CN117961950A - Material taking clamp and robot - Google Patents

Abstract

The invention provides a material taking clamp and a robot, wherein the material taking clamp comprises: the fixed plate is used for being connected with the robot body of the robot; the mechanism is put in inhaling in unsteady, and the mechanism is put in inhaling in unsteady including: the connecting block is arranged on the fixed plate; the mounting plate is connected with the connecting block and is movably arranged along the direction away from or close to the connecting block; the sucker assembly is used for sucking or releasing a workpiece and comprises a floating mounting plate and a plurality of sucker components arranged on the floating mounting plate at intervals; the two ends of the floating joint are respectively connected with the connecting block and the sucker component; the sucking disc drive assembly comprises a plurality of vacuum generators, and the plurality of vacuum generators are arranged on the fixed plate at intervals and are connected with the plurality of sucking disc components in a one-to-one correspondence mode, so that the problems of high material taking difficulty, long material loading time and low material loading efficiency of a connecting pipe of an air conditioner external unit in the prior art are solved.

Description

Material taking clamp and robot

Technical Field

The invention relates to the technical field of air conditioner production, in particular to a material taking clamp and a robot.

Background

At present, the online mode of connecting pipes of air conditioner external units in most factories is carried through a tooling vehicle, and materials are taken from the tooling vehicle, because the coil pipes of the connecting pipes and the heat shrinkage process are unstable, the thickness, the diameter and the like of the connecting pipes are deviated and the like, the connecting pipes can be inclined, different in size, different in height and the like after being stacked in the tooling vehicle, thereby leading to the problems of high material taking difficulty of the connecting pipes, long material loading time and low material loading efficiency.

Disclosure of Invention

The invention mainly aims to provide a material taking clamp and a robot, which are used for solving the problems of high material taking difficulty, long material loading time and low material loading efficiency of a connecting pipe of an air conditioner external unit in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided a take-out jig comprising: the fixed plate is used for being connected with the robot body of the robot; the mechanism is put in inhaling in unsteady, and the mechanism is put in inhaling in unsteady including: the connecting block is arranged on the fixed plate; the fixed connecting plate is connected with the connecting block and is movably arranged along the direction away from or close to the connecting block; the sucker assembly is used for sucking or releasing a workpiece and comprises a floating mounting plate and a plurality of sucker components arranged on the floating mounting plate at intervals; the two ends of the floating joint are respectively connected with the connecting block and the sucker component; and the sucker driving assembly comprises a plurality of vacuum generators which are arranged on the fixed plate at intervals and are connected with the sucker components in a one-to-one correspondence manner so as to feed air to or suck air from the corresponding sucker components.

Further, the floating suction and discharge mechanism comprises a guide limiting assembly, the guide limiting assembly comprises a moving part and a guide part which are connected in a relatively movable manner, one of the moving part and the guide part is connected with the fixed connecting plate, and the other of the moving part and the guide part is connected with the connecting block so as to be movably arranged along the direction far away from or near to the connecting block.

Further, the moving part comprises a long shaft, the guiding part comprises a guiding sleeve, the guiding sleeve is arranged on the connecting block, the long shaft is arranged on the fixed connecting plate, and the long shaft penetrates through the guiding sleeve to be slidably arranged relative to the guiding sleeve.

Further, the guiding limiting assembly comprises an elastic buffer piece, and the elastic buffer piece is sleeved on the long shaft and is positioned between the guiding sleeve piece and the fixed connecting plate.

Further, the floating suction and release mechanism comprises a travel switch, the travel switch is located between the connecting block and the fixed connecting plate, a switch main body of the travel switch is installed on the connecting block and is electrically connected with the robot body, and a contact of the travel switch is used for being contacted with or separated from the fixed connecting plate so as to control the robot body to stop moving when the contact of the travel switch is contacted with the fixed connecting plate.

Further, the plurality of sucking disc parts include middle sucking disc part, and middle sucking disc part includes sponge sucking disc and sponge sucking disc connecting rod, and sponge sucking disc is located the one side of keeping away from fixed connection board of floating mounting panel and is connected with the floating mounting panel through sponge sucking disc connecting rod.

