CN116605643A

CN116605643A - Mechanical gripper and feeding device

Info

Publication number: CN116605643A
Application number: CN202310527581.3A
Authority: CN
Inventors: 刘洋; 袁聪
Original assignee: Shenzhen Peach Automation Technology Co ltd
Current assignee: Shenzhen Peach Automation Technology Co ltd
Priority date: 2023-04-19
Filing date: 2023-05-09
Publication date: 2023-08-18
Anticipated expiration: 2043-05-09
Also published as: CN116605643B

Abstract

The application relates to the technical field of automatic equipment, and provides a mechanical gripper and a feeding device, wherein the mechanical gripper comprises a hanging installation mechanism, and an adjusting mechanism, an adsorption mechanism and a clamping mechanism which are connected with the hanging installation mechanism; the adjusting mechanism is used for pushing the product to move so as to align the product with two adjacent side edges of the feeding station; the adsorption mechanism comprises an adsorption piece, and the adsorption piece is used for adsorbing the product; the clamping mechanism comprises a clamping jaw, the clamping jaw comprises two clamping pieces which are arranged oppositely, and the two clamping pieces can be relatively close to or far away from each other to clamp or loosen a product. The mechanical gripper can pre-position the product to the accurate position corresponding to the feeding station, realizes accurate adjustment of the product position, realizes double safety protection on the product in the transfer process, and prevents the product from falling off, so that the feeding work can be safely and efficiently performed, and the production efficiency of the automatic equipment is improved while the labor cost is reduced.

Description

Mechanical gripper and feeding device

Technical Field

The application relates to the technical field of automatic equipment, in particular to a mechanical gripper and a feeding device.

Background

With the advancement of automobile technology, the automobile center console is also changed from a traditional key mode to a full touch mode. In the full touch mode, the corresponding operation can be completed by pressing or sliding the touch screen.

At present, the well accuse screen that is applied to the automotive industry is mostly rectangular shape, and well accuse screen dispensing equipment, pressfitting when standing after the product material loading station, need the production personnel to carry the product to whole line material loading station from quiet rest, and the cost of labor is high and production efficiency is low, wastes time and energy.

Disclosure of Invention

The application aims to provide a mechanical gripper and a feeding device, which are used for solving the technical problems of high cost and low production efficiency when the existing product is manually conveyed to a whole line feeding station.

An embodiment of a first aspect of the present application proposes a mechanical gripper for gripping a product on a loading station, the mechanical gripper comprising a suspension mounting mechanism and an adjusting mechanism, an adsorbing mechanism and a clamping mechanism connected to the suspension mounting mechanism;

the adjusting mechanism is used for pushing the product to move so as to align the product with two adjacent sides of the feeding station;

the adsorption mechanism comprises an adsorption piece, and the adsorption piece is used for adsorbing the product;

the clamping mechanism comprises clamping jaws which comprise two clamping pieces which are arranged oppositely, and the two clamping pieces can be relatively close to or far away from each other to clamp or unclamp the product.

In an embodiment, the suspension mounting mechanism comprises a first mounting plate and a second mounting plate which are connected, the first mounting plate is used for connecting the mechanical arm and extends along a first direction, the second mounting plate is located at one end of the first mounting plate far away from the mechanical arm and extends along a second direction, the second direction and the first direction are in a preset included angle, and the adjusting mechanism, the adsorption mechanism and the clamping mechanism are all arranged on the second mounting plate.

In an embodiment, the suspension mounting mechanism further includes a reinforcing panel, a support plate, and a fastener, wherein the reinforcing panel and the support plate are respectively located at two opposite sides of the first mounting plate along a third direction and fixedly connected by the fastener, the third direction is perpendicular to the first direction and the second direction, and a mounting space is formed between the reinforcing panel and the second mounting plate.

In an embodiment, along the second direction, the length of the reinforcing panel and the length of the support plate are both greater than the length of the first mounting plate; the connection between any two of the first mounting plate, the second mounting plate, the reinforcing panel and the support plate comprises a bolted connection.

In an embodiment, the reinforcing panel includes a reinforcing body and two reinforcing arms disposed on two opposite sides of the reinforcing body, each reinforcing arm includes a first reinforcing portion and a second reinforcing portion that are connected in a bending manner, an extending direction of the first reinforcing portion forms an included angle with the first direction, and the two second reinforcing portions are opposite and are disposed at intervals;

the backup pad includes two support arms, the support arm with the reinforcing arm one-to-one sets up, the support arm has first end and second end, first end connect in first mounting panel deviates from the bottom surface in installation space, the second end connect in the second mounting panel orientation installation space's top surface.

