A material taking and placing clamp and robot

Abstract

The utility model relates to a kind of taking and placing material clamps and manipulator, wherein, the taking and placing material clamp includes mounting bracket, crossbeam and stringer, crossbeam is movably installed in mounting bracket, can be moved along vertical direction relative to mounting bracket;Stringer has at least two and is spaced apart in crossbeam along lateral direction, at least one stringer located outside is movably installed in crossbeam, can be moved along lateral direction relative to crossbeam to adjust the lateral distance between stringer;At least two suction cups are spaced apart in each stringer along longitudinal direction, at least one suction cup located outside is movably installed in stringer, can be moved along longitudinal direction relative to stringer to adjust the longitudinal distance between suction cup.The utility model provides a kind of taking and placing material clamp, realize the adjustment suction cup's range of grasp, to adapt to different size specifications of the suction piece to be taken, to improve the applicability of taking and placing material clamp.

Description

Technical Field

[0001] This utility model relates to the field of automation technology, and more specifically, to a material handling fixture and a robotic arm. Background Technology

[0002] Suction cup clamps are typically used for gripping flat workpieces. However, existing suction cup clamps have a fixed distance between the suction cups, which is easily limited by the size of the flat workpiece, resulting in low applicability and an inability to meet the gripping requirements of flat workpieces of different sizes. Utility Model Content

[0003] This utility model provides a material handling fixture to solve the technical problem that the existing suction cups have a fixed distance between them, low applicability, and cannot meet the gripping requirements of flat workpieces of different sizes.

[0004] This utility model provides a material handling clamp, including:

[0005] Mounting rack;

[0006] A crossbeam is movably mounted on the mounting frame and is capable of vertical movement relative to the mounting frame;

[0007] The longitudinal beam has at least two longitudinal beams spaced laterally from the crossbeam, with at least one of the outer longitudinal beams movably mounted to the crossbeam and capable of moving laterally relative to the crossbeam to adjust the lateral distance between the longitudinal beams; each longitudinal beam has at least two suction cups spaced longitudinally, with at least one suction cup movably mounted to the longitudinal beam and capable of moving longitudinally relative to the longitudinal beam to adjust the longitudinal distance between the suction cups; wherein the suction cups are used to pick up the object to be picked up.

[0008] Optionally, the crossbeam is provided with a groove, and a screw is pivotally connected in the groove. The screw is driven by a drive component, which drives the screw to rotate. The screw is provided with a first threaded section and a second threaded section with opposite directions of rotation along its axial direction, and the axial direction of the screw is parallel to the transverse direction.

[0009] The longitudinal beam has two beams, and the side wall of one end of the longitudinal beam is engaged with the side wall of the groove. One end of the longitudinal beam is threaded to the first threaded section, and the other end of the longitudinal beam is threaded to the second threaded section. The two longitudinal beams can move along the axial direction of the screw to adjust the lateral spacing between the two longitudinal beams.

[0010] Optionally, the driving component is a handle, which is tractively connected to one end of the screw and located on the outside of the crossbeam;

[0011] Alternatively, the driving component is a motor, which is mounted on the side wall of the crossbeam, and the motor shaft is driven to one end of the screw.

[0012] Optionally, the longitudinal beam is provided with longitudinal adjustment holes;

[0013] The longitudinal adjustment hole is a first strip-shaped hole that extends along the longitudinal direction, and at least one of the suction cups located on the outer side is installed in the first strip-shaped hole; or, the longitudinal adjustment hole is a first circular hole, having multiple first circular holes spaced apart along the longitudinal direction, and the suction cups are installed in the first circular holes; or, the longitudinal adjustment hole includes a first strip-shaped hole and a first circular hole, the first circular hole and the first strip-shaped hole being spaced apart along the longitudinal direction, one of the suction cups being fixed in the first circular hole, and the remaining suction cups being installed in the first strip-shaped hole.

[0014] Optionally, the side wall of the longitudinal beam is threaded with a limiting pin, and the end of the limiting pin can abut against the connection part of the suction cup.

[0015] Optionally, the mounting bracket is provided with vertical adjustment holes, and the crossbeam is provided with vertical connection holes;

[0016] The vertical adjustment hole is a second circular hole, and there are multiple second circular holes spaced apart along the vertical direction. The vertical connecting hole is connected to the second circular hole by a fastener; or, the vertical adjustment hole is a second strip hole, and the length direction of the second strip hole is along the vertical direction. The vertical connecting hole is connected to the second strip hole by a fastener.

