CN111716382A

CN111716382A - Robot gripper

Info

Publication number: CN111716382A
Application number: CN202010403178.6A
Authority: CN
Inventors: 蒋汝军; 梁善凱
Original assignee: Guangdong Midea Intelligent Technologies Co Ltd
Current assignee: Guangdong Midea Intelligent Technologies Co Ltd
Priority date: 2020-05-13
Filing date: 2020-05-13
Publication date: 2020-09-29

Abstract

The invention belongs to the technical field of machining, and particularly relates to a robot gripper which comprises a rack, a first driving mechanism and at least two clamps, wherein the first driving mechanism is connected to the rack, the clamps are connected to the driving ends of the first driving mechanism, a clamping space is formed between the clamps, the first driving mechanism is arranged for driving the clamps to move relatively to clamp materials, at least one clamp is arranged to be switched between a first state and a second state to adapt to different materials, the clamps are in rigid contact with the materials in the first state, and the clamps are in elastic contact with the materials in the second state. According to the robot gripper provided by the embodiment of the invention, the first driving mechanism can change the size of the clamping space so as to expand the application range, and the clamp is in rigid contact or elastic contact with materials under different states, so that the damage to the materials is avoided.

Description

Robot gripper

Technical Field

The invention belongs to the technical field of machining, and particularly relates to a robot gripper.

Background

This section provides background information related to the present disclosure only and is not necessarily prior art.

In the machining and manufacturing process, due to the fact that the sizes of the used workpieces are different due to different models of equipment, clamping equipment with corresponding specifications needs to be arranged in a production workshop to carry out workpiece carrying and stacking, and the problems that a production line is large in occupied space, high in operation cost and the like are caused. The clamping equipment can only clamp a certain workpiece, other workpieces cannot be clamped, the compatibility is poor, the production line is not suitable for production change, a multi-model mixed production mode is not suitable, and the clamping equipment is adopted for different workpieces, such as different materials or different weights, the workpiece with poor strength can be damaged, the workpiece is scrapped, and the operation cost is further increased.

Disclosure of Invention

The invention aims to at least solve the problems that the clamping equipment in the prior art is poor in compatibility, is not beneficial to production line transfer and is not suitable for different workpieces. The purpose is realized by the following technical scheme:

a first embodiment of the invention proposes a robot gripper comprising:

a frame;

the first driving mechanism is connected to the rack;

the clamping device comprises at least two clamps, a first driving mechanism and a second driving mechanism, wherein the clamps are connected to the driving end of the first driving mechanism, a clamping space is formed between the clamps, and the first driving mechanism is used for driving the clamps to move relatively to clamp materials;

wherein at least one of the clamps is arranged to be switched between a first state in which the clamp is in rigid contact with the material and a second state in which the clamp is in resilient contact with the material to adapt to different materials.

According to the robot gripper disclosed by the embodiment of the invention, at least two clamps move relatively through the first driving mechanism to clamp materials, so that the materials are transferred. The number of the clamps is set to be at least two, can be two, three or more than three, and the motion of the clamp is driven by the first driving mechanism to change the distance between the clamps, namely, the size of the clamping space is changed to adapt to materials with different sizes, so that the compatibility of the robot gripper is improved, and the application range is enlarged. Aiming at different materials, a targeted contact mode is adopted, specifically, at least one of the clamps is set to be switched between a first state and a second state, under the first state, the clamps are in rigid contact with the materials, the clamp is suitable for the materials with high strength and difficult deformation, such as a condenser, and in the process of carrying and stacking the condenser, the clamps are in contact with two sides of fins of the condenser. In the second state, the clamp is in elastic contact with the material, the material enters the clamping space and then is extruded, the clamp generates elastic force due to extrusion and is applied to the material, so that the material is clamped tightly, the material is prevented from being deformed and damaged due to rigid contact, the clamp is suitable for the material which is low in strength and easy to deform, such as an evaporator, and the clamp is in contact with two sides of a copper pipe of the evaporator in the stacking carrying process of the evaporator.

In some embodiments of the invention, the at least two clamps comprise:

a first clamp connected to a drive end of the first drive mechanism and configured to switch between the first state and the second state;

a second clamp connected to a driving end of the first driving mechanism, the second clamp and the first clamp forming the clamping space therebetween,

wherein, in the first state, the first clamp is in rigid contact with the material, and in the second state, the first clamp is in elastic contact with the material.

In some embodiments of the invention, the first clamp comprises:

a first connecting plate connected to a drive end of the first drive mechanism;

the switching assembly is connected to the first connecting plate;

a first clamp member coupled to the switching assembly, the switching assembly configured to switch the first clamp member between the first state and the second state.

In some embodiments of the invention, the switching component comprises:

a power member disposed between the first connecting plate and the first clamping member;

an elastic member disposed between the first connecting plate and the first clamping member;

wherein in the first state, the power member is arranged to drive the first clamping member to move into rigid contact with the material, and in the second state, the power member loses power, and the elastic member is arranged to elastically contact the first clamping member with the material.

In some embodiments of the invention, in the first state, the size of the clamping space is larger than the size of the material, and the absolute value of the difference between the size of the clamping space and the size of the material is smaller than or equal to the maximum stroke of the power member.

