A pick-up mechanism and robot

Abstract

The utility model provides a kind of pickup mechanism and robot, it is related to handling appliance field.The pickup mechanism includes first installation base plate, peripheral pickup mechanism and inner pickup mechanism.Peripheral pickup mechanism includes peripheral driving part and multiple peripheral gripper, peripheral driving part is fixed to base plate, drives gripper to clamp or release first workpiece.Inner pickup mechanism includes inner driving part and inner pickup assembly, inner driving part is fixed to base plate, drives pickup assembly movement to pick up smaller second workpiece.Inner pickup assembly is set to peripheral gripper inner side area.The integrated design has realized the integrated pickup to different size workpiece, need not to change fixture or increase equipment, save space and improve production efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of material handling equipment technology, and in particular relates to a picking mechanism and a robot. Background Technology

[0002] In practical applications of automated production, it is often necessary to perform pick-up and handling operations on workpieces of different sizes and specifications. However, existing solutions have obvious shortcomings: some solutions use a dual-device independent pick-up mode, which requires a large amount of production space; others use a single-device step-by-step pick-up method, which requires changing fixtures to adapt to workpieces of multiple sizes. Not only is the fixture change process cumbersome, but it also prolongs the production cycle time and makes it difficult to meet the needs of high-efficiency production. Utility Model Content

[0003] In view of this, the present invention provides a picking mechanism and a robot, which aims to solve the problems of large space occupation, cumbersome fixture replacement and long production cycle in the prior art when picking up workpieces of different sizes and specifications.

[0004] The technical solution of this utility model is implemented as follows: This utility model embodiment provides a picking mechanism, which includes a first mounting base, a peripheral picking mechanism, and an inner picking mechanism. The peripheral picking mechanism includes at least one peripheral drive member and multiple peripheral grippers, wherein at least one peripheral gripper is connected to the movable end of the peripheral drive member and can move closer to or further away from other peripheral grippers under the drive of the peripheral drive member to grip or release a first workpiece; the fixed end of the peripheral drive member is connected to the first mounting base. The inner picking mechanism includes an inner drive member and an inner picking assembly, wherein the inner picking assembly is tractively connected to the movable end of the inner drive member and can move under the drive of the inner drive member to pick up or release a second workpiece smaller than the first workpiece; the fixed end of the inner drive member is connected to the first mounting base; wherein the inner picking assembly is disposed corresponding to the inner area of ​​the multiple peripheral grippers.

[0005] In one embodiment, a plurality of peripheral driving components are provided, including a first peripheral driving component and a second peripheral driving component, and a plurality of peripheral grippers including at least one first peripheral gripper and at least one second peripheral gripper; wherein the first peripheral gripper and the second peripheral gripper are respectively connected to the movable ends of the first peripheral driving component and the second peripheral driving component, so as to move independently of each other.

[0006] In one embodiment, the movable ends of the first peripheral drive member and the second peripheral drive member are both telescopic rods, and they are respectively arranged to extend relative to each other along a first direction, which is parallel to the surface of the first mounting substrate.

[0007] In one embodiment, the movable end of the inner perimeter drive member is a telescopic rod and is arranged along a second direction, which is perpendicular to the surface of the first mounting base plate; the inner perimeter pickup assembly, driven by the movable end of the inner perimeter drive member, can extend or retract into the internal space enclosed by the plurality of peripheral grippers.

[0008] In one embodiment, the inner perimeter picking assembly includes: an opening and closing drive member, the fixed end of which is throttle-connected to the movable end of the inner perimeter drive member; and two inner perimeter grippers, at least one of which is connected to the movable end of the opening and closing drive member; wherein the opening and closing drive member is capable of driving the two inner perimeter grippers to move closer or further apart from each other to grip or release the second workpiece.

[0009] In one embodiment, the opening and closing drive is a pneumatic solenoid valve. The air inlet of the pneumatic solenoid valve is connected to an air source, and the air outlet is connected to at least one of the inner perimeter grippers through an air pipe, so as to drive the inner perimeter gripper to move closer to or away from the other inner perimeter gripper.

[0010] In one embodiment, the movable end of the inner perimeter driving member is provided with a second mounting base plate, and multiple sets of inner perimeter pickup components are arranged, each of the inner perimeter pickup components being tractively connected to the second mounting base plate; wherein, at least one set of inner perimeter pickup components and the second mounting base plate are provided with a distance adjustment driving member, the fixed end of the distance adjustment driving member is mounted on the second mounting base plate, and the movable end of the distance adjustment driving member is connected to the inner perimeter pickup component to adjust the distance between the inner perimeter pickup component and other inner perimeter pickup components.

[0011] In one embodiment, the surface of the second mounting substrate is parallel to the surface of the first mounting substrate; and / or, the plurality of inner perimeter pickup components are arranged along a third direction, which is parallel to the surface of the first mounting substrate; the direction of the spacing is parallel to the third direction.