[0017] Optionally, the vertical connecting holes are at least two and spaced apart along the lateral direction;

[0018] The second circular hole has at least two sets and is spaced apart along the lateral direction, and each set has multiple second circular holes and is spaced apart along the vertical direction; or, the second strip hole has at least two and is spaced apart along the lateral direction.

[0019] Optionally, the suction cup is equipped with a pressure sensor, which is used to detect the adsorption pressure between the adsorption end of the suction cup and the object to be adsorbed.

[0020] The material handling fixture provided by this utility model has at least the following beneficial technical effects: by setting a longitudinal beam movably mounted on the crossbeam, the longitudinal beam drives the suction cup to move laterally to adjust the lateral distance of the suction cup; and by setting a suction cup movably mounted on the longitudinal beam, the suction cup moves longitudinally to adjust the longitudinal distance of the suction cup, that is, the gripping range of the suction cup can be adjusted to adapt to different sizes and specifications of the parts to be picked up, thereby improving the applicability of the material handling fixture; in addition, compared with the suction cup fixture with fixed spacing in the prior art, it is not necessary to design different material handling fixtures for different sizes and specifications of parts to be picked up, thereby saving costs.

[0021] This utility model also provides a robotic arm, including the aforementioned material handling fixture, wherein the top end of the mounting frame is provided with a flange portion, and the material handling fixture is fixed to the end of the robotic arm through the flange portion.

[0022] The robotic arm provided by this utility model includes the above-mentioned material handling fixture and has all the advantages of material handling fixtures, which will not be repeated here. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the assembly structure of the material handling fixture provided in an embodiment of the present utility model, wherein the X direction is horizontal, the Y direction is vertical, and the Z direction is vertical;

[0024] Figure 2 This is a partial structural diagram of the material handling fixture provided in an embodiment of the present utility model;

[0025] Figure 3 A schematic diagram of the structure of the robotic arm provided in an embodiment of this utility model.

[0026] Explanation of reference numerals in the attached figures:

[0027] 10. Mounting bracket; 101. Vertical adjustment hole; 102. Flange; 20. Crossbeam; 210. Groove; 220. Screw; 221. First threaded section; 222. Second threaded section; 30. Longitudinal beam; 301. Longitudinal adjustment hole; 40. Suction cup; 50. Handle; 501. Connecting rod. Detailed Implementation

[0028] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the following description is provided in conjunction with the appendix. Figure 1-3 Specific embodiments of this utility model will be described in detail.

[0029] In this utility model, the terms "connection" and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure.

[0030] In this utility model, the terms "inner", "outer", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0031] This utility model embodiment provides a material handling clamp, see attached drawing. Figure 1 The material handling fixture includes a mounting frame 10, a crossbeam 20, and longitudinal beams 30. The crossbeam 20 is movably mounted on the mounting frame 10 and can move vertically relative to the mounting frame 10. There are at least two longitudinal beams 30 spaced laterally from the crossbeam 20. At least one of the outer longitudinal beams 30 is movably mounted on the crossbeam 20 and can move laterally relative to the crossbeam 20 to adjust the lateral distance between the longitudinal beams 30. For example, one of the outer longitudinal beams 30 is movably mounted on the crossbeam 20, or for example, two of the outer longitudinal beams 30 are movably mounted on the crossbeam 20. Each longitudinal beam 30 is spaced longitudinally from at least two suction cups 40. At least one suction cup 40 is movably mounted on the outer longitudinal beam 30 and can move longitudinally relative to the longitudinal beam 30 to adjust the longitudinal distance between the suction cups 40. The suction cups 40 are used to pick up the parts to be picked up.

[0032] This utility model provides a material handling fixture that, by setting a longitudinal beam 30 movably mounted on a crossbeam 20, allows the longitudinal beam 30 to drive a suction cup 40 to move laterally to adjust the lateral distance of the suction cup 40; and by setting a suction cup 40 movably mounted on the longitudinal beam 30, allows the suction cup 40 to move longitudinally to adjust the longitudinal distance of the suction cup 40, that is, to adjust the gripping range of the suction cup 40 to accommodate different sizes of parts to be picked up, thereby improving the applicability of the material handling fixture; in addition, compared with the fixed-distance suction cup 40 fixtures in the prior art, it is not necessary to design different material handling fixtures for different sizes of parts to be picked up, thereby saving costs.