In one embodiment, the adjustment mechanism comprises:

the side pushing assembly comprises a side pushing block and a side pushing driving piece which are connected, the side pushing driving piece is accommodated in the installation space, the side pushing block is positioned at one side of the second installation plate, which is away from the installation space, and the side pushing block moves along the second direction under the driving of the side pushing driving piece;

the forward pushing assembly comprises a forward pushing block and a forward pushing driving piece which are connected, the forward pushing driving piece is contained in the installation space, the forward pushing block is located at one side of the second installation plate, which is away from the installation space, and the forward pushing block moves along the first direction under the driving of the forward pushing driving piece.

In an embodiment, the adsorption mechanism comprises two rows of adsorption pieces distributed along the first direction, and the clamping jaw is positioned between the two rows of adsorption pieces.

In an embodiment, the clamping mechanism comprises a plurality of clamping jaws sequentially distributed along the second direction, the clamping mechanism further comprises a plurality of clamping jaw driving parts, the clamping jaws are in one-to-one correspondence with the clamping jaw driving parts, the clamping jaw driving parts are accommodated in the installation space, and the clamping parts penetrate through the second installation plate and extend out of the installation space;

the absorption mechanism comprises a plurality of absorption parts and a plurality of buffer guide rods penetrating through the second mounting plate, the absorption parts correspond to the buffer guide rods one by one, a gas channel is arranged in each buffer guide rod, and the absorption parts are arranged at one ends, corresponding to the buffer guide rods, far away from the mounting space and communicated with the gas channel.

In one embodiment, the mechanical gripper further comprises a busbar mechanism accommodated in the installation space, and an airflow channel is arranged in the busbar mechanism;

the side pushing driving piece, the forward pushing driving piece and the clamping jaw driving piece are all air cylinders, and the air paths of the side pushing driving piece, the forward pushing driving piece, the clamping jaw driving piece and the buffering guide rod are all arranged in the installation space and are respectively communicated with the air flow channel.

The mechanical gripper comprises a hanging installation mechanism, an adjusting mechanism connected with the hanging installation mechanism, an adsorption mechanism and a clamping mechanism, on one hand, products can be pre-positioned to the accurate positions corresponding to the feeding stations through the adjusting mechanism, and accurate adjustment of the positions of the products is achieved; on the other hand, the accessible adsorbs the product, presss from both sides tight product through the clamping jaw simultaneously, realizes transferring the in-process to the dual safety protection of product, prevents that the product from dropping to can carry out the material loading work by safe efficient, improve automation equipment production efficiency when reducing the cost of labor, thereby solve current through the manual handling product to when whole line material loading station, with high costs and the low technical problem of production efficiency.

An embodiment of a second aspect of the present application provides a feeding device, including a mechanical gripper according to any one of the embodiments of the first aspect, a feeding table, a conveying mechanism, and a mechanical arm, where the feeding table includes a plurality of feeding stations, and the mechanical arm is configured to drive the mechanical gripper to move in a space, so as to transfer a product located on the feeding stations to the conveying mechanism.

According to the feeding device provided by the application, on one hand, products can be pre-positioned to the accurate positions corresponding to the feeding stations through the adjusting mechanism of the mechanical gripper, so that the accurate adjustment of the positions of the products is realized; on the other hand, the adsorption piece of accessible machinery tongs adsorbs the product, presss from both sides tight product through the clamping jaw simultaneously, realizes the dual safety protection to the product in the transfer process, prevents that the product from dropping to can carry out the material loading work by safe efficient, improve automation equipment production efficiency when reducing the cost of labor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a feeding device according to an embodiment of the present application;

FIG. 2 is an enlarged view of a portion of the structure shown in FIG. 1A;

FIG. 3 is a schematic perspective view of a product in the loading apparatus shown in FIG. 1;

FIG. 4 is a schematic perspective view of a mechanical gripper and a product in the loading device shown in FIG. 1;

FIG. 5 is a perspective view of the mechanical gripper of the loading device of FIG. 1 from another perspective;

FIG. 6 is a schematic perspective view of the reinforcement panel, support plate and fastener of the mechanical gripper of FIG. 4;

FIG. 7 is a schematic perspective view of a side pushing assembly of the mechanical gripper of FIG. 4;

FIG. 8 is a schematic perspective view of a forward pushing assembly of the mechanical gripper of FIG. 4;

FIG. 9 is a schematic perspective view of a gripping mechanism in the mechanical gripper of FIG. 4;

FIG. 10 is a perspective view of the suction mechanism of the mechanical gripper of FIG. 4;

fig. 11 is a perspective view of the busbar mechanism in the mechanical gripper shown in fig. 4.