[0012] In one embodiment, the movable end of the inner perimeter driving member is a telescopic rod and is arranged along a second direction, which is perpendicular to the surface of the first mounting base plate; the movable end of the inner perimeter driving member is provided with a second mounting base plate, the surface of the second mounting base plate being parallel to the surface of the first mounting base plate; the inner perimeter picking assembly is tractively connected to the second mounting base plate; the inner perimeter picking mechanism further includes a guide structure, the guide structure including a guide cylinder and a guide post movably sleeved within the guide cylinder, both the guide post and the guide cylinder extending along the second direction; one of the guide post and the guide cylinder is fixedly connected to the first mounting base plate, and the other is fixedly connected to the second mounting base plate.

[0013] This utility model also provides a robot, which includes a base, a mechanical wall, and a picking mechanism. One end of the robotic arm is connected to the base; a first mounting plate of the picking mechanism is connected to the other end of the robotic arm; the picking mechanism includes a first mounting plate, a peripheral picking mechanism, and an inner picking mechanism; the peripheral picking mechanism includes at least one peripheral drive and multiple peripheral grippers, wherein at least one peripheral gripper is connected to the movable end of the peripheral drive and can move closer or further away from other peripheral grippers under the drive of the peripheral drive to grip or release a first workpiece; the fixed end of the peripheral drive is connected to the first mounting plate; the inner picking mechanism includes an inner drive and an inner picking assembly, the inner picking assembly is tractively connected to the movable end of the inner drive and can move under the drive of the inner drive to pick up or release a second workpiece smaller than the first workpiece; the fixed end of the inner drive is connected to the first mounting plate; wherein the inner picking assembly is disposed corresponding to the inner area of ​​the multiple peripheral grippers.

[0014] This invention integrates the peripheral and inner gripping mechanisms onto the same first mounting base, achieving integrated gripping functionality for workpieces of different sizes. When processing a larger first workpiece, the peripheral drive unit drives multiple peripheral grippers to approach each other for clamping, while the inner gripping component remains retracted to avoid interference. For a smaller second workpiece, the inner drive unit drives the inner gripping component to extend beyond the inner area of ​​the peripheral grippers for gripping, while the peripheral grippers remain open to prevent interference. This integrated design eliminates the need for separate equipment, saving production space and eliminating the need to change fixtures, effectively shortening the production cycle and improving operational efficiency and flexibility in automated production processes. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 A first-view structural diagram of the pickup mechanism provided by this utility model; Figure 2 A second-view structural diagram of the pickup mechanism provided by this utility model; Figure 3 A third-view structural diagram of the pickup mechanism provided by this utility model; Figure 4A structural diagram of the inner perimeter pickup assembly of the pickup mechanism provided by this utility model; Figure 5 The structural diagram of the robot provided by this utility model.

[0017] Explanation of reference numerals in the attached figures: 100. Pickup mechanism; 1. First mounting base; 2. Peripheral pickup mechanism; 21. Peripheral drive; 21a. First peripheral drive; 21b. Second peripheral drive; 22. Peripheral gripper; 22a. First peripheral gripper; 22b. Second peripheral gripper; 3. Inner perimeter pickup mechanism; 31. Inner perimeter drive; 32. Inner perimeter pickup assembly; 321. Opening and closing drive; 322. Inner perimeter gripper; 32a. First inner perimeter pickup assembly; 32b. Second inner perimeter pickup assembly; 32c. Third inner perimeter pickup assembly; 33. Second mounting base; 34. Adjustment drive; 35. Guide structure; 351. Sleeve; 352. Guide post; 200. Robotic arm; 300. Base; 400. Flange. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0019] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0021] In practical applications of automated production, it is often necessary to perform pick-up and handling operations on workpieces of different sizes and specifications. However, existing solutions have obvious shortcomings: some solutions use a dual-device independent pick-up mode, which requires a large amount of production space; others use a single-device step-by-step pick-up method, which requires changing fixtures to adapt to workpieces of multiple sizes. Not only is the fixture change process cumbersome, but it also prolongs the production cycle time and makes it difficult to meet the needs of high-efficiency production.

[0022] In view of this, the present invention provides a picking mechanism that can be used to pick up workpieces of different sizes (for example, the picking mechanism can be used to pick up and / or transport turnover boxes, as well as single-phase meters, three-phase meters, terminal meters and metering modules placed in the turnover boxes, etc.), aiming to solve the problems of large space occupation, cumbersome fixture replacement and long production cycle in the prior art when picking up workpieces of different sizes.

[0023] Please see Figure 1 , Figure 2 and Figure 3 The picking mechanism 100 includes a first mounting base plate 1, a peripheral picking mechanism 2, and an inner picking mechanism 3.