[0033] In this embodiment of the utility model, see appendix. Figure 1 and Figure 2The crossbeam 20 is provided with a groove 210, and a screw 220 is pivotally connected in the groove 210. The screw 220 is connected to a driving component, which drives the screw 220 to rotate. The screw 220 is provided with a first threaded section 221 and a second threaded section 222 with opposite directions of rotation along its axial direction. The axial direction of the screw 220 is parallel to the transverse direction. There are two longitudinal beams 30, and the side wall of one end of the longitudinal beam 30 is fitted to the side wall of the groove 210. One end of one longitudinal beam 30 is threaded to the first threaded section 221, and one end of the other longitudinal beam 30 is threaded to the second threaded section 222. The two longitudinal beams 30 can move along the axial direction of the screw 220 to adjust the transverse distance between the two longitudinal beams 30. This configuration allows for simultaneous adjustment of the longitudinal beams 30, enabling them to move closer or further apart to adjust the lateral distance of the suction cups 40 and improve the ease of adjustment. Furthermore, the sidewall of one end of the longitudinal beam 30 engages with the sidewall of the groove 210, and the longitudinal beam 30 is threadedly connected to the screw 220, providing guidance for the lateral movement of the longitudinal beam 30 and enhancing its stability.

[0034] In this embodiment of the invention, the driving component can be manually driven or electrically driven. Specifically, see the appendix for details. Figure 1 and Figure 2 The driving component can be a handle 50, which is connected to one end of the screw 220 and located on the outside of the crossbeam 20. The handle 50 can be directly fixed to the screw 220 or connected to the screw 220 via a connecting rod. Alternatively, the driving component can be a motor, mounted on the side wall of the crossbeam 20, with its motor shaft connected to one end of the screw 220. This configuration allows the screw 220 to rotate, driving the longitudinal beam 30 to move along the axis of the screw 220.

[0035] In this embodiment of the present invention, the longitudinal beam 30 is provided with a longitudinal adjustment hole 301; the type of the longitudinal adjustment hole 301 is not limited, and the specific details are as follows:

[0036] For example, the longitudinal adjustment hole 301 can be a first strip-shaped hole, extending longitudinally, with the connecting part of the suction cup 40 installed in the first strip-shaped hole; or, for another example, the longitudinal adjustment hole 301 can be a first circular hole, having multiple first circular holes spaced apart longitudinally, with the connecting part of the suction cup 40 installed in the first circular hole; or, for yet another example, see Appendix Figure 2The longitudinal adjustment hole 301 may include a first strip-shaped hole and a first circular hole, with the first circular hole and the first strip-shaped hole spaced apart longitudinally. One suction cup 40's connecting portion is fixed to the first circular hole, while the connecting portions of the other suction cups 40 are installed in the first strip-shaped hole. It should be noted that the connecting portion of the suction cup 40 is provided with external threads, and two nuts are threaded onto these threads. One nut is located on the upper surface of the longitudinal adjustment hole 301, and the other is located on the lower surface of the longitudinal adjustment hole 301. The two nuts cooperate to securely install the suction cup 40. This arrangement allows for adjustment of the longitudinal distance of the suction cup 40.

[0037] In this embodiment of the invention, a limiting pin is threadedly connected to the side wall of the longitudinal beam 30, and the end of the limiting pin can abut against the connecting part of the suction cup 40. This arrangement prevents the suction cup 40 from accidentally slipping off.

[0038] In this embodiment of the invention, the mounting bracket 10 is provided with a vertical adjustment hole 101, and the crossbeam 20 is provided with a vertical connecting hole. The type of the vertical adjustment hole 101 is not limited, and specifically includes the following: For example, the vertical adjustment hole 101 can be a second circular hole, with multiple second circular holes spaced vertically, and the vertical connecting hole is connected to the second circular hole by a fastener; another example is that the vertical adjustment hole 101 can be a second strip-shaped hole, with the length of the second strip-shaped hole along the vertical direction, and the vertical connecting hole is connected to the second strip-shaped hole by a fastener. This arrangement allows for adjustment of the distance between the suction cup 40 and the component to be suctioned.

[0039] In this embodiment of the invention, there are at least two vertical connecting holes spaced apart laterally; the vertical connecting holes are second circular holes, and there are at least two sets of second circular holes spaced apart laterally, with multiple second circular holes in each set spaced apart vertically; for example, the vertical adjustment hole 101 is a second strip hole, and there are at least two second strip holes spaced apart laterally. This arrangement prevents the crossbeam 20 from rotating relative to the mounting bracket 10.

[0040] In this embodiment of the invention, the suction cup 40 is equipped with a pressure sensor, which is used to detect the adsorption pressure between the adsorption end of the suction cup 40 and the object to be adsorbed. This configuration ensures stable adsorption of the object and prevents it from accidentally falling off.

[0041] See appendix Figure 3 This utility model embodiment also provides a robotic arm, including the above-mentioned material handling fixture. The top end of the mounting frame 10 is provided with a flange portion 102, and the material handling fixture is fixed to the end of the robotic arm through the flange portion 102.