The meaning of the labels in the figures is:

100. a mechanical gripper;

10. a hanging installation mechanism; 11. a first mounting plate; 12. a second mounting plate; 13. reinforcing the panel; 131. a reinforcing body; 132. a reinforcing arm; 1321. a first reinforcing part; 1322. a second reinforcing part; 14. a support plate; 141. a support arm; 142. a first end; 143. a second end; 15. a fastener; 16. an installation space; 17. a support rod;

20. an adjusting mechanism; 21. a side pushing assembly; 211. a side pushing block; 212. a side-pushing driving member; 213. laterally pushing the mounting plate; 214. a side-pushing driving piece mounting plate; 2141. a first side push driving piece mounting part; 2142. a second side-pushing driving piece mounting part; 22. a forward pushing assembly; 221. a forward pushing block; 222. forward pushing the driving member; 223. forward pushing the mounting plate; 224. a forward drive mounting plate; 2241. a first forward drive mounting portion; 2242. a second forward drive mounting portion;

30. an adsorption mechanism; 31. an absorbing member; 32. buffering the guide rod; 33. an air pipe joint;

40. a clamping mechanism; 41. a clamping jaw; 411. a clamping member; 42. a jaw drive; 43. a jaw mounting block; 44. a jaw drive mounting plate; 441. a first jaw drive mount; 442. a second jaw drive mounting portion;

50. a busbar mechanism; 51. a confluence mounting plate; 52. a plug; 53. an air inlet pipe joint; 54. the air outlet pipe joint;

200. feeding table; 201. a feeding station; 202. a limiting piece; 203. a feeding space;

300. a product; 301. an extension piece;

400. a mechanical arm;

500. a conveying mechanism; 501. feeding tool fixture;

600. a mounting base;

1000. and a feeding device.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, and are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In order to describe the technical scheme of the application, the following description is made with reference to specific drawings and embodiments.

An embodiment of a first aspect of the present application provides a mechanical gripper for gripping a product on a loading station. In the following examples, the product is an elongated automotive center screen.

Referring to fig. 1, 2 and 4, in one embodiment of the present application, a mechanical gripper 100 includes a suspension mounting mechanism 10 and an adjustment mechanism 20, an adsorption mechanism 30 and a clamping mechanism 40 connected to the suspension mounting mechanism 10.

The adjustment mechanism 20 is used to push the product 300 to move so that the product 300 is aligned with the adjacent sides of the loading station 201. Therefore, the position of the product 300 can be accurately adjusted, so that the product 300 is placed at the designated position of the feeding station 201 in a preset posture, and the subsequent clamping jaw 41 can be conveniently positioned and grabbed.

Referring to fig. 4 and 10, the adsorbing mechanism 30 includes an adsorbing member 31, and the adsorbing member 31 is used for adsorbing the product 300. Wherein, the adsorption member 31 can be adsorbed on the surface of the product 300 under the action of negative pressure, so that the arrangement of the adsorption members 31 can enhance the acting force between the adsorption mechanism 30 and the product 300 and reduce the possibility of dropping the product 300. It will be appreciated that the suction member 31 may be a plastic suction cup or the like, and the negative pressure may be realized by sucking air in the suction cup.

Referring to fig. 4 and 9, the clamping mechanism 40 includes a clamping jaw 41, the clamping jaw 41 includes two clamping members 411 disposed opposite to each other, and the two clamping members 411 can be relatively close to or far away from each other to clamp or unclamp the product 300.

In this embodiment, the clamping jaw 41 clamps the product 300, and at the same time, the adsorption of the adsorption piece 31 to the product 300 can be realized, so that the product 300 can be doubly protected during the process of transferring the product 300 by the mechanical gripper 100, and the loss caused by the falling of the product 300 is avoided.

It can be appreciated that the product 300 may be provided with a protrusion, so that the clamping member 411 can be conveniently abutted against the protrusion, so as to achieve clamping of the clamping jaw 41 to the product 300; alternatively, the product 300 may be provided with a through hole to facilitate the insertion of the clamping member 411 therethrough, which is not limited herein.

The mechanical gripper 100 comprises a hanging installation mechanism 10, and an adjusting mechanism 20, an adsorption mechanism 30 and a clamping mechanism 40 which are connected with the hanging installation mechanism 10, on one hand, the product 300 can be pre-positioned to the accurate position corresponding to the feeding station 201 through the adjusting mechanism 20, so that the accurate adjustment of the position of the product 300 can be realized; on the other hand, the product 300 is adsorbed by the adsorption piece 31, and meanwhile, the product 300 is clamped by the clamping jaw 41, so that double safety protection on the product 300 in the transfer process is realized, the product 300 is prevented from falling off, feeding work can be safely and efficiently performed, the labor cost is reduced, the production efficiency of automatic equipment is improved, and the technical problems of high cost and low production efficiency in the process of manually carrying the product to the whole line feeding station are solved.

Referring to fig. 1 to 3, a feeding station 201 for placing a product 300 is disposed on a feeding table 200, a plurality of limiting assemblies are disposed on the feeding table 200, each limiting assembly includes four L-shaped limiting members 202, and the four limiting members 202 are disposed at intervals and enclose one feeding station 201, i.e. a plurality of feeding stations 201 are disposed on the feeding table 200.

