Dual-purpose clamp jaw

Abstract

The utility model discloses a dual -purpose clamp jaw, the dual -purpose clamp jaw includes handling arm, fixed frame, and pallet clamp jaw and closestool clamp jaw, the pallet clamp jaw includes two first air cylinders, swing seat, rotation axis, bearing and clamping arm, two first air cylinders are used for driving corresponding clamping arm's end to hold pallet, the closestool clamp jaw includes two second air cylinders, moving plate, clamping hand riser and support arm, two second air cylinders are used for driving corresponding support arm to be close to each other or each other away. When the inner chamber of closestool is held when two support arms are opened by the second air cylinder drive, it is applicable to various closestools, and then when the corresponding clamping arm is unfolded, shrinks and holds pallet, makes the dual -purpose clamp jaw not only be applicable to the handling of closestool, but also can be used for the handling of pallet, and it is favorable to reduce the quantity of mechanical hand, reduces the cost of production line.

Description

Technical Field

[0001] This utility model relates to the field of sanitary ware production equipment, and in particular to a dual-purpose gripper. Background Technology

[0002] The automation level of production lines for both ordinary and smart toilets is increasing. Toilets can be moved from pallets to the toilet transport line by robotic arms and clamps, and then transported to the next process. After the toilets are moved, the pallets placed on the workshop floor need to be collected to facilitate the transfer of the next batch of toilets. The current practice is to equip the system with a robotic arm with a toilet moving mechanism and a robotic arm with a pallet moving mechanism. This approach makes the cost of the entire handling system relatively high.

[0003] It is evident that existing technologies still need improvement and enhancement. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a dual-purpose gripper that can be used to move both toilets and pallets.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A dual-purpose gripper includes a handling arm for connection to a robotic arm, a fixed frame fixedly connected to the handling arm, and a pallet gripper and a toilet gripper mounted on the fixed frame. The pallet gripper includes two first cylinders mounted on the fixed frame with their output ends facing each other, a swing seat rotatably connected to the output ends of the corresponding first cylinders, a rotating shaft fixedly connected to the end of the swing seat, a bearing mounted on the fixed frame, and gripping arms fixedly connected to both ends of the rotating shaft. The end of the rotating shaft is rotatably connected to the corresponding bearing. The two first cylinders are used to drive the ends of the corresponding gripping arms to grip the pallet. The toilet gripper includes two second cylinders mounted on the fixed frame with their output ends facing each other, a movable plate fixedly connected to the output ends of the corresponding second cylinders, a gripping stand fixedly connected to the movable plate, and a support arm connected to the gripping stand and used to extend into the toilet cavity. The two second cylinders are used to drive the corresponding support arms to move closer to or further away from each other.

[0007] The dual-purpose gripper has a hook at the end of the gripper arm for hooking onto a pallet; and the inner wall of the hook has a buffer layer.

[0008] The dual-purpose gripper has an n-shaped protective cover on one side of the fixing frame, and a visual recognition camera is installed inside the n-shaped protective cover. The visual recognition camera is used to take pictures and recognize the toilet on the pallet.

[0009] The dual-purpose gripper includes a slider connecting plate between the movable plate and the gripper upright plate. The upper surface of the slider connecting plate is provided with a transverse slider, and the lower surface of the fixed frame is provided with a transversely extending transverse slide rail. The transverse slider is slidably mounted on the corresponding transverse slide rail.

[0010] The dual-purpose gripper includes a vertically extending gear shaft on the lower surface of the fixing frame, a rotating gear rotatably connected to the lower part of the gear shaft; a slider rack on the lower surface of the slider connecting plate, the slider rack meshing with the rotating gear; and the slider rack fixedly connected to the gripper upright plate.