Further, the plurality of sucking disc parts include lateral part sucking disc part, and lateral part sucking disc part includes petal sucking disc, buffer rod and lateral part connecting plate, and lateral part connecting plate is connected and is on a parallel with the mounting panel that floats, and the buffer rod is on a parallel with the sponge sucking disc connecting rod, and petal sucking disc is connected and is located the one side of keeping away from the connecting block of lateral part connecting plate through buffer rod and lateral part connecting plate.

Further, the number of the side sucking disc parts is multiple, and the side sucking disc parts are arranged at intervals around the middle sucking disc part and are all connected with the floating mounting plate.

Further, the floating suction and release mechanism comprises a pressure switch, the pressure switch is electrically connected with the robot body, the pressure switch is arranged on the sponge sucker and located on one side of the sponge sucker, which is close to the connecting block, so as to be used for detecting real-time pressure received by the sponge sucker, and transmitting a far-away signal to the robot body when the real-time pressure reaches preset pressure, so that the robot body drives the material taking clamp to move along a direction far away from a workpiece.

Further, the floating suction and release mechanism comprises a floating limiting rod, a limiting groove is formed in the floating mounting plate, one end of the floating limiting rod is connected with the fixed connecting plate, and the other end of the floating limiting rod is arranged in the limiting groove in a penetrating mode.

Further, the floating suction and release mechanism comprises two extension springs, the two extension springs are respectively positioned on two opposite sides of the floating mounting plate, two ends of each extension spring are respectively connected with the fixed connecting plate and the floating mounting plate, and a certain included angle is formed between the extension directions of the two extension springs.

Further, be provided with the hole of dodging that is used for dodging the motion of direction spacing subassembly on the fixed plate, get the material anchor clamps and still include proximity sensor, proximity sensor is connected with the robot body electricity, and proximity sensor sets up on the fixed plate and dodges the hole setting towards, in order to be used for detecting whether the motion portion reaches the preset position, in order to control the robot body stop motion and send out unusual alarm when the motion portion reaches the preset position.

Further, the number of the sucking disc components is multiple, and the sucking disc components are arranged on the fixed plate at intervals; the number of the sucking disc driving components is also a plurality of, and the sucking disc driving components are arranged on the fixed plate at intervals and are connected with the sucking disc components in a one-to-one correspondence manner.

According to another aspect of the invention, a robot is provided, which comprises a robot body and the material taking clamp, wherein the robot body is connected with a fixed plate of the material taking clamp to drive the material taking clamp to move.

By applying the technical scheme of the invention, the material taking clamp comprises: the fixed plate is used for being connected with the robot body of the robot; the mechanism is put in inhaling in unsteady, and the mechanism is put in inhaling in unsteady including: the connecting block is arranged on the fixed plate; the fixed connecting plate is connected with the connecting block and is movably arranged along the direction away from or close to the connecting block; the sucker assembly is used for sucking or releasing a workpiece and comprises a floating mounting plate and a plurality of sucker components arranged on the floating mounting plate at intervals; the two ends of the floating joint are respectively connected with the connecting block and the sucker component; and the sucker driving assembly comprises a plurality of vacuum generators which are arranged on the fixed plate at intervals and are connected with the sucker components in a one-to-one correspondence manner so as to feed air to or suck air from the corresponding sucker components. Therefore, the material taking clamp provided by the invention has the advantages that the fixing plate, the floating suction and discharge mechanism and the sucker driving assembly are arranged, so that a plurality of sucker components of the sucker assembly of the floating suction and discharge mechanism can be attached to different positions on the surface of a product along with angles of the workpiece when the product is inclined, and the workpiece can be reset to be in a horizontal posture along with the workpiece taking away from a material pile, so that the problems of high material taking difficulty, long material loading time and low material loading efficiency of a connecting pipe of an air conditioner external machine in the prior art are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

Fig. 1 shows a schematic structural view of an embodiment of a take-out clamp according to the present invention;

FIG. 2 is a schematic view showing the structure of the floating suction and discharge mechanism of the take-off clamp of FIG. 1 in one direction;

FIG. 3 is a schematic view showing the structure of the floating suction and discharge mechanism of the take-off clamp of FIG. 1 in another direction;

FIG. 4 illustrates a front view of the take-off clamp shown in FIG. 1;

FIG. 5 illustrates a top view of the take-off clamp shown in FIG. 1;

FIG. 6 illustrates a bottom view of the take-out clamp of FIG. 1;

FIG. 7 illustrates a left side view of the take-off clamp of FIG. 1;

fig. 8 shows a right side view of the take-off clamp of fig. 1.