In some embodiments of the invention, in the second state, the size of the clamping space is larger than that of the material, and the size when the stroke of the power member is zero is smaller than or equal to that when the elastic member reaches the maximum compression amount.

In some embodiments of the invention, the robotic gripper further comprises a suction mechanism, the suction mechanism comprising:

the vacuum generator is connected to the rack;

the vacuum sucker is arranged on the rack and connected with the vacuum generator and arranged to suck the backing plate.

In some embodiments of the invention, the robotic gripper further comprises:

the sucking mechanism is connected to the rack through the second driving mechanism, and the second driving mechanism is arranged to drive the sucking mechanism to move to the base plate.

In some embodiments of the invention, the second clamp comprises:

a second clamp member coupled to the drive end of the first drive mechanism and in rigid contact with the material.

In some embodiments of the invention, the first clamp includes a first clamp plate connected to the first connection plate;

the second clamping member includes a second clamping plate coupled to the drive end of the first drive mechanism, and the first and second clamping plates are configured to clamp one of the materials.

In some embodiments of the invention, the first clamp further comprises a third clamp plate, the third clamp plate being connected to the first clamp plate;

the second clamping piece further comprises a fourth clamping plate connected to the second clamping plate, and the fourth clamping plate and the third clamping plate are arranged to clamp another kind of material.

In some embodiments of the invention, the third splint comprises:

the first clamping part is connected to the first clamping plate;

the second clamping part is connected to the first clamping part, and an included angle is formed between the second clamping part and the first clamping part;

the third clamping part is connected to the second clamping plate;

the fourth clamping part is connected to the third clamping part, and an included angle is formed between the fourth clamping part and the third clamping part.

A first embodiment of the invention proposes a robot gripper comprising:

a frame;

the first driving mechanism is connected to the rack;

the first clamp and the second clamp are respectively connected to a driving end of the first driving mechanism, a clamping space is formed between the first clamp and the second clamp, and the first driving mechanism is arranged for driving the first clamp and the second clamp to move relatively to clamp a material;

the first clamp comprises a first connecting plate and a first clamping piece, the first connecting plate is connected with the driving end of the first driving mechanism, the first clamping piece is movably connected with the first connecting plate, and an elastic piece and a power piece are arranged between the first clamping piece and the first connecting plate;

the first clamping member is configured to switch between a first state in which the resilient member is configured to drive the first clamping member to clamp the material and a second state in which the power member and the resilient member are configured to simultaneously drive the first clamping member to clamp the material.

According to the robot gripper disclosed by the embodiment of the invention, the first driving mechanism drives the first clamp and the second clamp to move so as to change the distance between the clamps, namely, the size of the clamping space is changed to adapt to materials, so that the compatibility of the robot gripper is improved, and the application range is expanded. The first clamp comprises a first connecting plate and a first clamping piece, an elastic piece and a power piece are arranged between the first connecting plate and the first clamping piece, and the clamping force of the first clamping piece on the material can be changed by different states of the power piece. Under the first state, the power piece does not move, first clamping piece presss from both sides tight material under the drive of elastic component, be elastic contact between first clamping piece and the material, under the second state, the power piece moves, bear the elastic drive power of elastic component and the drive power of power piece simultaneously on the first clamping piece, and realize the clamp tight to the material with two drive power transmission to the material on, increase rigid contact again between first clamping piece and the material on elastic contact's basis, in order to increase the clamp force of anchor clamps to the material, increase the reliability of the snatching of robot tongs in the operation process.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic perspective view of a robot gripper according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of the first fixture shown in FIG. 1;

FIG. 3 is an exploded view of the first clamp shown in FIG. 2;

FIG. 4 is a front view of the robotic gripper of FIG. 1 gripping a condenser;

FIG. 5 is an enlarged schematic view of the structure shown at A in FIG. 4;

FIG. 6 is a front view of the robotic gripper of FIG. 1 gripping a condenser;

FIG. 7 is an enlarged view of the structure shown at B in FIG. 6;

FIG. 8 is a perspective view of the second fixture shown in FIG. 1;

FIG. 9 is an exploded view of the second clamp shown in FIG. 8;

FIG. 10 is a cross-sectional view of the third cleat shown in FIG. 3;

FIG. 11 is a cross-sectional view of the fourth cleat shown in FIG. 9;

FIG. 12 is a schematic perspective view of a portion of the robotic gripper of FIG. 1;

FIG. 13 is a top view of the robotic gripper shown in FIG. 12;

fig. 14 is an exploded view of the robot gripper shown in fig. 12.

The reference symbols in the drawings denote the following:

1. a frame; 11. a second inductive switch; 12. a fourth connecting member; 13. a guide rail; 14. a drag chain; 15. a drag chain guide groove; 16. a terminal junction box; 17. a protective cover;

2. a first drive mechanism; 21. a first driving member; 22. a first lead screw; 23. a second lead screw; 24. a coupling; 25. a first nut; 26. a second nut; 27. a belt assembly; 28. a first connecting member; 29. an adjustment member; 271. a first pulley; 272. a second pulley; 273. a belt;

3. a first clamp; 31. a first connecting plate; 32. a switching component; 33. a first clamping member; 34. a guide member; 35. a fifth connecting member; 36. a retainer ring; 37. cushion blocks; 38. a limiting block; 39. a linear bearing; 311. a third connecting member; 312. a sixth connecting member; 321. a power member 322, an elastic member; 331. a first splint; 332. a third splint; 333. a first flexible layer; 334. a third flexible layer; 3321. a first clamping portion; 3322. a second clamping portion;