[0011] The dual-purpose gripper includes two arms, each comprising a trigger portion and an extension portion fixedly connected to and located below the trigger portion; two gripper plates each comprising a vertically extending vertical plate and a horizontally extending horizontal plate connected to the lower part of the vertical plate; the horizontal plate has a clearance hole for the extension portion to pass through, the size of the clearance hole being smaller than the size of the trigger portion, and the lower surface of the trigger portion being used to contact the upper surface of the horizontal plate; the sidewall of the extension portion is provided with a sensing plate, and the horizontal plate is provided with a switch for sensing the sensing plate; the inner sidewall of each of the two vertical plates is provided with a vertically extending vertical guide rail, and the outer sidewall of each of the two trigger portions is provided with a vertical slider, the vertical slider being slidably mounted on the corresponding vertical guide rail.

[0012] The dual-purpose gripper has a buffer block on the outer side wall of each support arm, which is used to abut against the inner wall of the toilet.

[0013] The dual-purpose gripper includes two pressing mechanisms on the fixed frame, with two second cylinders located between the two pressing mechanisms. Each pressing mechanism includes a third cylinder with its cylinder body mounted on the fixed frame and its output end facing downwards, and a pressing plate fixedly connected to the output end of the third cylinder. The pressing plate is used to abut against the toilet seat of the toilet.

[0014] The dual-purpose gripper includes guide sleeves on both sides of the third cylinder, a guide rod slidably disposed in the guide sleeve, and the lower end of the guide rod being fixedly connected to the lower pressure plate; and a buffer strip is provided on the lower surface of the lower pressure plate, the buffer strip being used to abut against the toilet seat.

[0015] Beneficial effects:

[0016] This utility model provides a dual-purpose gripper. The dual-purpose gripper uses a second cylinder to drive two support arms to open and clamp the inner cavity of the toilet, which is suitable for various toilets. Then, it uses a first cylinder to drive the corresponding gripping arms to open and retract and clamp the pallet. This makes the dual-purpose gripper not only suitable for transporting toilets, but also for transporting pallets, which helps to reduce the number of robotic arms and reduce the cost of the production line. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the dual-purpose gripper and pallet.

[0018] Figure 2 This is a schematic diagram of a dual-purpose gripper and a toilet.

[0019] Figure 3 This is a schematic diagram of the toilet gripper and the pressing mechanism.

[0020] Figure 4 Cross-section of toilet gripper Figure 1 .

[0021] Figure 5 Cross-section of toilet gripper Figure 2 .

[0022] Figure 6 This is a schematic diagram of a toilet delivery system.

[0023] Explanation of key component symbols:

[0024] 1-Transporting arm, 2-Fixed frame, 3-Pallet gripper, 31-First cylinder, 32-Swing seat, 33-Rotating shaft, 34-Bearing, 35-Grip arm, 36-Hook, 37-Buffer layer, 4-Toilet gripper, 41-Second cylinder, 42-Moving plate, 43-Slider connecting plate, 44-Horizontal slider, 45-Horizontal slide rail, 46-Hand gripper upright plate, 461-Vertical plate, 462-Horizontal plate, 463-Switch, 464-Vertical guide rail, 465-Vertical slider, 4 7-Support arm, 471-Trigger part, 472-Extension part, 473-Sensing plate, 474-Buffer block, 51-Gear shaft, 52-Rotating gear, 53-Slider rack, 61-N-type protective cover, 62-Visual recognition camera, 7-Pressing mechanism, 71-Third cylinder, 72-Pressing plate, 73-Buffer strip, 74-Guide sleeve, 75-Guide rod; 10-Transverse transport line, 20-Robotic arm, 30-Toilet transport line, 40-Platform, 50-Toilet. Detailed Implementation

[0025] This utility model provides a dual-purpose gripper. To make the purpose, technical solution, and effects of this utility model clearer and more explicit, the following describes this utility model in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit the scope of protection of this utility model.