[0024] The peripheral pickup mechanism 2 includes at least one peripheral drive component 21 and multiple peripheral grippers 22. The fixed end of the peripheral drive component 21 is connected to the first mounting base plate 1; that is, regardless of whether there is one or multiple peripheral drive components 21, the fixed ends of these peripheral drive components 21 are all connected to the first mounting base plate 1. (The fixed end of the peripheral drive component 21 can be understood as the part of the peripheral drive component 21 that does not generate displacement. Its connection to the first mounting base plate 1 can be by bolting, welding, or integral molding, etc., which can be selected according to the actual working conditions, as long as the structural stability of the peripheral drive component 21 during operation is guaranteed. The movable end of the peripheral drive component 21 refers to the part of the peripheral drive component 21 that can generate driving displacement, such as the piston rod end of a cylinder, a slider driven by a motor, etc.) At least one peripheral gripper 22 is connected to the movable end of the peripheral drive member 21, specifically including the following scenarios: First, if only one peripheral drive member 21 is provided, part of the peripheral gripper 22 is connected to its movable end, and another part is connected to its fixed end; Second, if two peripheral drive members 21 are provided, and the multiple peripheral grippers 22 are divided into two parts, one part is connected to the movable end of the first peripheral drive member 21, and the other part is connected to the movable end of the second peripheral drive member 21; Third, if two peripheral drive members 21 are provided, and the multiple peripheral grippers 22 are divided into three parts, the first part is connected to the movable end of the first peripheral drive member 21, the second part is connected to its fixed end, and the third part is connected to the movable end of the second peripheral drive member 21; Fourth, if two peripheral drive members 21 are provided, and the multiple peripheral grippers 22 are divided into four parts, the first part is connected to the movable end of the first peripheral drive member 21, the second part is connected to its fixed end, the third part is connected to the movable end of the second peripheral drive member 21, and the fourth part is connected to its fixed end. The scenario of having three or more peripheral drive members 21 will not be elaborated upon here; it is sufficient that at least one peripheral gripper 22 is connected to the movable end of the peripheral drive member 21. In summary, at least one peripheral gripper 22 is connected to the movable end of the peripheral drive member 21 so that, driven by the peripheral drive member 21, it can move closer to or further away from other peripheral grippers 22, thereby achieving the function of gripping or releasing the first workpiece. For example, the first workpiece can be a large component such as a turnover box.

[0025] The inner perimeter pickup mechanism 3 includes an inner perimeter drive member 31 and an inner perimeter pickup assembly 32. The fixed end of the inner perimeter drive member 31 is connected to the first mounting base plate 1, while the inner perimeter pickup assembly 32 is connected to the movable end of the inner perimeter drive member 31 via a transmission connection. This "transmission connection" refers to the transmission of power through a direct or indirect connection. Indirect connection methods include, but are not limited to, transmitting the driving force of the inner perimeter drive member 31 to the inner perimeter pickup assembly 32 through the adjustable drive member 34 in subsequent embodiments. The connection method between the inner perimeter drive member 31 and the inner perimeter pickup assembly 32 can refer to the corresponding logic of the fixed and movable ends of the outer perimeter drive member 21 and the outer perimeter gripper 22. If only one inner perimeter drive member 31 is provided, the connection between its movable end and the inner perimeter pickup assembly 32 can adopt a "one-drive-multiple" transmission connection; if multiple inner perimeter drive members 31 are provided, each drive member and the inner perimeter pickup assembly 32 can adopt an independent "one-drive-one" transmission connection. In short, the requirement is met as long as the inner perimeter pickup assembly 32 is connected to the movable end of the inner perimeter drive member 31 via a transmission and can move under the drive of the inner perimeter drive member 31 to pick up or release the second workpiece. It should be particularly noted that the size of the second workpiece should be smaller than the size of the first workpiece, and this encompasses a variety of possibilities. If multiple second workpieces exist, their sizes can be identical or differ; even if the sizes of these second workpieces are not exactly the same, the requirement is met as long as the largest second workpiece is still smaller than the first workpiece. For example, the second workpiece can be a small component such as a single-phase meter, three-phase meter, terminal meter, or metering module within a turnover box.

[0026] The inner perimeter pickup component 32 can pick up the second workpiece in various ways, such as clamping, magnetic attraction, adsorption, or hooking. The appropriate pickup method can be selected based on the material, shape, and surface characteristics of the second workpiece. For example, when the second workpiece is made of metal, a magnetic inner perimeter pickup component 32 can be used; when the surface of the second workpiece is flat and has a certain degree of hardness, a vacuum adsorption inner perimeter pickup component 32 can be used; when the second workpiece has a specific groove or protrusion structure, a hooking or clamping inner perimeter pickup component 32 can be used.