Wherein the above figures include the following reference numerals:

1. A connecting flange; 2. a fixing plate; 3. a first mounting plate; 4. a first vacuum generator; 5. a second vacuum generator; 6. a second mounting plate; 7. a sensor mounting plate; 8. a proximity sensor; 10. a suction cup drive assembly;

9. A floating suction and discharge mechanism; 91. a connecting block; 92. a mounting plate; 93. a long axis; 94. a guide sleeve; 95. an elastic buffer member; 96. a fixed screw; 97. a floating joint; 98. a floating mounting plate; 99. a side connection plate; 910. a buffer rod; 911. a petal sucker; 912. a sponge sucker; 913. a pressure switch; 914. a sponge sucker connecting rod; 915. a floating limit rod; 916. a tension spring; 917. fixing the connecting plate; 918. a travel switch; 919. and a travel switch mounting plate.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 to 8, the present invention provides a material taking jig including: the fixed plate 2 is used for being connected with a robot body of the robot; a floating suction and discharge mechanism 9, the floating suction and discharge mechanism 9 comprising: a connection block 91, the connection block 91 being mounted to the fixed plate 2; a fixed connection plate 917, the fixed connection plate 917 being connected with the connection block 91 and being movably provided in a direction away from or toward the connection block 91; the sucking disc assembly is used for sucking or releasing a workpiece and comprises a floating mounting plate 98 and a plurality of sucking disc components arranged on the floating mounting plate 98 at intervals; the two ends of the floating joint 97 are respectively connected with the connecting block 91 and the sucker assembly; the suction cup driving assembly 10 includes a plurality of vacuum generators which are provided at intervals on the fixing plate 2 and are connected in one-to-one correspondence with the plurality of suction cup members to supply or suck air to or from the corresponding suction cup assemblies.

Therefore, the material taking clamp provided by the invention has the advantages that the fixing plate 2, the floating suction and discharge mechanism 9 and the sucker driving assembly 10 are arranged, so that a plurality of sucker components of the sucker assembly of the floating suction and discharge mechanism 9 can be attached to different positions on the surface of a product along with angles of the workpiece when the product is inclined, and the workpiece can be reset to be in a horizontal posture along with the workpiece being taken away from a material pile, so that the problems of high material taking difficulty, long material loading time and low material loading efficiency of a connecting pipe of an air conditioner external machine in the prior art are solved.

Specifically, the floating suction and discharge mechanism 9 includes a fixing screw 96, a nut end of the fixing screw 96 is located on a side of the fixing connection plate 917 away from the floating mounting plate 98, a threaded end of the fixing screw 96 passes through the fixing connection plate 917 and is in threaded connection with a first end of the floating joint 97, and a second end of the floating joint 97 is fixedly connected with the floating mounting plate 98.

As shown in fig. 1 to 3, the floating suction and discharge mechanism 9 includes a guide limit assembly including a moving portion and a guide portion connected to be relatively movable, one of the moving portion and the guide portion being connected to the fixed connection plate 917, and the other of the moving portion and the guide portion being connected to the connection block 91 so as to be movably disposed in a direction away from or approaching the connection block 91.

As shown in fig. 1 to 3, the moving part includes a long shaft 93, the guide part includes a guide sleeve 94, the guide sleeve 94 is mounted on the connection block 91, the long shaft 93 is mounted on the fixed connection plate 917, and the long shaft 93 is penetratingly provided on the guide sleeve 94 to be slidably disposed with respect to the guide sleeve 94.

Specifically, the connector includes a connecting block 91 and a mounting plate 92 connected, the connecting block 91 is located on one side of the mounting plate 92 near the fixing plate 2 and fixedly connected with the fixing plate 2, and a guide sleeve 94 is mounted on the mounting plate 92.

Preferably, the guiding and limiting assembly comprises an elastic buffer piece 95, wherein the elastic buffer piece 95 is sleeved on the long shaft 93 and is located between the guiding sleeve piece 94 and the fixed connecting plate 917, so that the sucker assembly can be quickly reset when the external force disappears after moving relative to the connecting block 91 under the action of the external force.