[0026] Please see Figures 1-5 This utility model provides a dual-purpose gripper, including a handling arm 1 for connection with a robotic arm 20, a fixed frame 2 fixedly connected to the handling arm 1, and a pallet gripper 3 and a toilet gripper 4 disposed on the fixed frame 2; the pallet gripper 3 includes two first cylinders 31 disposed on the fixed frame 2 with their output ends facing each other, a swing seat 32 rotatably connected to the output ends of the corresponding first cylinders 31, a rotating shaft 33 fixedly connected to the end of the swing seat 32, a bearing 34 disposed on the fixed frame 2, and gripping arms 35 fixedly connected to both ends of the rotating shaft 33; the rotating shaft The end of 33 is rotatably connected to the corresponding bearing 34; the two first cylinders 31 are used to drive the end of the corresponding clamping arm 35 to clamp the pallet 40; the toilet gripper 4 includes two second cylinders 41 disposed on the fixed frame 2 and with their output ends facing each other, a movable plate 42 fixedly connected to the output end of the corresponding second cylinder 41, a gripping upright plate 46 fixedly connected to the movable plate 42, and a support arm 47 connected to the gripping upright plate 46 and used to extend into the inner cavity of the toilet 50; the two second cylinders 41 are used to drive the corresponding support arm 47 to move closer to each other or further away from each other.

[0027] In practical applications, when it is necessary to move the toilet 50 from the pallet 40 to the toilet transport line 30, the robotic arm 20 moves the dual-purpose gripper to the designated position of the toilet 50 to be transported (at this time, the support arm 47 is inserted into the inner cavity of the toilet 50). Then, the second cylinder 41 operates, driving the moving plate 42, the gripper upright plate 46, and the support arm 47 to move together, and causing the two support arms 47 to open synchronously. The two support arms 47 abut against the inner wall of the toilet 50, thereby achieving the gripping of the toilet 50. The robotic arm 20 is activated again to lift the dual-purpose gripper and the toilet 50 and move it onto the toilet transport line 30. When it is necessary to collect the pallet 40 after it has been transported, the robotic arm 20 moves the dual-purpose gripper to a position above the pallet 40 to be transported. The output end of the first cylinder 31 retracts, causing one end of the swing seat 32 to swing towards the first cylinder 31. This causes the rotating shaft 33 to rotate around the bearing 34, while simultaneously causing the gripper arm 35 to swing outward and extend, positioning the gripper arm 35 on the outside of the pallet 40. Subsequently, the output end of the first cylinder 31 extends, causing the gripper arm 35 to retract towards the pallet 40, thereby clamping the pallet 40. The robotic arm 20 then restarts, lifting the dual-purpose gripper and the pallet 40 and transporting them to the designated position in the workshop.

[0028] In the aforementioned dual-purpose gripper, the second cylinder 41 drives the two support arms 47 to open and grip the inner cavity of the toilet 50, which is suitable for various types of toilets 50; then, the first cylinder 31 drives the corresponding gripping arm 35 to open and retract and grip the pallet 40, so that the dual-purpose gripper is not only suitable for the handling of toilets 50, but also for the handling of pallets 40, which helps to reduce the number of robotic arms 20 and reduce the cost of the production line.

[0029] Please see Figure 1 and Figure 2 In some embodiments, the end of the clamping arm 35 is provided with a hook 36, which is used to hook the pallet 40; and the inner wall surface of the hook 36 is provided with a buffer layer 37. When clamping the pallet 40, the hook 36 is engaged with the hole in the pallet 40 to hook the pallet 40, thereby increasing the clamping force of the clamping arm 35 on the pallet 40 and ensuring that the pallet 40 will not fall off during transportation. The buffer layer 37 can be used to protect the clamping surface of the pallet 40.

