limit this.

[0046] In this embodiment, the processing equipment 1 moves the movable storage mechanism 2000, filled with assemblies 2, to the position corresponding to the robotic arm 1000. The robotic arm 1000 transfers the assemblies 2 from the movable storage mechanism 2000 to the processing production line. The processing production line disassembles, processes, and reassembles the assemblies 2. Specifically, the processing production line first disassembles the assemblies 2 into products and protective components, then processes the products. After the products are processed, the processed products and protective components are stacked alternately. After the processing production line has disassembled, processed, and reassembled the assemblies 2, the robotic arm 1000 transfers the assemblies 2 from the processing production line to the buffer mechanism 4000. After all the assemblies 2 in the movable storage mechanism 2000 have been transferred, the robotic arm 1000 transfers the assemblies 2 from the buffer mechanism 4000 back to the movable storage mechanism 2000 until the movable storage mechanism 2000 is filled again. This process is repeated continuously.

[0047] The processing equipment 1 of this application embodiment can be adapted to the transfer assembly 2 by the gripper 100 of the robotic arm 1000, which is beneficial to improve the loading and unloading efficiency of the assembly 2 and reduce the labor intensity of manual labor.

[0048] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A claw, characterized in that, include: Base; The driving component includes a body disposed on one side of the base and an output shaft that is drivenly connected to the body; A slider is disposed on the other side of the base; A slide rail is slidably connected to the slider and arranged parallel to the output shaft; A support base includes a connector and a support member. The connector is connected to the output shaft and the slide rail respectively, and the support member is connected to the side of the connector opposite to the output shaft and the slide rail. and A clamping assembly includes a power component and a clamping component. The power component is located on the side of the connector opposite to the support component. The clamping component is connected to the power component and is disposed opposite to the support component.

2. The hand claw as described in claim 1, characterized in that, The gripper also includes a diagonal brace, which includes a first connecting part, a second connecting part, and a support part. The first connecting part is connected to the slide rail, the second connecting part is connected to the connector and is adjacent to the support member, and the two ends of the support part are respectively connected to the first connecting part and the second connecting part. The support part is inclined relative to the slide rail.

3. The hand claw as described in claim 1, characterized in that, The support also includes a plurality of reinforcing members, which are spaced apart, and each reinforcing member is connected between the connector and the support.

4. The hand claw as described in claim 3, characterized in that, The support also includes two first folded edges and two second folded edges. The two first folded edges are spaced apart on opposite sides of the connector, and the two second folded edges are spaced apart on opposite sides of the support.

5. The hand claw as described in claim 1, characterized in that, The gripper also includes a buffer seat, a first buffer, and a second buffer. The buffer seat is connected to the end of the slide rail away from the connector. The first buffer is disposed on the base and on the side of the buffer seat away from the connector. The second buffer is disposed on the base and on the side of the buffer seat facing the connector.

6. The hand claw as described in claim 1, characterized in that, The gripper also includes a connecting seat, one side of which is connected to the output shaft and the slide rail respectively, and the other side of which is connected to the connector.

7. The hand claw as described in claim 1, characterized in that, At least one of the connector, the support member, and the clamping member is provided with a plurality of weight-reducing holes.

8. The hand claw as described in claim 1, characterized in that, The gripper also includes a sensor disposed on the connector and adjacent to the clamping assembly.

9. A robotic arm, characterized in that, It includes a robotic arm and a gripper as described in any one of claims 1 to 8, wherein the base of the gripper is connected to the robotic arm.

10. A processing device, characterized in that, include: The robotic arm as described in claim 9; Mobile storage facilities for storing combined units; A processing production line, located adjacent to the robotic arm, is used to disassemble the assembly into products and protective components, process the products, assemble the protective components and the processed products; and A buffer mechanism, disposed between the robotic arm and the processing production line, is used to buffer the assembly between the movable storage mechanism and the processing production line.

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