[0027] Furthermore, the inner gripping component 32 is positioned within the inner area of ​​the multiple outer grippers 22. This can be understood as the inner gripping component 32 being spatially located within the area enclosed by the multiple outer grippers 22. Thus, the outer grippers 22 are used to grip the larger first workpiece, while the inner grippers 322 are used to pick up the smaller second workpiece, integrating both gripping functions into a single mechanism without requiring additional production space and avoiding the cumbersome operation of changing fixtures.

[0028] In actual operation, when the first workpiece needs to be picked up, the outer drive unit 21 drives multiple outer grippers 22 to move closer together to clamp the first workpiece. At this time, the inner gripping component 32 can remain retracted to avoid interfering with the clamping of the first workpiece. When the second workpiece needs to be picked up, the inner drive unit 31 drives the inner gripping component 32 to extend beyond the internal space enclosed by the multiple outer grippers 22 (of course, in special cases, the inner gripping component 32 may not extend beyond the internal space and directly pick up the second workpiece) to pick up the second workpiece. If the outer grippers 22 are not needed, they can remain open to avoid interfering with the picking up of the second workpiece.

[0029] In summary, this embodiment of the invention integrates the peripheral picking mechanism 2 and the inner picking mechanism 3 onto the same first mounting base plate 1, achieving integrated picking functionality for workpieces of different sizes. When processing a larger first workpiece, the peripheral drive 21 drives multiple peripheral grippers 22 to approach each other to complete the gripping, while the inner picking assembly 32 remains retracted to avoid interference. For a smaller second workpiece, the inner drive 31 drives the inner picking assembly 32 to extend beyond the inner area of ​​the peripheral grippers 22 for picking, while the peripheral grippers 22 remain open to prevent interference. This integrated design eliminates the need for additional independent equipment, saving production space and eliminating the need to change fixtures, effectively shortening the production cycle and thus improving operational efficiency and flexibility in automated production processes.

[0030] In some embodiments, please refer to Figure 3 In order to flexibly adjust the relative positions of the peripheral grippers 22, a plurality of peripheral driving members 21 are provided. Specifically, the plurality of peripheral driving members 21 include a first peripheral driving member 21a and a second peripheral driving member 21b. Furthermore, the plurality of peripheral grippers 22 include at least one first peripheral gripper 22a and at least one second peripheral gripper 22b. The first peripheral gripper 22a and the second peripheral gripper 22b are respectively connected to the movable ends of the first peripheral driving member 21a and the second peripheral driving member 21b, so as to move independently of each other.

[0031] The first peripheral gripper 22a and the second peripheral gripper 22b are respectively connected to the movable ends of the first peripheral drive member 21a and the second peripheral drive member 21b. That is, the first peripheral gripper 22a is connected to the movable end of the first peripheral drive member 21a, and the second peripheral gripper 22b is connected to the movable end of the second peripheral drive member 21b, forming a relatively independent driving method. For example... Figures 1 to 3 The image shows two first peripheral grippers 22a connected to a first connecting plate ( Figures 1 to 3The first connecting plate is shielded by the first mounting base plate 1 and is connected as one. The two second peripheral grippers 22b are also connected as one through the first connecting plate. The first peripheral drive member 21a drives the two first peripheral grippers 22a to move simultaneously along a preset direction, and the second peripheral drive member 21b drives the two second peripheral grippers 22b to move simultaneously along a preset direction.

[0032] This embodiment of the invention, through its relatively independent driving method, allows for flexible adjustment of the position between the first peripheral gripper 22a and the second peripheral gripper 22b, effectively avoiding interference when clamping the second workpiece and adapting to the actual size of the first workpiece. Furthermore, this design can simultaneously apply force to the first workpiece, thereby enhancing the clamping force and improving clamping stability.

[0033] In some embodiments, please continue reading Figure 1 , Figure 2 and Figure 3 To maintain the simplicity of the overall structure, both the first peripheral drive member 21a and the second peripheral drive member 21b are drive members with telescopic rods; that is, the movable ends of both the first peripheral drive member 21a and the second peripheral drive member 21b are telescopic rods. Furthermore, these telescopic rods extend relative to each other along a first direction, which is parallel to the surface of the first mounting base plate 1. "Relatively extending" can be understood as the axes of the two telescopic rods being on the same straight line, and their extension and retraction directions being opposite; for example, one telescopic rod extends forward along the first direction, and the other extends backward along the first direction.

[0034] The driving component with a telescopic rod can be a linear drive device such as a cylinder, electric push rod, or hydraulic cylinder. It drives the peripheral gripper 22 through the extension and retraction of the telescopic rod. For example, when a cylinder is used as the peripheral driving component 21, the cylinder body is connected to the first mounting base 1 as the fixed end, and the piston rod is connected to the peripheral gripper 22 as the movable end. The extension and retraction of the piston rod drives the peripheral gripper 22 to move closer to or further away from the workpiece. If an electric push rod is used, the motor drives the lead screw to rotate, causing the nut and the telescopic rod connected to the nut to move axially, thereby driving the peripheral gripper 22 to perform the clamping action. This type of driving component features a compact structure, fast response speed, and stable output force, meeting the rapid clamping requirements of the peripheral gripper 22 for first workpieces of different sizes. It is also easy to integrate and install on the first mounting base 1 without adding excessive space.