4. a second clamp; 41. a second connecting plate; 42. a second clamping member; 43. a support member; 411. a seventh connecting member; 421. a second splint; 422. a fourth splint; 423. a second flexible layer; 424. a fourth flexible layer; 4221. a third clamping part; 4222. a fourth clamping portion;

5. a suction mechanism; 51. a vacuum generator; 52. a vacuum chuck; 53. a pressure gauge; 54. a vacuum filter;

6. a second drive mechanism; 61. a second driving member; 62. a second connecting member; 63. a first inductive switch;

7. a condenser;

8. an evaporator;

9. a backing plate.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 14, the robot gripper according to the first embodiment of the present invention includes:

a frame 1;

the first driving mechanism 2, the first driving mechanism 2 is connected to framework 1;

the clamping device comprises at least two clamps, a first driving mechanism 2 and a second driving mechanism 2, wherein the clamps are connected to the driving end of the first driving mechanism 2, a clamping space is formed between the clamps, and the first driving mechanism 2 is used for driving the clamps to move relatively to clamp materials;

wherein the at least one clamp is arranged to be switched between a first state in which the clamp is in rigid contact with the material and a second state in which the clamp is in resilient contact with the material to adapt to different materials.

The different materials of saying in this application can be the material difference, can bear the size pertinence ground of external force according to the material and select to press from both sides the mode of getting, to in the material of the higher non-deformable of intensity, be the rigid contact between anchor clamps and the material, to in the lower yielding material of intensity, elastic contact between anchor clamps and the material. Different materials can also be different for weight, and the mode is got to the size pertinence selection clamp of selecting according to weight, and to the great material of weight, be rigid contact between anchor clamps and the material, to the less material of weight, elastic contact between anchor clamps and the material.

According to the robot gripper disclosed by the embodiment of the invention, at least two clamps move relatively through the first driving mechanism 2 to clamp materials, so that the materials are transferred. The number of anchor clamps sets up to at least two, can be two, three or more than three, is driven the anchor clamps motion by first actuating mechanism 2 in order to change the distance between anchor clamps each other, changes the material of the size in order to adapt to different sizes in order to change the centre gripping space promptly, has improved the compatibility of robot tongs, has enlarged application scope. Aiming at materials with different materials or weights, a targeted contact mode is adopted, the rigid contact is that the state of the clamp is not changed all the time, and the elastic contact is that the state of the clamp is changed under the action of external force. Specifically, at least one of the clamps is set to switch between a first state and a second state, and in the first state, the clamp is in rigid contact with the material, is applicable to the material that has higher intensity and is difficult to deform, for example, condenser 7, and condenser 7 is in the in-process of carrying the pile up neatly, and the clamp is in contact with the both sides of the fin of condenser 7. Under the second state, anchor clamps and material elastic contact, the material enters into behind the centre gripping space extrusion anchor clamps, and on anchor clamps produced elasticity and exerted the material owing to being extruded simultaneously, make the material tightly pressed from both sides, avoid rigid contact to make the material warp the damage, be applicable to the lower yielding material of intensity, for example evaporimeter 8, evaporimeter 8 is at the in-process of carrying the pile up neatly, and anchor clamps and the copper pipe contact of evaporimeter 8 both sides. The robot gripper can be compatible with various products, hardware investment is reduced, operation cost is reduced, mixed production can be carried out with other production lines, and the utilization rate of the robot gripper is improved.

In some embodiments of the present invention, the first driving mechanism 2 may be a combination of a motor and a lead screw, a combination of a motor and a rack and pinion, or a combination of a motor and a belt assembly 27, and in one embodiment, a combination of a motor and a lead screw nut is used, as shown in fig. 1. The first driving mechanism 2 includes a first driving member 21 and a lead screw, and to realize the relative or opposite movement of the first clamp 3 and the second clamp 4, a first lead screw 22, a second lead screw 23, a first nut 25 and a second nut 26 need to be provided, the first driving member 21 is connected with the second lead screw 23, the rotation directions of the first lead screw 22 and the second lead screw 23 are opposite, when the first driving member 21 is driven, the first lead screw 22 and the second lead screw 23 are connected through a coupling 24, the first nut 25 is used for connecting the first lead screw 22 with the first clamp 3, and the second nut 26 is used for connecting the second lead screw 23 with the second nut 26. Both ends of first lead screw 22 and second lead screw 23 are all connected on frame 1, and in order to prevent that first lead screw 22 and second lead screw 23 from deviating from, still be provided with the jump ring between lead screw and frame 1 for the position of fixed first lead screw 22 and second lead screw 23.