Further, the size of the feeding station 201 is larger than the size of the product 300, i.e. the length of the feeding station 201 is larger than the length of the product 300, and the width of the feeding station 201 is larger than the width of the product 300. As such, the placement of the product 300 on the different loading stations 201 may be different, i.e., the relative positions of the product 300 and the limiting member 202 may be different, and the clamping jaw 41 of the mechanical gripper 100 may not be capable of accurately clamping the product 300. For this purpose, the product 300 is pushed to move by the adjusting mechanism 20, and two adjacent sides of the product 300 are abutted against two adjacent sides of one of the limiting members 202, so that the product 300 is aligned with two adjacent sides of the feeding station 201.

Specifically, the product 300 is a semi-finished part, including a display screen, and a plastic part and a metal frame disposed on the back of the display screen. The product 300 is provided with an extension piece 301, the extension piece 301 is provided with a through hole, and the clamping piece 411 can penetrate through the through hole.

Referring to fig. 1, 4 to 6, in an embodiment of the present application, the suspension mounting mechanism 10 includes a first mounting plate 11 and a second mounting plate 12 connected to each other, the first mounting plate 11 is used for connecting the robot 400 and extends along a first direction (X direction in the drawing), the second mounting plate 12 is located at an end of the first mounting plate 11 away from the robot 400 and extends along a second direction (Y direction in the drawing), the second direction Y forms a preset included angle with the first direction X, and the adjusting mechanism 20, the adsorbing mechanism 30 and the clamping mechanism 40 are all disposed on the second mounting plate 12. Therefore, a certain distance is reserved between the second mounting plate 12 and the mechanical arm 400, and when the adjusting mechanism 20, the adsorption mechanism 30 and the clamping mechanism 40 on the second mounting plate 12 perform position adjustment and grabbing on the product 300 on the feeding table 200, collision between the mechanical arm 400 and the feeding table 200 can be avoided, and the operation process is safe and efficient.

In this embodiment, the first mounting plate 11 and the second mounting plate 12 are rectangular plates, and the second direction Y is perpendicular to the first direction X, that is, the included angle between the second direction Y and the first direction X is 90 °, so that the first mounting plate 11 and the second mounting plate 12 are T-shaped as a whole. It can be appreciated that the rectangular second mounting plate 12 is adapted to the strip-shaped product 300, and when the mechanical gripper 100 grips the product 300, the stress of the second mounting plate 12 is relatively uniform, which is beneficial to maintaining the stability of the product 300 during the moving process. The suspension mount mechanism 10 is flat as a whole, and has a low space height.

It will be appreciated that in other embodiments of the present application, the first mounting plate 11 and the second mounting plate 12 may have other shapes, and the second direction Y may have other angles with respect to the first direction X, which is not limited herein.

In addition, please combine fig. 1 and 2, the loading table 200 includes a plurality of parallel loading plates disposed at intervals, a loading space 203 is provided between adjacent loading plates, and each loading plate is provided with a plurality of limiting assemblies and a plurality of loading stations 201. It can be appreciated that the whole mechanical gripper 100 is flat, so that the mechanical gripper 100 can conveniently enter the feeding spaces 203 of different layers to grasp the product 300, and the practicability is high.

Because the second mounting plate 12 is located the one end that the robotic arm 400 was kept away from to first mounting plate 11, and adjustment mechanism 20, adsorption equipment 30 and fixture 40 all are located on the second mounting plate 12, then the load that the robotic arm 400 was kept away from to first mounting plate 11 one end is great, and the flexibility of first mounting plate 11 increases, and easy deformation and the intensity that resists external force weaken, and overall rigidity reduces, has the potential safety hazard. In order to reduce the deflection and enhance the overall rigidity, referring to fig. 1, 4 to 6, in one embodiment of the present application, the suspension mounting mechanism 10 further includes a reinforcing panel 13, a support plate 14 and a fastener 15, wherein the reinforcing panel 13 and the support plate 14 are respectively located at opposite sides of the first mounting plate 11 along a third direction (Z direction shown in the drawing) and fixedly connected by the fastener 15, the third direction Z is perpendicular to the first direction X and the second direction Y, and a mounting space 16 is formed between the reinforcing panel 13 and the second mounting plate 12.

Specifically, the number of the fasteners 15 is plural, and the plural fasteners 15 are located between the reinforcing panel 13 and the support plate 14 at intervals in parallel, so that the strength of the connection between the reinforcing panel 13 and the support plate 14 can be enhanced; in addition, the reinforcing panel 13 may be supported to maintain the shape of the installation space 16. Since the reinforcing panel 13 and the support plate 14 are located on opposite sides of the first mounting plate 11, respectively, the bending rigidity of the suspension mounting mechanism 10 can be increased, thereby reducing deflection.