[0035] During installation, the first peripheral drive component 21a and the second peripheral drive component 21b can be fixed to opposite sides of the first mounting base plate 1 by bolts or welding, respectively, with their telescopic rods extending in opposite directions to ensure that the first peripheral gripper 22a and the second peripheral gripper 22b can move towards or away from each other along a first direction. For example, when the telescopic rod of the first peripheral drive component 21a extends, it drives the first peripheral gripper 22a to move closer to the second peripheral gripper 22b; simultaneously, if the telescopic rod of the second peripheral drive component 21b also extends, it drives the second peripheral gripper 22b to move closer to the first peripheral gripper 22a, thereby achieving opposite movement to grip the first workpiece; conversely, when their telescopic rods retract, they drive the first peripheral gripper 22a and the second peripheral gripper 22b to move away from each other, releasing the first workpiece. This installation method can improve the structural stability of the peripheral drive component 21.

[0036] This utility model embodiment sets the first peripheral driving member 21a and the second peripheral driving member 21b as a telescopic rod-type linear driving device, and installs them on the first mounting base plate 1 with opposite extensions along the first direction, thereby realizing the opposite or opposite driving of the peripheral gripper 22 with a simple and compact structure.

[0037] In some embodiments, please continue reading Figure 1 , Figure 2 and Figure 3 To ensure stable movement of the outer gripper 22 along the first direction, a sliding guide structure 35 is provided between the outer gripper 22 and the first mounting base 1. The sliding guide structure 35 includes a slide rail extending along the first direction and a slider slidably connected to the slide rail. One of the slide rail and the slider is fixedly mounted on the first mounting base 1, and the other is fixedly mounted on the outer gripper 22.

[0038] In some embodiments, please refer to Figure 2 and Figure 3 Considering that the outer grippers 22 move in a direction parallel to the first mounting base plate 1, to avoid further interference, the inner gripping assembly 32 should move in a direction perpendicular to the first mounting base plate 1. Simultaneously, to facilitate this function, the inner drive member 31 also employs a drive member with a telescopic rod. Specifically, the movable end of the inner drive member 31 is a telescopic rod arranged along a second direction, which is perpendicular to the surface of the first mounting base plate 1. Driven by the movable end of the inner drive member 31, the inner gripping assembly 32 can extend or retract into the internal space enclosed by the multiple outer grippers 22.

[0039] During installation, the fixed end of the inner drive component 31 can be connected to the central area or a preset mounting position of the first mounting base plate 1 via bolts or welding. The axis of its telescopic rod is perpendicular to the surface of the first mounting base plate 1, allowing the inner pickup assembly 32 to move up and down along the second direction (i.e., perpendicular to the surface). For example, when it is necessary to pick up a second workpiece located inside the outer gripper 22, the telescopic rod of the inner drive component 31 extends, pushing the inner pickup assembly 32 downward to the location of the second workpiece. After picking up the workpiece, the telescopic rod retracts, causing the inner pickup assembly 32 to return to the internal space enclosed by the outer gripper 22. If it is not necessary to pick up the second workpiece, the inner pickup assembly 32 remains retracted, avoiding spatial interference with the operation of the outer gripper 22 in clamping the first workpiece. This design of vertical movement complements the movement of the outer gripper 22 in the parallel direction, further improving the overall compactness and operational coordination of the mechanism, ensuring that two sizes of workpieces can be picked up independently without interference on the same mounting base plate.

[0040] In some embodiments, please continue reading Figure 2 , Figure 3 and Figure 4 The inner perimeter picking component 32 picks up the second workpiece by clamping. Specifically, the inner perimeter picking component 32 includes an opening and closing drive component 321 and two inner perimeter grippers 322. The fixed end of the opening and closing drive component 321 is connected to the movable end of the inner perimeter drive component 31. At least one of the two inner perimeter grippers 322 is connected to the movable end of the opening and closing drive component 321. The opening and closing drive component 321 can drive the two inner perimeter grippers 322 to move closer or further apart to clamp or release the second workpiece.

[0041] The opening and closing drive component 321 can be a linear drive device similar to the peripheral drive component 21, such as a cylinder or electric push rod. Alternatively, a rotary drive device can be selected in conjunction with a linkage mechanism to achieve the opening and closing action. The clamping surfaces of the two inner jaws 322 can be adapted to the shape of the second workpiece, such as by setting an arc surface to accommodate cylindrical workpieces, or by adding anti-slip textures to improve clamping stability.