As shown in fig. 1 to 3, the floating suction and discharge mechanism 9 includes a travel switch 918, the travel switch 918 being located between the connection block 91 and the fixed connection plate 917, a switch body of the travel switch 918 being mounted to the connection block 91 and electrically connected to the robot body, contacts of the travel switch 918 being used to contact or separate from the fixed connection plate 917 to control the robot body to stop moving when the contacts of the travel switch 918 contact the fixed connection plate 917.

Specifically, the floating suction and discharge mechanism 9 of the take-out jig of the present invention includes a travel switch mounting plate 919, the travel switch mounting plate 919 being mounted on the connection block 91, and the switch body of the travel switch 918 being mounted on the travel switch mounting plate 919.

As shown in fig. 1 to 3, the plurality of suction cup members include an intermediate suction cup member including a sponge suction cup 912 and a sponge suction cup connecting rod 914, and the sponge suction cup 912 is located at a side of the floating mounting plate 98 away from the fixed connection plate 917 and is connected with the floating mounting plate 98 through the sponge suction cup connecting rod 914.

As shown in fig. 1 to 3, the plurality of suction cup members include a side suction cup member including a petal suction cup 911, a buffer rod 910 and a side connection plate 99, the side connection plate 99 being connected with the floating mounting plate 98 and parallel to the floating mounting plate 98, the buffer rod 910 being parallel to the sponge suction cup connection rod 914, the petal suction cup 911 being connected with the side connection plate 99 through the buffer rod 910 and being located at a side of the side connection plate 99 remote from the connection block 91.

Preferably, the number of side suction cup members is plural, with the plural side suction cup members being spaced around the middle suction cup member and each being connected to the floating mounting plate 98.

Specifically, the plurality of vacuum generators of the suction cup driving assembly comprises a first vacuum generator 4 and a second vacuum generator 5, the material taking clamp of the invention comprises a first mounting plate 3 and a second mounting plate 6 which are arranged on the fixed plate 2 at intervals, and the first vacuum generator 4 and the second vacuum generator 5 are respectively arranged on the first mounting plate 3 and the second mounting plate 6; wherein the first vacuum generator 4 is connected to the side suction cup members to supply air to the petal suction cups 911 or to suck air from the corresponding petal suction cups 911; the second vacuum generator 5 is connected to the intermediate suction cup member to supply air to the sponge suction cup 912 or to suck air from the corresponding sponge suction cup 912.

As shown in fig. 2 and 3, the floating suction and release mechanism 9 includes a pressure switch 913, the pressure switch 913 is electrically connected with the robot body, the pressure switch 913 is mounted on the sponge sucker 912 and is located on one side of the sponge sucker 912 close to the connection block 91, so as to detect the real-time pressure received by the sponge sucker 912, so as to transmit a far signal to the robot body when the real-time pressure reaches the preset pressure, so that the robot body drives the material taking clamp to move along the direction far away from the workpiece.

As shown in fig. 2 and 3, the floating suction and release mechanism 9 includes a floating limit rod 915, a limit groove is provided on the floating mounting plate 98, one end of the floating limit rod 915 is connected with a fixed connection plate 917, and the other end of the floating limit rod 915 is arranged in the limit groove in a penetrating manner.

As shown in fig. 2 and 3, the floating suction and discharge mechanism 9 includes two extension springs 916, the two extension springs 916 are respectively located at opposite sides of the floating mounting plate 98, two ends of each extension spring 916 are respectively connected with the fixed connection plate 917 and the floating mounting plate 98, and a certain included angle is formed between the extension directions of the two extension springs 916.

Like this, through setting up floating limit bar 915 and spacing groove and two extension springs 916, can guarantee that floating mounting panel 98 can not take place great rocking, and make floating mounting panel 98 can reset fast when external force disappears after the slope of fixed connection plate 917 under the exogenic action.

As shown in fig. 1 and fig. 4 to 8, the fixed plate 2 is provided with an avoidance hole for avoiding the moving part of the guiding and limiting assembly, the material taking clamp further comprises a proximity sensor 8, the proximity sensor 8 is electrically connected with the robot body, the proximity sensor 8 is arranged on the fixed plate 2 and is arranged towards the avoidance hole for detecting whether the moving part reaches a preset position or not, and when the moving part reaches the preset position, the robot body is controlled to stop moving and an abnormal alarm is sent.