Wherein the first driving member 21 is a motor. The first driving mechanism 2 further comprises a first connecting member 28 connected to the frame 1, the first driving member 21 is connected to the first connecting member 28, and an adjusting member 29 is arranged between the first connecting member 28 and the frame 1. The motor is connected with the second lead screw 23 through a belt assembly 27, and comprises a first belt pulley 271, a second belt pulley 272 and a belt 273, wherein the first belt pulley 271 is connected with the motor, the second belt pulley 272 is connected with the second lead screw 23, and the belt 273 comprises the first belt pulley 271 and the second belt pulley 272. As the motor rotates, the belt 273 is worn, so that the tension of the belt 273 is insufficient and stable power transmission is not ensured, and the belt 273 is tensioned by changing the relative position between the first coupling member 28 and the frame 1, i.e., the distance between the first pulley 271 and the second pulley 272, by the adjusting member 29. The frame 1 is further provided with a protective cover 17, and the first driving mechanism 2 is protected by the protective cover 17 to avoid interference with other equipment.

In some embodiments of the present invention, according to the foregoing, the number of the clamps is at least two, the number of the clamps is related to parameters such as size, shape, and weight of the material, two clamps may be provided, both the two clamps may be switched between the first state and the second state or one of the two clamps may be switched between the first state and the second state, or three clamps may be provided, both the three clamps may be switched between the first state and the second state or two of the two clamps may be switched between the first state and the second state or one of the two clamps may be switched between the first state and the second state, the setting manner of the remaining number of clamps is similar to that described above, and so on, and details are not repeated. In one embodiment, as shown in FIG. 1, two clamps are provided, as described in more detail below. The at least two clamps comprise a first clamp 3 and a second clamp 4, the first clamp 3 and the second clamp 4 are both connected to a driving end of the first driving mechanism 2, wherein only the first clamp 3 is set to be switched between a first state and a second state, the first clamp 3 is in rigid contact with the material in the first state, the first clamp 3 is in elastic contact with the material in the second state, a clamping space is formed between the second clamp 4 and the first clamp 3, the second clamp 4 is always in rigid contact with the material, and the first clamp 3 and the second clamp 4 are oppositely arranged and are respectively in contact with two opposite sides of the material.

In some embodiments of the present invention, as shown in fig. 1-7, the first clamp 3 includes a first connecting plate 31, a switching assembly 32, and a first clamping member 33, the first connecting plate 31 is connected to the driving end of the first driving mechanism 2, the first nut 25 is a driving end of the first driving mechanism 2, and the first connecting plate 31 is connected to the first nut 25. A switch assembly 32 is connected to the first connecting plate 31, a first clamping member 33 is connected to the switch assembly 32, and the switch assembly 32 is configured to switch the first clamping member 33 between a first state and a second state. Switching module 32 can realize becoming elastic contact by rigid contact between anchor clamps and the material, can choose for use the combination of motor and rack and pinion as rigid contact, move and then drive first clamping piece 33 motion and press from both sides the material with the cooperation of second anchor clamps 4 through motor drive rack, when needs switch over into elastic contact, motor reverse motion makes rack and first clamping piece 33 separation, set up elastic component 322 between first clamping piece 33 and the first connecting plate 31, elastic contact is realized through the elasticity that extrusion elastic component 322 produced. The combination of the motor and the lead screw can be selected as rigid contact, the lead screw is driven to move by the motor and further drives the first clamping piece 33 to move and to be matched with the second clamp 4 to clamp the material, when the elastic contact is required to be switched, the motor moves reversely to separate the lead screw from the first clamping piece 33, the elastic piece 322 is arranged between the first clamping piece 33 and the first connecting plate 31, and the elastic contact is realized by the elastic force generated by extruding the elastic piece 322. Can also choose for use electric cylinder or cylinder, through electric cylinder or cylinder drive first clamping piece 33 motion and with the tight material of second anchor clamps 4 cooperation clamp, when needs switch over to elastic contact, electric cylinder reverse motion makes rack and first clamping piece 33 separation or no longer to the cylinder ventilate and make the cylinder receive the extrusion of material can freely move, set up elastic component 322 between first clamping piece 33 and the first connecting plate 31, realize elastic contact through the elasticity that extrusion elastic component 322 produced.

The first connecting plate 31 is provided with a sixth connecting member 312, the first connecting plate 31 is connected with the first nut 25 through the sixth connecting member 312, and the sixth connecting member 312 is detachably connected with the first connecting plate 31.

In some embodiments of the present invention, the switching between rigid contact and resilient contact is accomplished by using a pneumatic cylinder and a resilient member 322, in one embodiment, as described above. As shown in fig. 2 to 7, the switching assembly 32 includes a power element 321 and an elastic element 322, the power element 321 is an air cylinder, the power element 321 and the elastic element 322 are both disposed between the first connecting plate 31 and the first clamping element 33, in a first state, the air cylinder drives the first clamping element 33 to move to be in rigid contact with the material, and further cooperate with the second clamp 4 to clamp the material, and in a second state, the elastic element 322 is disposed to enable the first clamping element 33 to be in elastic contact with the material. The material can extrude first anchor clamps 3 after entering into the centre gripping space, and the cylinder loses power and is equivalent to linear bearing, is the state of free removal, and the material extrudees the elastic component 322 of first anchor clamps 3, and elastic component 322 is extruded can produce elasticity and applys elasticity for the material, makes the material pressed from both sides tightly, and the size of clamp force is decided by the compression capacity of elastic component 322, avoids rigid contact to make the material warp the damage, is applicable to the lower yielding material of intensity.