In addition, the suspension mounting mechanism 10 further comprises a supporting rod 17 extending along the first direction X, the supporting rod 17 is in threaded connection with the first mounting plate 11, and one end, away from the first mounting plate 11, of the supporting rod 17 abuts against the reinforcing panel 13, so that the supporting effect on the reinforcing panel 13 is further enhanced. Further, the support bar 17 is located on the central axis of the first mounting plate 11.

Further, referring to fig. 4 to 6, in the present embodiment, along the second direction Y, the length of the reinforcing panel 13 and the length of the supporting plate 14 are both greater than the length of the first mounting plate 11. In this way, the width of the reinforcing panel 13 and the overall width of the supporting plate 14 are both greater than the width of the first mounting plate 11, so that the bending resistance of the reinforcing panel 13 and the supporting plate 14 can be enhanced, the mechanical stability of the suspension mounting mechanism 10 can be further improved, and the service life of the mechanical gripper 100 can be prolonged.

Referring to fig. 4 to 6, in one embodiment of the present application, the connection between any two of the first mounting plate 11, the second mounting plate 12, the reinforcing panel 13 and the support plate 14 includes a bolt connection. In this way, the connection between any two of the first mounting plate 11, the second mounting plate 12, the reinforcing panel 13, and the support plate 14 is stable, and the processing cost is low.

Referring to fig. 4 to 6, in the present embodiment, the reinforcing panel 13 includes a reinforcing body 131 and two reinforcing arms 132 disposed on opposite sides of the reinforcing body 131, each reinforcing arm 132 includes a first reinforcing portion 1321 and a second reinforcing portion 1322 connected in a bending manner, an extending direction of the first reinforcing portion 1321 forms an included angle with the first direction X, and the two second reinforcing portions 1322 are opposite to each other and are disposed at intervals.

The support plate 14 includes two support arms 141, the support arms 141 are disposed opposite to the reinforcement arms 132 one by one, the support arms 141 have a first end 142 and a second end 143, the first end 142 is connected to a bottom surface of the first mounting plate 11 facing away from the mounting space 16, and the second end 143 is connected to a top surface of the second mounting plate 12 facing toward the mounting space 16.

The two reinforcing arms 132 are symmetrically disposed along the central axis of the first mounting plate 11, and the two supporting arms 141 are correspondingly symmetrically disposed along the central axis of the first mounting plate 11, so as to further enhance the stability of the suspension mounting mechanism 10.

The second reinforcing portions 1322 of the two reinforcing arms 132 extend along the first direction X, which facilitates the installation of the rectangular second mounting plate 12. It will be appreciated that in other embodiments of the present application, the shape of the two stiffening arms 132 may be other, and is not limited herein.

Wherein the fasteners 15 are bolts and each extend in a third direction Z. Further, in order to enhance the connection strength, a plurality of fasteners 15 are disposed between the support arm 141 and the corresponding reinforcing arm 132 side by side, and two ends of each fastener 15 are respectively close to the edge of the support arm 141 and the edge of the corresponding reinforcing arm 132.

In this embodiment, the reinforcing body 131 and the reinforcing arm 132 are integrally formed sheet metal structures.

Referring to fig. 4 to 6, in an embodiment of the present application, a plurality of hollowed holes are formed on each of the reinforcing panel 13, the supporting plate 14, the first mounting plate 11 and the second mounting plate 12. In this way, the dead weights of the reinforcing panel 13, the support plate 14, the first mounting plate 11 and the second mounting plate 12 can be reduced, that is, the constant load of the suspension mounting mechanism 10 is small, the deflection can be reduced, and the rigidity of the structure can be improved.

Referring to fig. 4 to 6, in an embodiment of the application, the adsorption mechanism 30 includes two rows of adsorption members 31 distributed along the first direction X, and the clamping jaw 41 is located between the two rows of adsorption members 31. On the one hand, the two rows of the adsorbing members 31 can improve the stability of the product 300 during the moving process after adsorbing the product 300; on the other hand, when the clamping jaw 41 is located between the two rows of the adsorbing members 31, the clamping part clamped by the clamping jaw 41 is not two side edges of the product, so that damage to the product can be avoided.

Specifically, each row of absorbent members 31 includes a plurality of absorbent members 31 sequentially distributed along the second direction Y, and it is understood that a suitable increase in the number of absorbent members 31 can enhance the connection between the absorbent mechanism 30 and the product 300.

Referring to fig. 4, 7 and 8, in one embodiment of the present application, the adjusting mechanism 20 includes a side pushing assembly 21 and a forward pushing assembly 22.