Specifically, the material taking jig of the present invention includes a sensor mounting plate 7, the sensor mounting plate 7 is mounted on the fixed plate 2, and a proximity sensor 8 is mounted on the sensor mounting plate 7.

Preferably, the number of the sucking disc components is multiple, and the sucking disc components are arranged on the fixed plate 2 at intervals; the number of the sucking disc driving components 10 is also multiple, and the sucking disc driving components 10 are arranged on the fixed plate 2 at intervals and are connected with the sucking disc components in a one-to-one correspondence manner.

Therefore, a plurality of workpieces with inconsistent heights can be compatible, so that the workpieces can be taken and placed simultaneously, the online beat of the product is shortened, and the material taking efficiency of the material taking clamp is improved.

In the embodiment of the present invention shown in fig. 1 to 7, the number of the suction cup assemblies is two, and the two suction cup assemblies are arranged on the fixed plate 2 at intervals; the number of the sucker driving assemblies 10 is also two, and the two sucker driving assemblies 10 are arranged on the fixed plate 2 at intervals and are respectively connected with the two sucker assemblies.

The invention also provides a robot which comprises a robot body and the material taking clamp, wherein the robot body is connected with the fixed plate 2 of the material taking clamp to drive the material taking clamp to move.

The material taking clamp disclosed by the invention takes and places a workpiece into a connecting pipe of an air conditioner external unit, the robot drives the material taking clamp to move to a specified material taking point, the connecting pipe possibly presents a slight inclined state due to unstable material feeding state, and the heights of adjacent connecting pipes also possibly are inconsistent, and the working principle of the material taking clamp during material taking is as follows:

(1) Taking and placing single workpieces:

first, the connection pipe is in an inclined state, and the robot body drives the material taking jig to move downward so that the sponge sucker 912 and the petal sucker 911 contact the inclined connection pipe.

Then, the robot body drives the material taking jig to continue to move downward so that the floating joint 97 is inclined to ensure that the sponge sucker 912 and the petal sucker 911 are in stable contact with the connection pipe, and the extension spring 916 is elongated.

Then, the robot body drives the material taking jig to continue to move downward, so that the long shaft 93 compresses the elastic buffer 95 while moving upward in the guide sleeve 94.

Then, when the fixed connection plate 917 contacts with the contact of the travel switch 918, the travel switch 918 sends a stop signal, and the robot body stops moving downwards after receiving the stop signal.

Then, the first vacuum generator 4 and the second vacuum generator 5 are evacuated from the petal sucking discs 911 and the sponge sucking discs 912, so that the petal sucking discs 911 and the sponge sucking discs 912 suck the connection tube.

Then, when the real-time pressure of the sponge sucker 912 detected by the pressure switch 913 reaches the preset pressure, the pressure switch 913 transmits a distance signal to the robot body, and the robot body moves upwards after receiving the distance signal.

Finally, the elastic buffer 95 and the tension spring 916 will restore the take-off clamp to the pre-take-off state during the take-off of the connecting tube.

(2) Taking and placing two workpieces with inconsistent heights:

First, the robot body drives the material taking clamp to move downwards so that the sponge sucker 912 and the petal sucker 911 of the floating suction and discharge mechanism 9 of the first station contact the higher connecting pipe.

Then, the robot body drives the material taking clamp to move downwards continuously, so that the long shaft 93 of the floating suction and discharge mechanism 9 of the first station moves upwards in the guide sleeve 94 and simultaneously compresses the elastic buffer 95.

Then, when the sponge sucker 912 and the petal sucker 911 of the floating suction and release mechanism 9 of the second station contact the lower connecting pipe, the robot body drives the material taking clamp to move downwards continuously.

Then, after the fixed connection plates 917 of the floating suction and discharge mechanisms 9 of the first station and the second station are in contact with the contacts of the travel switch 918, the travel switch 918 of the floating suction and discharge mechanisms 9 of the first station and the second station send stop signals, and the robot body stops moving downwards after receiving the two stop signals.

Then, the first vacuum generator 4 and the second vacuum generator 5 of the first station and the second station suck air from the corresponding petal sucking disc 911 and the sponge sucking disc 912 respectively, so that the petal sucking disc 911 and the sponge sucking disc 912 of the floating sucking and releasing mechanism 9 of the first station and the second station suck the two connecting pipes respectively.