[0042] This embodiment of the invention achieves stable clamping of the second workpiece by incorporating an opening / closing drive 321 and two inner-circle grippers 322 within the inner-circle pickup assembly 32. The opening / closing drive 321 drives the opening and closing action of the two inner-circle grippers 322. This clamping-type inner-circle pickup assembly 32 has a simple structure, is easy to maintain, and can reduce subsequent usage costs.

[0043] In some embodiments, please refer to Figure 4The opening and closing drive component 321 is a pneumatic solenoid valve. The air inlet of the pneumatic solenoid valve is connected to an air source, and the air outlet is connected to at least one inner circumferential gripper 322 through an air pipe to drive the inner circumferential gripper 322 to move closer to or away from another inner circumferential gripper 322.

[0044] As a device that controls the flow of air by electromagnetic means, the pneumatic solenoid valve moves under the action of electromagnetic force when the solenoid coil is energized, opening the air intake channel. Compressed air enters the drive chamber of the inner gripper 322 through the air pipe, pushing the inner gripper 322 to move closer to the other inner gripper 322, thus achieving the clamping action. When the solenoid coil is de-energized, the valve core returns to the initial position under the action of the return spring, cutting off the air intake channel and opening the exhaust channel. The compressed air in the drive chamber of the inner gripper 322 is discharged, and the grippers move away from each other under the action of their own reset structure (such as a spring), completing the release action.

[0045] This utility model embodiment uses a pneumatic solenoid valve as the opening and closing drive component 321, which has advantages such as fast response speed. It is especially suitable for automated production lines with high requirements for picking speed, and can quickly realize the opening and closing control of the inner gripper 322, thereby efficiently completing the picking and releasing operation of the second workpiece.

[0046] In some embodiments, please refer to Figure 3 and Figure 4 To simultaneously grip multiple second workpieces, multiple sets of inner perimeter pickup components 32 are provided, thus a second mounting base 33 is added. Specifically, the second mounting base 33 is disposed at the movable end of the inner perimeter drive component 31, and each inner perimeter pickup component 32 is tractively connected to the second mounting base 33. However, in different scenarios, the spacing between the second workpieces is different, so it is necessary to adjust the spacing between adjacent sets of inner perimeter pickup components 32. For this purpose, a distance adjustment drive component 34 is added. Specifically, at least one set of inner perimeter pickup components 32 is provided with a distance adjustment drive component 34 between the second mounting base 33. The fixed end of the distance adjustment drive component 34 is mounted on the second mounting base 33, and the movable end of the distance adjustment drive component 34 is connected to the inner perimeter pickup component 32 to adjust the spacing between the inner perimeter pickup component 32 and other inner perimeter pickup components 32.

[0047] For example, Figure 4The multiple inner perimeter pickup components 32 shown are a first inner perimeter pickup component 32a, a second inner perimeter pickup component 32b, and a third inner perimeter pickup component 32c. An adjustment drive element 34 is provided between the first inner perimeter pickup component 32a and the second mounting substrate 33, and between the third inner perimeter pickup component 32c and the second mounting substrate 33. Furthermore, there are three first inner perimeter pickup components 32a, connected as a single unit by a second connecting plate (which is obscured by the second mounting substrate 33 in the figure); three second inner perimeter pickup components 32b and three third inner perimeter pickup components 32c are also provided, connected in the same manner.

[0048] When the spacing of the inner perimeter pickup components 32 needs to be adjusted, the distance adjustment drive 34 can drive the corresponding inner perimeter pickup component 32 to move along a preset direction (such as the direction parallel to the first mounting base plate 1), thereby changing the distance between adjacent inner perimeter pickup components 32 to adapt to the pickup needs of multiple second workpieces with different arrangements or spacings. For example, when the spacing between multiple second workpieces is large, the distance adjustment drive 34 drives the first inner perimeter pickup component 32a and the third inner perimeter pickup component 32c to move to both sides respectively, increasing the spacing with the second inner perimeter pickup component 32b, ensuring that each inner perimeter pickup component 32 can be accurately aligned with the corresponding second workpiece; if the spacing between the second workpieces is small, the distance adjustment drive 34 drives the inner perimeter pickup components 32 to move closer to each other, reducing the spacing to match the workpiece position.

[0049] The pitch adjustment drive 34 can be a linear module, electric slide or cylinder or other device with linear drive function. Its fixed end is connected to the second mounting base plate 33 and its movable end is connected to the inner perimeter pickup assembly 32. The pitch can be flexibly adjusted by controlling the displacement of the movable end.

[0050] This embodiment of the utility model, through the design of such a multi-set adjustable spacing inner perimeter picking component 32, further expands the adaptability of the mechanism to second workpieces of different specifications and different arrangements, and improves the versatility and automation of the overall operation.