The number of the elastic members 322 may be one, two or more, in one embodiment, the elastic members 322 are provided with a plurality of cylindrical springs, and the elastic members 322 are set in a compressed state, so that the elastic members have initial elasticity, and the reliability of clamping the material is improved. The power piece 321 loses power and can be directly pulled out of the connecting gas circuit, but manual intervention is needed, so that a middle leakage type electromagnetic valve is arranged to automatically control the on-off of the gas circuit.

In some embodiments of the invention, in order to increase the applicability of the robot gripper of the present application, the size of the gripping space and the size of the material are not necessarily perfectly matched, there being cases where the gripping space is larger, smaller or equal to the size of the material. Therefore, in the first state, after the first driving mechanism 2 drives the clamp to move, the clamping space is larger than the size of the material, and the power member 321 is needed to compensate for the size difference between the clamping space and the material. For materials requiring rigid contact, the maximum stroke of the power member 321 is greater than or equal to the absolute value of the difference between the size of the clamping space and the size of the material. The clamping space is larger than the size of the material, the size of the clamping space is a, the size of the material is b, a is larger than b, at the moment, the power part 321 is needed to drive the first clamping part 33 to move towards the direction close to the second clamp 4 so as to reduce the clamping space to meet the size of the material, the stroke of the power part 321 is L, and L is larger than or equal to a-b.

In some embodiments of the present invention, in the second state, after the first driving mechanism 2 drives the clamp to move, the clamping space is larger than the size of the material, the size of the clamping space is a, the size of the material is b, and a > b. At this time, the first driving mechanism 2 is required to drive the first clamp 3 and the second clamp 4 to move relatively so as to reduce the size of the clamping space, and thus the first clamp 3 is in elastic contact with the material. In the process of compressing the elastic element 322, the power element 321 is equivalent to a linear bearing and can move freely, when the stroke of the power element 321 is zero, that is, the power element 321 is in a full return state and in a state where a piston rod of a corresponding cylinder is completely retracted, the axial dimension of the power element 321 at this time is c, the dimension of the elastic element 322 when reaching the maximum compression amount is d, and it is required to ensure that c is not less than d, so as to ensure that the power element 321 does not block the compression of the elastic element 322 in the process of compressing the elastic element 322.

The moving direction of the first clamping member 33 is to move toward the second clamp 4 or to move away from the second clamp 4, and can be automatically controlled by a program. Before operation, an operator can input information such as material, weight and size of the material into a controller of the robot gripper, the controller generates a control signal according to the information, and the first driving mechanism and the power part 321 grab the material according to the control signal.

In some embodiments of the present invention, as shown in fig. 2 to 7, the first clamp 3 further includes a guide member 34, the guide member 34 connects the first connecting plate 31 and the first clamping member 33, and the elastic member 322 is fitted over the guide member 34. A stop ring 36, a spacer 37 and a stop 38 are arranged on the guide 34. On the one hand, both ends of the elastic member 322 are prevented from coming off the first coupling plate 31 or the first clamping member 33, and on the other hand, the elastic member 322 is put in a compressed state. The guide member 34 is further provided with a linear bearing 39 for reducing friction when the guide member 34 moves.

In some embodiments of the present invention, during stacking, the materials are stacked one on top of another, and in order to prevent two adjacent materials from rubbing against each other to cause abrasion, a cushion plate 9 needs to be placed between the two materials to protect and absorb shock. In order to increase the efficiency during palletizing, the placement of the tie plates 9 is also designed to be automated. As shown in fig. 1, 12 to 14, the robot gripper further comprises a suction mechanism 5, the suction mechanism 5 comprises a vacuum generator 51 and at least one vacuum cup 52, the vacuum generator 51 is connected to the frame 1, the vacuum cup 52 is arranged on the frame 1, and the vacuum cup 52 is connected to the vacuum generator 51 and arranged to suck the pad 9. The air pressure at the vacuum suction cup 52 is generated by the vacuum generator 51, and the mat 9 is sucked and fixed when the vacuum is connected and the mat 9 is released when the vacuum is not connected. The first suction mechanism 5 sucks a backing plate 9, and the first clamp 3 and the second clamp 4 clamp the material, when the material is released, the first clamp 3 and the second clamp 4 release the material, the suction mechanism 5 releases the backing plate 9, or the first clamp 3, the second clamp 4 and the suction mechanism 5 release simultaneously.

The number of the vacuum generators 51 and the vacuum suction cups 52 is not limited, and may be one, two or more, in one embodiment, two vacuum generators 51 and four vacuum suction cups 52 are provided, and each two vacuum suction cups 52 are connected to one vacuum generator 51 in a group. Still be provided with manometer 53 on the frame 1, manometer 53 can the real-time supervision sucking disc pressure's size to can change the size of sucking disc pressure according to the production line demand through the governing valve. A vacuum filter 54 is arranged between the vacuum generator 51 and the vacuum suction cup 52 to filter out impurities in the vacuum, so as to prevent the impurities from falling on the backing plate 9 to abrade the material.