Then, when the real-time pressure that the sponge sucker 912 that the pressure switch 913 of the floating suction releasing mechanism 9 of first station and second station all detected received reaches the pressure of predetermineeing, two pressure switches 913 all can be to the signal is kept away from in the transmission of robot body, just can upward movement after the robot body received two signals of keeping away from.

Finally, in the process of taking up the two connecting pipes, the material taking clamp of the invention can be restored to the state before taking materials under the action of the elastic buffer 95, the tension spring 916 and other components.

Meanwhile, the material taking clamp is also provided with a secondary overvoltage protection, when the height difference of the two stacks of connecting pipes is too large or the travel switch 918 fails, the robot can continuously move downwards and continuously compress the elastic buffer piece 95 after the sponge sucker 912 and the petal sucker 911 are contacted with the connecting pipes, the proximity sensor 8 can send out a proximity signal after the long shaft 93 passes through the avoidance hole on the fixed plate 2 and reaches the position of the proximity sensor 8, the robot can stop moving after receiving the proximity signal, and an abnormal alarm is sent out to prompt manual processing.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

the material taking clamp of the invention comprises: the fixed plate 2 is used for being connected with a robot body of the robot; a floating suction and discharge mechanism 9, the floating suction and discharge mechanism 9 comprising: a connection block 91, the connection block 91 being mounted to the fixed plate 2; a fixed connection plate 917, the fixed connection plate 917 being connected with the connection block 91 and being movably provided in a direction away from or toward the connection block 91; the sucking disc assembly is used for sucking or releasing a workpiece and comprises a floating mounting plate 98 and a plurality of sucking disc components arranged on the floating mounting plate 98 at intervals; the two ends of the floating joint 97 are respectively connected with the connecting block 91 and the sucker assembly; the suction cup driving assembly 10 includes a plurality of vacuum generators which are provided at intervals on the fixing plate 2 and are connected in one-to-one correspondence with the plurality of suction cup members to supply or suck air to or from the corresponding suction cup assemblies. Therefore, the material taking clamp provided by the invention has the advantages that the fixing plate 2, the floating suction and discharge mechanism 9 and the sucker driving assembly 10 are arranged, so that a plurality of sucker components of the sucker assembly of the floating suction and discharge mechanism 9 can be attached to different positions on the surface of a product along with angles of the workpiece when the product is inclined, and the workpiece can be reset to be in a horizontal posture along with the workpiece being taken away from a material pile, so that the problems of high material taking difficulty, long material loading time and low material loading efficiency of a connecting pipe of an air conditioner external machine in the prior art are solved.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations 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 "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (14)

1. A take out jig, comprising:

the fixing plate (2) is used for being connected with a robot body of the robot;

-a floating suction and discharge mechanism (9), the floating suction and discharge mechanism (9) comprising:

A connection block (91), wherein the connection block (91) is mounted on the fixed plate (2);

A fixed connection plate (917), the fixed connection plate (917) being connected to the connection block (91) and being movably provided in a direction away from or close to the connection block (91);

The sucker assembly is used for sucking or releasing a workpiece and comprises a floating mounting plate (98) and a plurality of sucker components arranged on the floating mounting plate (98) at intervals;

the two ends of the floating joint (97) are respectively connected with the connecting block (91) and the sucker assembly;

And the sucker driving assembly (10) comprises a plurality of vacuum generators which are arranged on the fixed plate (2) at intervals and are connected with the sucker components in a one-to-one correspondence manner so as to feed air to or suck air from the corresponding sucker components.

2. The material taking clamp according to claim 1, characterized in that the floating suction and discharge mechanism (9) comprises a guide limit assembly comprising a moving part and a guide part which are relatively movably connected, one of the moving part and the guide part is connected with the fixed connection plate (917), and the other of the moving part and the guide part is connected with the connection plate (91) so as to be movably arranged in a direction away from or close to the connection plate (91).

3. The take-out jig according to claim 2, wherein the moving portion includes a long shaft (93), the guide portion includes a guide sleeve (94), the guide sleeve (94) is mounted on the connection block (91), the long shaft (93) is mounted on the fixed connection plate (917), and the long shaft (93) is threaded on the guide sleeve (94) to be slidably disposed with respect to the guide sleeve (94).