[0051] In some embodiments, please refer to Figure 3 and Figure 4A floating joint is provided between the second mounting base 33 and the movable end of the inner perimeter drive component 31. This floating joint can compensate for installation errors and axial deviations during movement within a certain range, avoiding stress concentration caused by a rigid connection between the telescopic rod of the inner perimeter drive component 31 and the second mounting base 33. Specifically, when the inner perimeter drive component 31 drives the second mounting base 33 and the inner perimeter pickup assembly 32 to move along the second direction, if a slight deviation exists between the axis of the telescopic rod and the force center of the second mounting base 33 due to machining accuracy or assembly errors, the floating joint can absorb this deviation through its own spherical joint or elastic structure, allowing the driving force to be evenly transmitted to the second mounting base 33, reducing the radial force on the telescopic rod, thereby extending the service life of the inner perimeter drive component 31, while ensuring the smoothness and positional accuracy of the inner perimeter pickup assembly 32's movement.

[0052] In some embodiments, please refer to Figure 3 The surface of the second mounting substrate 33 is parallel to the surface of the first mounting substrate 1; and / or, multiple sets of inner perimeter pickup components 32 are arranged along a third direction, which is parallel to the surface of the first mounting substrate 1; the direction of the spacing is parallel to the third direction.

[0053] The second mounting substrate 33 is parallel to the surface of the first mounting substrate 1, so that the second mounting substrate 33 and the first mounting substrate 1 can be arranged in parallel in space, which further optimizes the overall spatial structure of the mechanism and avoids motion interference that may occur due to the cross-direction.

[0054] Multiple sets of inner perimeter pickup components 32 are arranged along a third direction parallel to the surface of the first mounting substrate 1, and the spacing adjustment direction is also parallel to this third direction. That is, the spacing adjustment of the inner perimeter pickup components 32 is only performed within the same plane, simplifying the control logic and installation difficulty of the spacing adjustment drive 34. For example, when the third direction is the length direction of the first mounting substrate 1, multiple sets of inner perimeter pickup components 32 can be arranged sequentially along the length direction. The spacing adjustment drive 34 drives each component to move along the length direction to change the spacing, thereby adapting to multiple second workpieces with different spacings arranged along the length direction. This ensures that each inner perimeter pickup component 32 can be accurately aligned during the pickup process, improving the pickup efficiency and accuracy of batch second workpieces.

[0055] In some embodiments, please refer to Figure 3Considering that "the movable end of the inner perimeter driving member 31 is a telescopic rod and is arranged along the second direction, which is perpendicular to the surface of the first mounting base plate 1; the movable end of the inner perimeter driving member 31 is provided with a second mounting base plate 33, the surface of the second mounting base plate 33 is parallel to the surface of the first mounting base plate 1, and the inner perimeter picking component 32 is drivenly connected to the second mounting base plate 33", in order to improve the motion accuracy of the inner perimeter picking component 32, the inner perimeter picking mechanism 3 is also equipped with a guide structure 35; specifically, the guide structure 35 includes a guide cylinder and a guide post 352 movably sleeved in the guide cylinder, both the guide post 352 and the guide cylinder extending along the second direction; one of the guide post 352 and the guide cylinder is fixedly connected to the first mounting base plate 1, and the other is fixedly connected to the second mounting base plate 33.

[0056] The guide structure 35 provides stable support and precise guidance for the lifting and lowering movement of the inner perimeter pickup assembly 32, preventing the inner perimeter pickup assembly 32 from tilting or shaking due to uneven force during extension or retraction. Specifically, the guide cylinder can be fixed to the side of the first mounting base 1 facing the second mounting base 33 by bolts or welding, and the guide post 352 is correspondingly fixed at the corresponding position on the second mounting base 33, with the outer diameter of the guide post 352 matching the inner diameter of the guide cylinder to ensure that the guide post 352 can slide smoothly inside the guide cylinder; alternatively, the guide cylinder can be fixed to the second mounting base 33, and the guide post 352 can be fixed to the first mounting base 1, with both working together to achieve the same guiding effect.

[0057] When the inner drive component 31 drives the second mounting base plate 33 to move along the second direction, the relative sliding between the guide post 352 and the guide cylinder can limit the displacement of the second mounting base plate 33 in the plane perpendicular to the second direction, ensuring that the inner picking component 32 always moves smoothly along the preset second direction, thereby improving the positional accuracy of picking up the second workpiece. Especially when multiple second workpieces need to be picked up at the same time, it can effectively avoid the alignment deviation caused by the shaking of the inner picking component 32, ensuring that each inner gripper 322 can accurately clamp the target workpiece, and further enhancing the overall operational stability and reliability of the mechanism.

[0058] This utility model also provides a robot.