In some embodiments of the present invention, in the production line, the position of the tie plate 9 changes as the tie plate 9 is continuously taken, so that the position of the suction mechanism 5 is required to change along with the position of the tie plate 9, and therefore, the second driving mechanism 6 is further provided. As shown in fig. 1, 12 to 14, the robot gripper further comprises a second driving mechanism 6, the suction mechanism 5 is connected to the frame 1 through the second driving mechanism 6, and the second driving mechanism 6 is configured to drive the suction mechanism 5 to move to the pad 9. The second driving mechanism 6 can be a combination of a motor and a rack and pinion, a combination of a motor and a lead screw, an electric cylinder or an air cylinder, in one embodiment, the second driving mechanism 6 includes a second driving member 61 and a second connecting member 62, the second driving member 61 is connected to the rack 1, the second connecting member 62 is connected to the second driving member 61, the second driving member 61 is selected from the air cylinder, and the vacuum chuck 52 is connected to the second connecting member 62.

Two groups of second driving mechanisms 6 are arranged on two sides of the frame 1 respectively, and every two vacuum suction cups 52 are connected to the same second connecting piece 62. The second driving piece 61 adopts a three-shaft cylinder, and the three-shaft cylinder is higher than the two-shaft cylinder in stability. The carrying capacity of the suction means 5 can be changed by changing the position of the vacuum cup 52 on the second connection 62. Between vacuum chuck 52 and the second connecting piece 62, between second driving piece 61 and the second connecting piece 62 and between second driving piece 61 and the frame 1 can select spiro union, joint or pin joint for use, in one embodiment for the spiro union, the spiro union is for dismantling the connection, is convenient for adjust the mounted position, simultaneously, when breaking down, but quick replacement.

In some embodiments of the present invention, a first inductive switch 63 is provided on one of the second actuators 61 for detecting whether the tie plate 9 is sucked into position.

In some embodiments of the invention, as shown in fig. 1, 8 and 9, the second clamp 4 comprises a second clamping member 42, a second connecting plate 41 is connected to the second nut 26, the second nut 26 is the other driving end of the first driving mechanism 2, and the second clamping member 42 is always in rigid contact with the material. To facilitate the connection of the second clamping member 42, the second clamp 4 further comprises a second connecting plate 41, the second clamping member 42 is connected to the second nut 26 through the second connecting plate 41, that is, the second connecting plate 41 is connected to the second nut 26, and the second clamping member 42 is connected to the second connecting plate 41. First anchor clamps 3 can switch between first state and second state, and second anchor clamps 4 all the time contact with the material rigidity, and first anchor clamps 3 can use second anchor clamps 4 as the benchmark when second state and material elastic contact, adjusts the depth of parallelism after the material is got by the clamp, and then improves the regularity behind the pile up neatly, is convenient for carry the transportation.

Wherein a plurality of supporting members 43 are further provided between the second connecting plate 41 and the second clamping member 42 for increasing the strength of the second clamp 4. The second connecting plate 41 is provided with a seventh connecting piece 411, the second connecting plate 41 is connected with the second nut 26 through the seventh connecting piece 411, and the seventh connecting piece 411 is detachably connected with the second connecting plate 41.

In some embodiments of the present invention, as shown in fig. 1, 12 to 14, a second inductive switch 11 is further disposed on the frame 1 for detecting the position of the first clamp 3. Under the driving of the first driving mechanism 2, the first clamp 3 and the second clamp 4 move in the same manner, and only the position of the first clamp 3 or the second clamp 4 needs to be detected. The first connecting plate 31 is provided with a third connecting member 311, and the positions of the first clamp 3 and the second clamp 4 can be determined by sensing the third connecting member 311 through the second sensing switch 11.

In some embodiments of the present invention, as shown in fig. 2, 3, 8 and 9, the first clamping member 33 includes a first clamping plate 331, the first clamping plate 331 is connected to the first connecting plate 31, the second clamping member 42 includes a second clamping plate 421, the second clamping plate 421 is connected to the second connecting plate 41, and the first clamping plate 331 and the second clamping plate 421 are configured to clamp a material or a weight material. The first flexible layer 333 is arranged on the surface of the first clamping plate 331, the second flexible layer 423 is arranged on the surface of the second clamping plate 421, and the first flexible layer 333 and the second flexible layer 423 can prevent materials from being directly and rigidly contacted with the first clamping plate 331 and the second clamping plate 421 to cause material damage. Gaps are arranged between the first clamping plate 331 and the first connecting plate 31 and between the second clamping plate 421 and the second connecting plate 41 to avoid the backing plate 9, after the backing plate 9 is sucked, the backing plate 9 is in the gaps, the first clamp 3 and the second clamp 4 do not touch the backing plate 9 when moving relatively, and the backing plate 9 and the material do not interfere with each other.

The first flexible layer 333 and the second flexible layer 423 may be a rubber layer, a silicone layer, or a woven fabric layer, and in one embodiment, the rubber layer is detachably connected between the rubber layer and the first clamping plate 331 and the second clamping plate 421, and may be in a snap connection, a screw connection, or a pin connection, and in one embodiment, the screw connection is performed. Along with the production, the rubber layer is easy to wear and tear, and the detachable connection is adopted, so that the rubber layer is convenient to replace, and the material is further prevented from being damaged.