[0030] Please see Figure 1 and Figure 2 In some embodiments, an n-shaped protective cover 61 is provided on one side of the fixing frame 2. A visual recognition camera 62 is installed inside the n-shaped protective cover 61. The visual recognition camera 62 is used to photograph and identify the toilets 50 on the pallet 40. Before the toilets 50 on the pallet 40 need to be moved, the visual recognition camera 62 photographs multiple toilets 50 on the pallet 40 to identify the type and position of the toilets 50, ensuring that the robotic arm 20 can accurately move the dual-purpose gripper into the inner cavity of the toilet 50. After the dual-purpose gripper has finished gripping the toilet 50, different types of toilets 50 can be transported to the corresponding toilet transport line 30 to achieve rapid classification of different types of toilets 50. The n-shaped protective cover 61 is used to protect the high-precision visual recognition camera 62 to prevent it from colliding with other components.

[0031] Please see Figure 4 and Figure 5 In some embodiments, a slider connecting plate 43 is further provided between the movable plate 42 and the gripper upright plate 46. A transverse slider 44 is provided on the upper surface of the slider connecting plate 43, and a transversely extending transverse slide rail 45 is provided on the lower surface of the fixing frame 2. The transverse slider 44 is slidably mounted on the corresponding transverse slide rail 45. When the gripper upright plate 46 and the support arm 47 move laterally and reciprocally, the transverse slider 44 and the transverse slide rail 45 are used to improve the stability of the support arm 47's movement.

[0032] Please see Figure 4In some embodiments, the lower surface of the fixing frame 2 is provided with a vertically extending gear shaft 51, and the lower part of the gear shaft 51 is provided with a rotating gear 52 rotatably connected thereto; the lower surface of the slider connecting plate 43 is provided with a slider rack 53, which meshes with the rotating gear 52; the slider rack 53 is fixedly connected to the gripper upright plate 46. In this embodiment, when the second cylinder 41 operates, the slider rack 53 meshing with the rotating gear 52 is used to improve the linkage between the two support arms 47, thereby improving the synchronization rate when the support arms 47 open or close.

[0033] Please see Figure 4 and Figure 5 In some embodiments, both of the support arms 47 include a trigger portion 471 and an extension portion 472 fixedly connected to the trigger portion 471 and located below the trigger portion 471; both of the gripper uprights 46 include a vertically extending vertical plate 461 and a horizontally extending horizontal plate 462 connected to the lower part of the vertical plate 461; the horizontal plate 462 has a clearance hole for the extension portion 472 to pass through, the size of the clearance hole being smaller than the size of the trigger portion 471. The lower surface of the trigger part 471 is used to contact the upper surface of the horizontal plate 462; the side wall of the extension part 472 is provided with a sensing plate 473, and the horizontal plate 462 is provided with a switch 463 for sensing the sensing plate 473; the inner side walls of the two vertical plates 461 are provided with vertically extending vertical guide rails 464, and the outer side walls of the two trigger parts 471 are provided with vertical sliders 465, which are slidably disposed on the corresponding vertical guide rails 464. Under the action of gravity, the support arm 47 is initially located at the lowest point. By limiting the dimensions of the clearance hole, the extension part 472, and the trigger part 471, the trigger part 471 is made to be locked in the clearance hole. Next, as the gripper plate 46 and the support arm 47 continue to extend into the inner cavity of the toilet 50, the bottom end of the support arm 47 will contact the toilet 50, causing the support arm 47 to rise continuously relative to the gripper plate 46 under the guidance of the vertical guide rail 464 and the vertical slider 465 (in reality, the support arm 47 remains stationary while the gripper plate 46 descends) until the switch 463 senses the sensor plate 473, indicating that the support arm 47 has moved into place. The signal transmission drives the second cylinder 41 to operate, causing the two support arms 47 to open outward.

[0034] Please see Figure 4 and Figure 5 In some embodiments, the outer side wall of the support arm 47 is provided with a buffer block 474, which is used to abut against the inner wall of the toilet 50. The buffer block 474 is soft and can be used to directly contact the inner wall of the toilet 50 to avoid damage to the wall of the toilet 50 caused by hard impact, resulting in the production of defective products.