[0059] Please see Figure 5The robot includes a base 300, a robotic arm 200, and a picking mechanism 100 as described in any of the above embodiments. One end of the robotic arm 200 is rotatably connected to the base 300, and the other end is fixedly connected to the picking mechanism 100 (the picking mechanism 100 can be fixedly connected to the robotic arm 200 via a flange 400), enabling the picking mechanism 100 to achieve multi-degree-of-freedom spatial movement under the drive of the robotic arm 200, thereby flexibly adjusting to the position of the workpiece for picking operations. The robot is stably supported by the base 300, and the robotic arm 200 drives the picking mechanism 100 to complete a series of operations such as clamping, transporting, and placing the first and second workpieces according to a preset program or real-time sensor signals, effectively improving the material handling efficiency and accuracy on the automated production line.

[0060] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A picking mechanism, characterized in that, include: First mounting base plate; The peripheral pickup mechanism includes at least one peripheral drive member and multiple peripheral grippers, wherein at least one of the peripheral grippers is connected to the movable end of the peripheral drive member and is able to move closer or further away from other peripheral grippers under the drive of the peripheral drive member to grip or release a first workpiece; the fixed end of the peripheral drive member is connected to the first mounting base plate. The inner perimeter picking mechanism includes an inner perimeter driving member and an inner perimeter picking assembly. The inner perimeter picking assembly is tractively connected to the movable end of the inner perimeter driving member and can move under the drive of the inner perimeter driving member to pick up or release a second workpiece smaller than the first workpiece. The fixed end of the inner perimeter driving member is connected to the first mounting base plate. The inner perimeter picking component is configured to correspond to the inner area of ​​the plurality of outer perimeter grippers.

2. The picking mechanism according to claim 1, characterized in that, The peripheral drive components are provided in multiple ways, including a first peripheral drive component and a second peripheral drive component, and the peripheral grippers include at least one first peripheral gripper and at least one second peripheral gripper. The first peripheral gripper and the second peripheral gripper are respectively connected to the movable ends of the first peripheral drive member and the second peripheral drive member, so that they can move independently of each other.

3. The picking mechanism according to claim 2, characterized in that, The movable ends of the first peripheral drive member and the second peripheral drive member are both telescopic rods, and they are respectively arranged to extend relative to each other along a first direction, which is parallel to the surface of the first mounting substrate.

4. The picking mechanism according to claim 3, characterized in that, The movable end of the inner perimeter drive member is a telescopic rod and is arranged along a second direction, which is perpendicular to the surface of the first mounting base plate; the inner perimeter pickup assembly, driven by the movable end of the inner perimeter drive member, can extend or retract into the internal space enclosed by the plurality of peripheral grippers.

5. The picking mechanism according to claim 1, characterized in that, The inner perimeter pickup component includes: An opening and closing drive component, wherein the fixed end of the opening and closing drive component is connected to the movable end of the inner drive component; Two inner gripping claws, at least one of which is connected to the movable end of the opening and closing drive member; The opening and closing drive can drive the two inner grippers to move closer or further apart to clamp or release the second workpiece.

6. The picking mechanism according to claim 5, characterized in that, The opening and closing drive component is a pneumatic solenoid valve. The air inlet of the pneumatic solenoid valve is connected to an air source, and the air outlet is connected to at least one of the inner perimeter grippers through an air pipe, so as to drive the inner perimeter gripper to move closer to or away from the other inner perimeter gripper.

7. The picking mechanism according to claim 1, characterized in that, The movable end of the inner perimeter driving component is provided with a second mounting base plate, and multiple sets of inner perimeter picking components are arranged, with each inner perimeter picking component being tractively connected to the second mounting base plate. In this embodiment, at least one set of inner perimeter pickup components and the second mounting base are provided with a distance adjustment drive, the fixed end of the distance adjustment drive is mounted on the second mounting base, and the movable end of the distance adjustment drive is connected to the inner perimeter pickup components to adjust the distance between the inner perimeter pickup components and other inner perimeter pickup components.

8. The picking mechanism according to claim 7, characterized in that, The surface of the second mounting substrate is parallel to the surface of the first mounting substrate; and / or, The multiple sets of inner perimeter pickup components are arranged along a third direction, which is parallel to the surface of the first mounting substrate; the direction of the spacing is parallel to the third direction.

9. The picking mechanism according to claim 1, characterized in that, The movable end of the inner perimeter driving component is a telescopic rod and is arranged along a second direction, which is perpendicular to the surface of the first mounting base plate; the movable end of the inner perimeter driving component is provided with a second mounting base plate, the surface of the second mounting base plate is parallel to the surface of the first mounting base plate, and the inner perimeter picking component is drivenly connected to the second mounting base plate. The inner perimeter picking mechanism further includes a guide structure, which includes a guide cylinder and a guide post movably sleeved within the guide cylinder. Both the guide post and the guide cylinder extend along the second direction. One of the guide post and the guide cylinder is fixedly connected to the first mounting base plate, and the other is fixedly connected to the second mounting base plate.

10. A robot, characterized in that, include: Base A robotic arm, one end of which is connected to the base; The picking mechanism as described in any one of claims 1 to 9, wherein the first mounting base of the picking mechanism is connected to the other end of the robotic arm.

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