4. A pick-up clamp according to claim 3, characterized in that the guiding and limiting assembly comprises an elastic buffer (95), the elastic buffer (95) being sleeved on the long shaft (93) and being located between the guiding sleeve (94) and the fixed connection plate (917).

5. The material taking clamp according to claim 1, characterized in that the floating suction and discharge mechanism (9) comprises a travel switch (918), the travel switch (918) is located between the connecting block (91) and the fixed connecting plate (917), a switch body of the travel switch (918) is mounted on the connecting block (91) and is electrically connected with the robot body, and a contact of the travel switch (918) is used for contacting with or separating from the fixed connecting plate (917) so as to control the robot body to stop moving when the contact of the travel switch (918) contacts with the fixed connecting plate (917).

6. The take out jig according to any one of claims 1 to 5, wherein the plurality of suction cup members comprises an intermediate suction cup member comprising a sponge suction cup (912) and a sponge suction cup connecting rod (914), the sponge suction cup (912) being located on a side of the floating mounting plate (98) remote from the fixed connecting plate (917) and connected to the floating mounting plate (98) by the sponge suction cup connecting rod (914).

7. The take out jig of claim 6, wherein the plurality of suction cup members comprises side suction cup members including a petal suction cup (911), a buffer rod (910) and a side connection plate (99), the side connection plate (99) being connected with the floating mounting plate (98) and parallel to the floating mounting plate (98), the buffer rod (910) being parallel to the sponge suction cup connection rod (914), the petal suction cup (911) being connected with the side connection plate (99) through the buffer rod (910) and being located on a side of the side connection plate (99) remote from the connection block (91).

8. The take out fixture of claim 7, wherein said plurality of side suction cup members are plural, a plurality of said side suction cup members being spaced around said intermediate suction cup member and each being connected to said floating mounting plate (98).

9. The material taking clamp according to claim 6, characterized in that the floating suction and discharge mechanism (9) comprises a pressure switch (913), the pressure switch (913) is electrically connected with the robot body, the pressure switch (913) is mounted on the sponge sucker (912) and is located on one side of the sponge sucker (912) close to the connecting block (91), so as to detect the real-time pressure applied to the sponge sucker (912), so as to transmit a distance signal to the robot body when the real-time pressure reaches a preset pressure, so that the robot body drives the material taking clamp to move in a direction away from the workpiece.

10. The material taking clamp according to claim 1, wherein the floating suction and release mechanism (9) comprises a floating limiting rod (915), a limiting groove is formed in the floating mounting plate (98), one end of the floating limiting rod (915) is connected with the fixed connecting plate (917), and the other end of the floating limiting rod (915) is arranged in the limiting groove in a penetrating mode.

11. The material taking clamp according to claim 1, wherein the floating suction and discharge mechanism (9) comprises two extension springs (916), the two extension springs (916) are respectively located at two opposite sides of the floating mounting plate (98), two ends of each extension spring (916) are respectively connected with the fixed connecting plate (917) and the floating mounting plate (98), and a certain included angle is formed between the extension directions of the two extension springs (916).

12. The material taking clamp according to claim 2, characterized in that the fixed plate (2) is provided with an avoidance hole for avoiding the moving part of the guiding limit assembly, the material taking clamp further comprises a proximity sensor (8), the proximity sensor (8) is electrically connected with the robot body, and the proximity sensor (8) is arranged on the fixed plate (2) and is arranged towards the avoidance hole, so as to be used for detecting whether the moving part reaches a preset position or not, and controlling the robot body to stop moving and giving an abnormal alarm when the moving part reaches the preset position.

13. The take-out jig according to claim 1, wherein,

The number of the sucking disc components is multiple, and the sucking disc components are arranged on the fixed plate (2) at intervals;

The number of the sucker driving assemblies (10) is also multiple, and the sucker driving assemblies (10) are arranged on the fixed plate (2) at intervals and are connected with the sucker assemblies in a one-to-one correspondence manner.

14. A robot comprising a robot body and a material taking jig according to any one of claims 1 to 13, the robot body being connected to a fixed plate (2) of the material taking jig to drive the material taking jig to move.