[0035] Please see Figure 3 In some embodiments, the fixed frame 2 is further provided with two pressing mechanisms 7, and two second cylinders 41 are located between the two pressing mechanisms 7. Each of the two pressing mechanisms 7 includes a third cylinder 71 with its cylinder body disposed on the fixed frame 2 and its output end facing downward, and a pressing plate 72 fixedly connected to the output end of the third cylinder 71. The pressing plate 72 is used to abut against the toilet seat of the toilet 50. Generally, the center of gravity of the toilet 50 is located on the rear side (away from the toilet seat side). If only the support arm 47 is used to spread it out, when the robotic arm 20 lifts the dual-purpose gripper and the toilet 50, the toilet 50 may tilt backward due to the shift in the center of gravity. Therefore, two pressing mechanisms 7 are provided on the outside of the second cylinder 41 to provide downward pressure to the toilet seat side of the toilet 50 to alleviate the tilting problem of the toilet 50 during the lifting and transportation process caused by the shift in the center of gravity of the toilet 50. Specifically, after the support arm 47 completes its opening action, the output end of the third cylinder 71 extends, causing the lower pressure plate 72 to descend and come into contact with the toilet seat of the toilet 50. Then, the robotic arm 20 lifts the dual-purpose gripper and the toilet 50.

[0036] Please see Figure 3 In some embodiments, guide sleeves 74 are respectively provided on both sides of the third cylinder 71, and guide rods 75 are slidably disposed in the guide sleeves 74. The lower end of the guide rods 75 is fixedly connected to the lower pressure plate 72. A buffer strip 73 is provided on the lower surface of the lower pressure plate 72, and the buffer strip 73 is used to abut against the toilet surface of the toilet 50. The guide sleeves 74 and guide rods 75 are used to improve the smoothness of the movement of the lower pressure plate 72 when it rises or falls. Similarly, the buffer strip 73 is soft to prevent the hard lower pressure plate 72 from directly colliding with the toilet surface.

[0037] Please see Figure 6This utility model also provides a toilet handling system, including a transverse transport line 10, a robotic arm 20 movably mounted on the transverse transport line 10, a dual-purpose gripper mounted on the robotic arm 20, multiple pallet placement stations located beside the transverse transport line 10, and a toilet transport line 30 located downstream of the transverse transport line 10 (only one toilet transport line 30 is shown in the schematic diagram). Pallets 40 are placed on each of the multiple pallet placement stations, and multiple toilets 50 are placed on each pallet 40. The robotic arm 20 first moves to a position above the pallet 40 via the transverse transport line 10, and uses a visual recognition camera 62 to identify the position and type of the toilets 50 on the pallet 40. Then, the second cylinder 41 on the dual-purpose gripper starts operating, transferring the toilets 50 from the pallet 40 to the corresponding toilet transport line 30 one by one. After all the toilets 50 on the pallets 40 have been moved, the first cylinder 31 on the dual-purpose gripper starts to operate, moving the pallets 40 one by one to the set position until all the pallets 40 have been moved.

[0038] In summary, the dual-purpose gripper provided by this utility model uses the second cylinder 41 to drive the two support arms 47 to open and clamp the inner cavity of the toilet 50, which is suitable for various toilets 50; and uses the first cylinder 31 to drive the corresponding gripping arm 35 to open and retract and clamp the pallet 40. This makes the dual-purpose gripper not only suitable for the handling of toilets 50, but also for the handling of pallets 40, which helps to reduce the number of robotic arms 20 and reduce the cost of the production line.

[0039] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the 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 utility model and simplifying the description, and are not intended to 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 utility model.

[0040] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] It is understood that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of this utility model, and all such substitutions or changes should fall within the protection scope of this utility model.