The side pushing assembly 21 comprises a side pushing block 211 and a side pushing driving piece 212 which are connected, the side pushing driving piece 212 is contained in the installation space 16, the side pushing block 211 is positioned at one side of the second installation plate 12, which is away from the installation space 16, and the side pushing block 211 moves along the second direction Y under the driving of the side pushing driving piece 212;

the forward pushing assembly 22 comprises a forward pushing block 221 and a forward pushing driving piece 222 which are connected, the forward pushing driving piece 222 is accommodated in the installation space 16, the forward pushing block 221 is located at one side of the second installation plate 12, which is away from the installation space 16, and the forward pushing block 221 moves along the first direction X under the driving of the forward pushing driving piece 222. In this way, the product 300 can be pushed to move along the first direction X and the second direction Y by the forward pushing block 221 and the side pushing block 211 until the product 300 is aligned with two adjacent sides of the feeding station 201, the driving mode is simple, the structure complexity is low, and the assembly is convenient; in addition, the side pushing driving piece 212 and the forward pushing driving piece 222 are both accommodated in the installation space 16, so that the mechanical gripper 100 is concise in appearance and strong in integrity.

Wherein, the projections of the side push block 211 and the forward push block 221 on the plane of the second mounting plate 12 are all located on the outer periphery side of the second mounting plate 12.

In this embodiment, referring to fig. 4 and 7, the side-pushing assembly 21 further includes a side-pushing mounting plate 213 and a side-pushing driving member mounting plate 214, wherein the side-pushing driving member mounting plate 214 is located in the mounting space 16 and is fixedly connected to the second mounting plate 12 by bolts, and the side-pushing driving member 212 is mounted on the side-pushing driving member mounting plate 214.

Further, the side pushing block 211 is perpendicular to the second mounting plate 12, the side pushing driving piece mounting plate 214 is an L-shaped plate, and includes a first side pushing driving piece mounting portion 2141 and a second side pushing driving piece mounting portion 2142 which are vertically connected, the first side pushing driving piece mounting portion 2141 is attached to the second mounting plate 12 and is fixedly connected to the second mounting plate 12 through bolts, the second side pushing driving piece mounting portion 2142 is perpendicular to the second mounting plate 12, and the side pushing driving piece 212 is mounted on the second side pushing driving piece mounting portion 2142 and extends to the outside of the mounting space 16 through a hollowed hole on the second mounting plate 12. The side-push mounting plate 213 is perpendicular to the third direction Z and is mounted on the side-push drive 212 to move in the second direction Y under the influence of the side-push drive 212. The side push block 211 is vertically connected to the side push mounting plate 213 and is movable in the second direction Y with the side push mounting plate 213.

In this embodiment, referring to fig. 4 and 8, the forward pushing assembly 22 further includes a forward pushing mounting plate 223 and a forward pushing driving member mounting plate 224, wherein the forward pushing driving member mounting plate 224 is located in the mounting space 16 and is fixedly connected to the second mounting plate 12 through bolts, and the forward pushing driving member 222 is mounted on the forward pushing driving member mounting plate 224.

Further, the forward pushing block 221 is perpendicular to the second mounting plate 12, the forward pushing driving element mounting plate 224 is also an L-shaped plate, and includes a first forward pushing driving element mounting portion 2241 and a second forward pushing driving element mounting portion 2242 which are vertically connected, the first forward pushing driving element mounting portion 2241 is attached to the second mounting plate 12 and is fixedly connected to the second mounting plate 12 through a bolt, the second forward pushing driving element mounting portion 2242 is perpendicular to the second mounting plate 12, and the forward pushing driving element 222 is mounted on the second forward pushing driving element mounting portion 2242 and extends to outside the mounting space 16 through a hollow hole on the second mounting plate 12. The forward pushing mounting plate 223 is also perpendicular to the third direction Z, and is mounted on the forward pushing driving member 222 to move along the first direction X under the driving of the forward pushing driving member 222. The forward pushing block 221 is vertically connected to the forward pushing mounting plate 223 and is movable along the first direction X with the forward pushing mounting plate 223.

In this embodiment, the adjustment mechanism 20 includes one side pushing assembly 21 and two forward pushing assemblies 22. It will be appreciated that the side push assemblies 21 are located on the broadside of the second mounting plate 12 and that the two forward push assemblies 22 are located on the same long side of the second mounting plate 12. It will be appreciated that in other embodiments of the application, the adjustment mechanism 20 may include only one push assembly located at one of the corners of the second mounting plate 12 and including two push blocks that are perpendicular.

Referring to fig. 1, 4 and 9, in an embodiment of the present application, the clamping mechanism 40 includes a plurality of clamping jaws 41 sequentially distributed along the second direction Y, the clamping mechanism 40 further includes clamping jaw driving members 42, the clamping jaws 41 are in one-to-one correspondence with the clamping jaw driving members 42, the clamping jaw driving members 42 are accommodated in the installation space 16, and the clamping members 411 penetrate through the second installation plate 12 and extend out of the installation space 16; the adsorption mechanism 30 comprises a plurality of adsorption pieces 31 and a plurality of buffer guide rods 32 penetrating through the second mounting plate 12, the adsorption pieces 31 and the buffer guide rods 32 are in one-to-one correspondence, a gas channel is arranged in each buffer guide rod 32, and the adsorption pieces 31 are arranged at one end, away from the mounting space 16, of the corresponding buffer guide rod 32 and are communicated with the gas channel. Firstly, the clamping jaws 41 are distributed in sequence along the second direction Y, when the clamping mechanism 40 clamps the product 300, the clamping jaws 41 simultaneously clamp the product 300, the clamping force is large, and the stability of the product 300 in the feeding process can be ensured; secondly, a plurality of absorption members 31 absorb the product 300, the product 300 is not easy to abrade, and the stability of the product 300 in the feeding process is further improved in cooperation with a plurality of clamping jaws 41.