[0042] The robotic arm provided in this embodiment of the utility model includes the above-mentioned material handling fixture and has all the advantages of material handling fixtures, which will not be repeated here.

[0043] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A material handling clamp, characterized in that, include: Mounting bracket (10); A crossbeam (20) is movably mounted on the mounting frame (10) and is capable of moving vertically relative to the mounting frame (10); The longitudinal beams (30) have at least two longitudinal beams (20) spaced laterally from each other. At least one of the longitudinal beams (30) located on the outer side is movably mounted on the crossbeam (20) and can move relative to the crossbeam (20) along the lateral direction to adjust the lateral distance between the longitudinal beams (30). Each longitudinal beam (30) has at least two suction cups (40) spaced longitudinally from each other. At least one of the suction cups (40) located on the outer side is movably mounted on the longitudinal beam (30) and can move relative to the longitudinal beam (30) along the longitudinal direction to adjust the longitudinal distance between the suction cups (40). The suction cups (40) are used to pick up the object to be picked up.

2. The material handling fixture according to claim 1, characterized in that, The crossbeam (20) is provided with a groove (210), and a screw (220) is pivotally connected in the groove (210). The screw (220) is connected to a driving component, which is used to drive the screw (220) to rotate. The screw (220) is provided with a first threaded section (221) and a second threaded section (222) with opposite directions of rotation along its axial direction. The axial direction of the screw (220) is parallel to the transverse direction. The longitudinal beam (30) has two parts, and the side wall of one end of the longitudinal beam (30) is fitted to the side wall of the groove (210). One end of one longitudinal beam (30) is threaded to the first threaded section (221), and one end of the other longitudinal beam (30) is threaded to the second threaded section (222). The two longitudinal beams (30) can move along the axial direction of the screw (220) to adjust the lateral spacing between the two longitudinal beams (30).

3. The material handling fixture according to claim 2, characterized in that, The driving component is a handle (50), which is connected to one end of the screw (220) and located on the outside of the crossbeam (20); Alternatively, the driving component is a motor, which is mounted on the side wall of the crossbeam (20), and the motor shaft is driven to one end of the screw (220).

4. The material handling fixture according to any one of claims 1-3, characterized in that, The longitudinal beam (30) is provided with longitudinal adjustment holes (301); The longitudinal adjustment hole (301) is a first strip-shaped hole that extends along the longitudinal direction, and the connecting part of the suction cup (40) is installed in the first strip-shaped hole; or, the longitudinal adjustment hole (301) is a first circular hole, having multiple first circular holes spaced apart along the longitudinal direction, and the connecting part of the suction cup (40) is installed in the first circular hole; or, the longitudinal adjustment hole (301) includes a first strip-shaped hole and a first circular hole, the first circular hole and the first strip-shaped hole being spaced apart along the longitudinal direction, one of the connecting parts of the suction cup (40) being fixed in the first circular hole, and the connecting parts of the other suction cups (40) being installed in the first strip-shaped hole.

5. The material handling fixture according to claim 4, characterized in that, The side wall of the longitudinal beam (30) is threaded with a limiting pin, and the end of the limiting pin can abut against the connection part of the suction cup (40).

6. The material handling fixture according to any one of claims 1-3, characterized in that, The mounting bracket (10) is provided with a vertical adjustment hole (101), and the crossbeam (20) is provided with a vertical connection hole; The vertical adjustment hole (101) is a second circular hole, and there are multiple second circular holes that are spaced apart along the vertical direction. The vertical connecting hole is connected to the second circular hole by a fastener; or, the vertical adjustment hole (101) is a second strip hole, and the length direction of the second strip hole is along the vertical direction. The vertical connecting hole is connected to the second strip hole by a fastener.

7. The material handling fixture according to claim 6, characterized in that, The vertical connecting holes are at least two and are spaced apart along the horizontal direction; The second circular hole has at least two sets and is spaced apart along the lateral direction, and each set has multiple second circular holes and is spaced apart along the vertical direction; or, the second strip hole has at least two and is spaced apart along the lateral direction.

8. The material handling fixture according to any one of claims 1-3, characterized in that, The suction cup (40) is equipped with a pressure sensor, which is used to detect the adsorption pressure between the adsorption end of the suction cup (40) and the object to be adsorbed.

9. A robotic arm, characterized in that, The material handling fixture includes any one of claims 1-8, wherein the top end of the mounting frame (10) is provided with a flange (102), and the material handling fixture is fixed to the end of the robot arm through the flange (102).

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