Claims

1. A dual-purpose gripper, characterized in that, The device includes a handling arm for connection to a robotic arm, a fixed frame for fixed connection to the handling arm, and pallet grippers and toilet grippers mounted on the fixed frame. The pallet grippers include two first cylinders mounted on the fixed frame with their output ends facing each other, a swing seat rotatably connected to the output ends of the corresponding first cylinders, a rotating shaft fixedly connected to the end of the swing seat, a bearing mounted on the fixed frame, and gripping arms fixedly connected to both ends of the rotating shaft. The end of the rotating shaft is rotatably connected to the corresponding bearing. The two first cylinders are used to drive the ends of the corresponding gripping arms to grip the pallet. The toilet grippers include two second cylinders mounted on the fixed frame with their output ends facing each other, a movable plate fixedly connected to the output ends of the corresponding second cylinders, a gripping stand fixedly connected to the movable plate, and a support arm connected to the gripping stand and used to extend into the toilet cavity. The two second cylinders are used to drive the corresponding support arms to move closer or further apart.

2. The dual-purpose gripper according to claim 1, characterized in that, The end of the clamping arm is provided with a hook, which is used to hook the pallet; and the inner wall of the hook is provided with a buffer layer.

3. The dual-purpose gripper according to claim 1, characterized in that, An n-shaped protective cover is provided on one side of the fixed frame, and a visual recognition camera is installed inside the n-shaped protective cover. The visual recognition camera is used to take pictures and identify the toilet on the pallet.

4. The dual-purpose gripper according to claim 1, characterized in that, A slider connecting plate is also provided between the movable plate and the clamping upright plate. A transverse slider is provided on the upper surface of the slider connecting plate, and a transversely extending transverse slide rail is provided on the lower surface of the fixed frame. The transverse slider is slidably disposed on the corresponding transverse slide rail.

5. The dual-purpose gripper according to claim 4, characterized in that, The lower surface of the fixed frame is provided with a vertically extending gear shaft, and the lower part of the gear shaft is provided with a rotating gear rotatably connected to it; the lower surface of the slider connecting plate is provided with a slider rack, which meshes with the rotating gear; the slider rack is fixedly connected to the clamping upright plate.

6. The dual-purpose gripper according to claim 1, characterized in that, Both of the support arms include a trigger portion and an extension portion fixedly connected to the trigger portion and located below the trigger portion; both of the gripper uprights include a vertically extending vertical plate and a horizontal plate connected to the lower part of the vertical plate and extending laterally; the horizontal plate has a clearance hole for the extension portion to pass through, the size of the clearance hole is smaller than the size of the trigger portion, and the lower surface of the trigger portion is used to contact the upper surface of the horizontal plate; the side wall of the extension portion is provided with a sensing plate, and the horizontal plate is provided with a switch for sensing the sensing plate; the inner side wall of both vertical plates is provided with a vertically extending vertical guide rail, and the outer side wall of both trigger portions is provided with a vertical slider, the vertical slider being slidably disposed on the corresponding vertical guide rail.

7. The dual-purpose gripper according to claim 1, characterized in that, Each of the outer walls of the support arm is provided with a buffer block, which is used to abut against the inner wall of the toilet.

8. The dual-purpose gripper according to claim 1, characterized in that, The fixed frame is also provided with two pressing mechanisms, and two second cylinders are located between the two pressing mechanisms; each of the two pressing mechanisms includes a third cylinder with its cylinder body set on the fixed frame and its output end facing downward, and a pressing plate fixedly connected to the output end of the third cylinder; the pressing plate is used to abut against the toilet seat of the toilet.

9. The dual-purpose gripper according to claim 8, characterized in that, Guide sleeves are provided on both sides of the third cylinder, and guide rods are slidably arranged in the guide sleeves. The lower end of the guide rods is fixedly connected to the lower pressure plate. A buffer strip is provided on the lower surface of the lower pressure plate, and the buffer strip is used to abut against the toilet seat.

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