In this embodiment, the clamping mechanism 40 further includes a jaw mounting block 43 and a jaw drive mounting plate 44, the jaw drive mounting plate 44 being located within the mounting space 16 and fixedly attached to the second mounting plate 12 by bolts. The jaw 41 is secured to a jaw mounting block 43, the jaw mounting block 43 is secured to a jaw drive 42, and the jaw drive 42 is mounted to a jaw drive mounting plate 44. Clamping and unclamping of the product 300 may be accomplished by the jaws 41 on the jaw mounting block 43 as the jaw drive 42 clamps and expands;

specifically, the jaw driver mounting plate 44 is also an L-shaped plate, and includes a first jaw driver mounting portion 441 and a second jaw driver mounting portion 442 that are vertically connected, where the first jaw driver mounting portion 441 is attached to the second mounting plate 12 and is fixedly connected to the second mounting plate 12 by a bolt, the second jaw driver mounting portion 442 is perpendicular to the second mounting plate 12, and the jaw driver 42 is mounted on the second jaw driver mounting portion 442 and extends out of the mounting space 16 through a hollowed hole in the second mounting plate 12.

In this embodiment, the adsorbing mechanism 30 further includes an air pipe joint 33 located in the installation space 16, the adsorbing member 31 is a sucking disc, and the sucking disc and the air pipe joint 33 are installed at opposite ends of the buffer guide rod 32, when negative pressure is generated at the air pipe joint 33, the corresponding sucking disc will adsorb the product 300 due to the negative pressure.

Referring to fig. 4, 5, and 7-11, in an embodiment of the present application, the mechanical gripper 100 further includes a bus bar mechanism 50 accommodated in the installation space 16, and an air flow channel is disposed in the bus bar mechanism 50; the side pushing driving piece 212, the forward pushing driving piece 222 and the clamping jaw driving piece 42 are all air cylinders, and air paths of the side pushing driving piece 212, the forward pushing driving piece 222, the clamping jaw driving piece 42 and the buffer guide rod 32 are all arranged in the installation space 16 and are respectively communicated with the air flow channels. That is, the bus bar mechanism 50 is located above the second mounting plate 12, so that the cylinder air paths of the multiple suction member 31 and the jaw driving member 42 can be summarized, the air pipe layout can be optimized, and the space can be saved.

In the present embodiment, the busbar mechanism 50 includes a busbar mounting plate 51, a plug 52, an air inlet pipe joint 53, and an air outlet pipe joint 54, and the plug 52, the air inlet pipe joint 53, and the air outlet pipe joint 54 are respectively mounted at positions corresponding to the busbar mounting plate 51. The bus bar mounting plate 51 is located on the side of the first mounting plate 11 facing the reinforcement panel 13.

Because the total number of suction members 31 and jaw drivers 42 is large, the manifold mounting plate 51 and plugs 52, air inlet pipe connectors 53 and air outlet pipe connectors 54 provided on the manifold mounting plate 51 are two for further optimizing the air pipe layout. The two converging mounting plates 51 are symmetrically distributed along the central axis of the first mounting plate 11, and the central axis of the first mounting plate 11 is taken as a dividing line, the left suction piece 31 and the clamping jaw driving piece 42 are both communicated with the same air flow channel, and correspondingly, the right suction piece 31 and the clamping jaw driving piece 42 are both communicated with the other air flow channel. In addition, a plurality of air connectors are provided in the installation space 16 to enable communication between different air passages.

On the one hand, the mechanical gripper 100 can pre-position the product 300 to the accurate position corresponding to the feeding station 201 through the adjusting mechanism 20, so as to realize accurate adjustment of the position of the product 300; on the other hand, the product 300 is adsorbed by the adsorption piece 31, and meanwhile, the product 300 is clamped by the clamping jaw 41, so that double safety protection on the product 300 in the transfer process is realized, the product 300 is prevented from falling off, feeding work can be safely and efficiently performed, the labor cost is reduced, the production efficiency of automatic equipment is improved, and the technical problems of high cost and low production efficiency in the process of manually carrying the product to the whole line feeding station are solved.