In some embodiments of the present invention, as shown in fig. 2, 3, 8 and 9, the first clamping member 33 further comprises a third clamping plate 332, the third clamping plate 332 is connected to the first clamping plate 331, the second clamping member 42 further comprises a fourth clamping plate 422, the fourth clamping plate 422 is connected to the second clamping plate 421, and the fourth clamping plate 422 and the third clamping plate 332 are configured to clamp another material or a heavy material. The third flexible layer 334 is arranged on the surface of the third clamping plate 332, the fourth flexible layer 424 is arranged on the surface of the fourth clamping plate 422, and the third flexible layer 334 and the fourth flexible layer 424 can prevent materials from being directly and rigidly contacted with the third clamping plate 332 and the fourth clamping plate 422 to cause material damage. The widths of the first and

second clamping plates

331 and 421 are greater than the widths of the third and

fourth clamping plates

332 and 422, and the width of the condenser 7 is greater than the width of the evaporator 8, so that the first and

second clamping plates

331 and 421 are used to clamp the condenser 7, and the third and

fourth clamping plates

332 and 422 are used to clamp the evaporator 8. Further, the distance between the first clamp plate 331 and the second clamp plate 421 is smaller than the distance between the third clamp plate 332 and the fourth clamp plate 422, and the third clamp plate 332 and the fourth clamp plate 422 do not interfere with the condenser 7 when the condenser 7 is clamped.

In some embodiments of the present invention, in order to ensure that the evaporator 8 does not fall off during the clamping process, as shown in fig. 2, 3, and 8 to 11, the third clamping plate 332 includes a first clamping portion 3321 connected to the first clamping plate 331 and a second clamping portion connected to the first clamping portion 3321, the second clamping portion 3322 and the first clamping portion 3321 form an included angle, the included angle is an obtuse angle and faces the fourth clamping plate 422, the fourth clamping plate 422 includes a third clamping portion 4221 connected to the second clamping plate 421 and a fourth clamping portion 4222 connected to the third clamping portion 4221, and the included angle is an obtuse angle and faces the third clamping portion 42332. When the evaporator 8 is gripped, the second holding portion 3322 and the fourth holding portion 4222 first contact copper pipes on both sides of the evaporator 8, the second holding portion 3322 and the fourth holding portion 4222 are inclined with respect to the horizontal direction, the evaporator 8 slides to the first holding portion 3321 and the third holding portion 4221 to be gripped, the distance between the first holding portion 3321 and the third holding portion 4221 is greater than the distance between the second holding portion 3322 and the fourth holding portion 4222, and the second holding portion 3322 and the fourth holding portion 4222 can prevent the evaporator 8 from falling down. The third flexible layer 334 is disposed on the first clamping portion 3321, the fourth flexible layer 424 is disposed on the third clamping portion 4221, and the second clamping portion 3322 and the fourth clamping portion 4222 are smooth surfaces, so that friction of the evaporator 8 in a sliding process is reduced.

In some embodiments of the present invention, a fourth connecting element 12 and a linear guide 13 are disposed on the frame 1, the fourth connecting element 12 is used for connecting with a robot arm, and the first connecting plate 31 and the second connecting plate 41 are both in limit fit with the linear guide 13 on the frame 1, so as to increase the stability of the first clamp 3 and the second clamp 4 during the movement process.

In some embodiments of the present invention, as shown in fig. 12 to 14, a drag chain 14 and a drag chain guide groove 15 are disposed on the frame 1, a fifth connecting member 35 is disposed on the first connecting plate 31, one end of the drag chain 14 is connected to the frame 1, and the other end of the drag chain 14 is connected to the fifth connecting member 35, so that on one hand, the drag chain 14 plays a role in enhancing the stability of the movement of the first clamp 3, and on the other hand, cables, pipes, etc. can be disposed in a cavity of the drag chain 14, thereby effectively protecting the cables and preventing the cables from being worn. A tow chain guide groove 15 is further provided on the frame 1 to define a moving direction of the tow chain 14 when it is extended and retracted.

In some embodiments of the present invention, as shown in fig. 12 to 14, a terminal junction box 16 is further disposed on the rack 1 for fixing the circuit of each component, so as to avoid the circuit disorder from affecting the material gripping.

The working process of the robot gripper for gripping the condenser 7 in the first embodiment of the present application is as follows:

the robot arm drives the robot gripper to move to the position of the backing plate 9;

the first driving mechanism 2 drives the first clamp 3 and the second clamp 4 to move in opposite directions;

the second driving mechanism 6 drives the suction mechanism 5 to move towards the direction of the backing plate 9, the vacuum generator 51 is started, the vacuum sucker 52 sucks the backing plate 9, and the second driving mechanism 6 drives the suction mechanism 5 to return to the initial position;

the robot arm drives the robot gripper to move to the condenser 7, the first driving mechanism 2 drives the first clamp 3 and the second clamp 4 to move to a certain position in the opposite direction but not to contact with the material, and the power part 321 drives the first clamping part 33 to continue to move towards the condenser 7 until the first clamping part 33 and the second clamping part 42 are in rigid contact with the material, so that clamping is completed;

the robot arm drives the robot gripper to move to the stacking position, the first driving mechanism 2 drives the first clamp 3 and the second clamp 4 to move in opposite directions, the vacuum generator 51 is turned off, and the condenser 7 and the backing plate 9 fall at the stacking position at the same time.