An embodiment of the second aspect of the present application further provides a feeding device, referring to fig. 1 and 2, where the feeding device 1000 includes a mechanical gripper 100, a feeding table 200, a conveying mechanism 500 and a mechanical arm 400 according to any embodiment of the first aspect, the feeding table 200 includes a plurality of feeding stations 201, and the mechanical arm 400 is configured to drive the mechanical gripper 100 to move in a space so as to transfer a product 300 located on the feeding stations 201 to the conveying mechanism 500.

In this embodiment, the material loading table 200 includes a plurality of parallel and the material loading boards that the interval set up, has material loading space 203 between the adjacent material loading boards, all is equipped with a plurality of spacing subassemblies and a plurality of material loading station 201 on every material loading board, and the material loading space 203 in order to snatch product 300 of the different layers of being convenient for of platykurtic mechanical tongs 100, and the practicality is strong.

The conveying mechanism 500 is provided with a feeding tool jig 501, and the mechanical arm 400 drives the mechanical gripper 100 to transfer the product 300 positioned on the feeding station 201 to the feeding tool jig 501. Wherein, the conveying mechanism 500 may be a double-speed chain line body.

To facilitate the operation of the robot 400, the loading device 1000 may further include a mounting base 600 for mounting the robot 400. In addition, in order to ensure flexible steering and movement of the robot 400, the robot 400 may be a six-axis robot, but is not limited thereto.

According to the feeding device 1000 provided by the application, on one hand, the product 300 can be pre-positioned to the accurate position corresponding to the feeding station 201 through the adjusting mechanism 20 of the mechanical gripper 100, so that the accurate adjustment of the position of the product 300 can be realized; on the other hand, the product 300 is adsorbed to the adsorption piece 31 of accessible mechanical tongs 100, simultaneously presss from both sides tight product 300 through clamping jaw 41, realizes the dual safety protection to product 300 in the transfer process, prevents that product 300 from dropping to can safe efficient carry out the material loading work, improve automation equipment production efficiency when reducing the cost of labor, thereby solve the current technical problem that when carrying the product to whole line material loading station through the manual work, with high costs and production efficiency is low.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The mechanical gripper is used for grabbing products on a feeding station and is characterized by comprising a hanging installation mechanism, an adjusting mechanism, an adsorption mechanism and a clamping mechanism, wherein the adjusting mechanism, the adsorption mechanism and the clamping mechanism are connected to the hanging installation mechanism;

2. The mechanical gripper of claim 1, wherein the suspension mounting mechanism comprises a first mounting plate and a second mounting plate that are connected, the first mounting plate is used for connecting a mechanical arm and extends along a first direction, the second mounting plate is located at one end of the first mounting plate far away from the mechanical arm and extends along a second direction, the second direction forms a preset included angle with the first direction, and the adjusting mechanism, the adsorption mechanism and the clamping mechanism are all arranged on the second mounting plate.

3. The mechanical hand grip of claim 2, wherein the hanging mounting mechanism further comprises a reinforcing panel, a support plate and a fastener, the reinforcing panel and the support plate being located on opposite sides of the first mounting plate, respectively, in a third direction perpendicular to the first and second directions, and being fixedly connected by the fastener, the reinforcing panel and the second mounting plate defining a mounting space therebetween.

4. The mechanical hand grip of claim 3, wherein the length of the reinforcement panel, the length of the support plate, and the length of the first mounting plate are both greater than the length of the first mounting plate in the second direction; the connection between any two of the first mounting plate, the second mounting plate, the reinforcing panel and the support plate comprises a bolted connection.

5. The mechanical gripper of claim 3, wherein the reinforcement panel includes a reinforcement body and two reinforcement arms disposed on opposite sides of the reinforcement body, each reinforcement arm including a first reinforcement portion and a second reinforcement portion that are connected in a bent manner, the first reinforcement portion extending in an angle with the first direction, and the two second reinforcement portions being disposed opposite to each other and spaced apart from each other;

6. The mechanical hand grip of any one of claims 3-5, where the adjustment mechanism includes:

7. The mechanical hand grip of any one of claims 3 to 5, wherein the suction mechanism includes two rows of suction members distributed along the first direction, the gripping jaw being located between the two rows of suction members.

8. The mechanical gripper of claim 6, wherein the clamping mechanism comprises a plurality of clamping jaws sequentially distributed along the second direction, the clamping mechanism further comprises a plurality of clamping jaw driving members, the clamping jaws are in one-to-one correspondence with the clamping jaw driving members, the clamping jaw driving members are accommodated in the installation space, and the clamping members penetrate through the second installation plate and extend out of the installation space;

9. The mechanical hand grip of claim 8, further comprising a bus bar mechanism housed within the mounting space, the bus bar mechanism having an air flow channel therein;

10. A loading device comprising the mechanical gripper, a loading table, a conveying mechanism and a mechanical arm according to any one of claims 1-9, wherein the loading table comprises a plurality of loading stations, and the mechanical arm is used for driving the mechanical gripper to move in space so as to transfer products located on the loading stations to the conveying mechanism.