The working process of the robot gripper 8 in the first embodiment of the present application is as follows:

the robot arm drives the robot gripper to move to the condenser 7, the first driving mechanism 2 drives the first clamp 3 and the second clamp 4 to move to a certain position in opposite directions, so that the evaporator 8 enters a clamping space, the power piece 321 loses power, the elastic piece 322 is in a compression state, the first clamping piece 33 and the power piece 321 move towards the direction of the evaporator 8 under the action of elastic force, the evaporator 8 enters the clamping space to press the elastic piece 322, and the evaporator 8 is in elastic contact with the first clamping piece 33 to finish clamping;

A second embodiment of the invention proposes a robot gripper comprising:

a frame 1;

the first clamp 3 and the second clamp 4 are respectively connected to the driving end of the first driving mechanism 2, a clamping space is formed between the first clamp 3 and the second clamp 4, and the first driving mechanism 2 is used for driving the first clamp 3 and the second clamp 4 to move relatively to clamp a material;

the first clamp 3 comprises a first connecting plate 31 and a first clamping piece 33, the first connecting plate 31 is connected with the driving end of the first driving mechanism 2, the first clamping piece 33 is movably connected with the first connecting plate 31, and an elastic piece 322 and a power piece 321 are arranged between the first clamping piece 33 and the first connecting plate 31;

the first clamping member 33 is arranged to be switched between a first state in which the resilient member 322 is arranged to drive the first clamping member 33 to clamp the material and a second state in which the power member 321 and the resilient member 322 are arranged to simultaneously drive the first clamping member 33 to clamp the material.

According to the robot gripper disclosed by the embodiment of the invention, the first driving mechanism drives the first clamp 3 and the second clamp 4 to move so as to change the distance between the clamps, namely, the size of a clamping space is changed to adapt to materials, so that the compatibility of the robot gripper is improved, and the application range is expanded. The first clamp 3 comprises a first connecting plate 31 and a first clamping member 33, an elastic member 322 and a power member 321 are arranged between the first connecting plate 31 and the first clamping member 33, and the different states of the power member 321 can change the clamping force of the first clamping member 33 on the material. In the first state, the power piece does not act, the first clamping piece 33 clamps the materials under the driving of the elastic piece 322, the first clamping piece 33 is in elastic contact with the materials, in the second state, the power piece 321 acts, the first clamping piece 33 simultaneously bears the elastic driving force of the elastic piece 322 and the driving force of the power piece 321, the two driving forces are transmitted to the materials to clamp the materials, and rigid contact is added between the first clamping piece 33 and the materials on the basis of the elastic contact, so that the clamping force of the clamp on the materials is increased, and the grabbing reliability of the robot gripper in the operation process is increased.

The working process of the robot gripper in the second embodiment of the present application for gripping materials is as follows:

the robot arm drives the robot gripper to move to a material position, the first driving mechanism 2 drives the first clamp 3 and the second clamp 4 to move to a certain position in opposite directions to enable the material to enter a clamping space, the power piece 321 loses power, the elastic piece 322 is in a compression state, the first clamping piece 33 and the power piece 321 move towards the material direction under the action of elastic force, the material enters the clamping space to extrude the elastic piece 322, the elastic piece 322 drives the first clamping piece 33 to clamp the material, and the first clamping piece 33 is in elastic contact with the material to finish clamping in a first stage;

the power part 321 obtains power again to drive the first clamping part 33 to move so as to clamp the material, the first clamping part 33 is in rigid contact with the material, the clamping in the second stage is completed, and at the moment, rigid contact and elastic contact exist between the first clamping part 33 and the material;

the robot arm drives the robot gripper to move to the stacking position, the first driving mechanism 2 drives the first clamp 3 and the second clamp 4 to move in opposite directions, the vacuum generator 51 is closed at the same time, and the materials and the base plate 9 drop to the stacking position at the same time.

A third embodiment of the invention proposes a production line comprising a robot gripper according to any of the embodiments described above.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A robotic gripper, comprising:

a frame;

the first driving mechanism is connected to the rack;

2. The robotic gripper of claim 1, wherein the at least two grippers comprise:

3. The robotic gripper of claim 2, wherein the first gripper comprises:

a first connecting plate connected to a drive end of the first drive mechanism;

the switching assembly is connected to the first connecting plate;

4. The robotic gripper of claim 3, wherein the switching assembly includes:

5. The robotic gripper of claim 4, wherein in the first state, the size of the gripping space is greater than the size of the material, and the absolute value of the difference between the size of the gripping space and the size of the material is less than or equal to the maximum travel of the power member.

6. The robotic gripper of claim 4 wherein in the second state, the gripping space is sized larger than the material, and the power member has a zero stroke dimension that is less than or equal to a maximum compression dimension of the resilient member.

7. The robotic gripper of claim 3, further comprising a suction mechanism, the suction mechanism comprising:

the vacuum generator is connected to the rack;

8. The robotic gripper of claim 7, wherein the robotic gripper further comprises:

9. The robotic gripper of claim 3, wherein the second gripper comprises:

10. The robotic gripper of claim 9, wherein the first gripping member includes a first clamping plate connected to the first connecting plate;

11. The robotic gripper of claim 10, wherein the first gripping member further includes a third clamping plate, the third clamping plate being attached to the first clamping plate;

12. The robotic gripper of claim 11, wherein the third clamping plate includes:

the first clamping part is connected to the first clamping plate;

the third clamping part is connected to the second clamping plate;

13. A robotic gripper, comprising:

a frame;

the first driving mechanism is connected to the rack;