CN218776607U - Clamping device and robot - Google Patents

Abstract

The utility model provides a press from both sides and get device and robot, press from both sides and get the device and receive the mechanism including fixed bolster, tong, actuating mechanism and product packaging, actuating mechanism respectively with the tong with the fixed bolster is connected, is suitable for the drive the tong removes, product packaging receive the mechanism with the fixed bolster is even. The utility model has the advantages that: the clamping and transporting efficiency of the product can be improved.

Description

Clamping device and robot

Technical Field

The utility model relates to a technical field is got to the product clamp particularly, relates to a press from both sides and get device and robot.

Background

The product can be fixed the protection by the packing usually, then conveys on conveyor, for example to this product of electric core, it is transported by the supplied materials tray usually, and electric core is fixed by foam packing on the supplied materials tray, and to a plurality of electric cores, the foam forms a plurality of electric core storage tanks, and at the during operation, the clamp is got the device and is moved to the supplied materials tray top and take out electric core centre gripping. Because the existence of packing such as foam, especially under some circumstances, in order to improve transport efficiency, regard a plurality of electric cores and foam as one deck, when the multilayer is piled up and is placed on the incoming material tray, get the electric core after pressing from both sides, the existence of foam can influence follow-up centre gripping work, if lead to discerning inaccurate, block centre gripping position etc. finally lead to the decline of whole efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving the technical problem in the correlation technique at least to a certain extent, for reaching above-mentioned purpose, the utility model provides a press from both sides and get device, receive the mechanism of picking up including fixed bolster, tong, actuating mechanism and product packaging, actuating mechanism respectively with the tong with the fixed bolster is connected, is suitable for the drive the tong removes, product packaging receive the mechanism of picking up with the fixed bolster is connected.

The utility model discloses a clamping device, which comprises a fixed bracket, wherein the fixed bracket is connected with a driving mechanism and a product packaging collecting mechanism, so that the driving mechanism and the product packaging collecting mechanism are fixedly installed; actuating mechanism is connected with the tong to can drive the tong and remove, with the position of adjustment tong, the tong can carry out the centre gripping of product and release, and product packaging receives the product packaging that the mechanism is used for receiving the product of picking up, is convenient for press from both sides the getting of follow-up product, with this efficiency of the transportation of getting is got to the whole clamp that improves the product.

Furthermore, the clamping device further comprises a slide rail and a slide block movably connected with the slide rail, the driving mechanism comprises a first air cylinder and a transmission structure, the slide rail is connected with the fixed support, the slide block is connected with the clamping hand, and the transmission structure is respectively connected with the first air cylinder and the clamping hand.

Furthermore, the slide rail and a telescopic rod of the first cylinder are obliquely arranged, a guide wheel is arranged at the transmission structure, a long hole is formed in the clamping hand, the guide wheel is arranged at the long hole, and the length direction of the long hole is different from the telescopic direction of the telescopic rod.

Further, the product package collecting mechanism comprises a moving structure and a foam sucker, the moving structure is respectively connected with the fixed support and the foam sucker and is suitable for driving the foam sucker to move.

Further, the foam sucker comprises a vacuum chuck and a vacuum generator, the moving structure comprises a second air cylinder, the second air cylinder is connected with the vacuum chuck, and the vacuum chuck is connected with the vacuum generator.

Further, the clamping device also comprises a visual positioning control system which is in communication connection with the clamping hand, the visual positioning system comprises a visual detection structure, and the visual detection structure is movably connected with the fixed support.

Further, the clamping device further comprises light supplementing equipment, the light supplementing equipment is connected with the fixed support and provided with a window, and the visual detection structure points to the window.

Furthermore, the clamping device also comprises a hydraulic buffer structure, and the hydraulic buffer structure is connected with the fixed support and is suitable for abutting against the clamping hand; and/or

The clamping device further comprises a photoelectric detection device, and the photoelectric detection device is connected with the clamping hand.

Further, the clamping device further comprises an equipment quick-change structure, the equipment quick-change structure is detachably connected with the fixed support, and the equipment quick-change structure comprises at least one of a circuit quick change, a gas circuit quick change and a robot connection base.

The utility model also provides a robot, include to get device and robot arm as foretell clamp, robot arm is suitable for the drive the clamp is got the device activity.

The robot in the utility model is provided with a robot, the technical effect is similar to that of the clamping device, and the description is omitted. And, the robot arm is suitable for the drive to press from both sides and get the device activity, and the robot arm connects the fixed bolster of pressing from both sides and getting the device through above-mentioned robot connection base to for the multiaxis, for example six axis robot, realize pressing from both sides the upper and lower position control of getting the device through the robot arm, even realize horizontal position control, combine together through multiple position control with this, so that can make press from both sides and get the device and can move about to preset position more accurately and swiftly, in order to press from both sides and get the product.

Drawings

Fig. 1 is a first schematic structural diagram of a gripping device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second clamping device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a third clamping device according to an embodiment of the present invention;

FIG. 4 is a view of an embodiment of the present invention the structure of the gripping device is schematically illustrated in figure four.

Description of reference numerals:

1-fixing a bracket; 10 a-line quick change; 10 b-quickly changing the gas circuit; 10 c-robot connection base; 2-clamping the hand; 201-long hole; 3-a drive mechanism; 301-a first cylinder; 302-a transmission structure; 312-a guide wheel; 4-a product packaging and collecting mechanism; 401-vacuum chuck; 402-a vacuum generator; 403-a second cylinder; 501-a slide rail; 502-a slider; 6-visual inspection of the structure; 7-light supplement equipment; 701-window; 8-a hydraulic buffer structure; 9-photoelectric detection device.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

It is noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein.

In the description herein, references to "an embodiment," "one embodiment," and "one implementation," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or implementation of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

With reference to fig. 1-4, an embodiment of the present invention provides a clamping device, including fixed bolster 1, tong 2, actuating mechanism 3 and product packaging receipts pick up mechanism 4, actuating mechanism 3 respectively with tong 2 with fixed bolster 1 is connected, is suitable for the drive tong 2 removes, product packaging receives pick up mechanism 4 with fixed bolster 1 is connected.

The clamping device in this embodiment may be applied to an industrial robot, and is suitable for clamping and moving products such as a battery cell, for example, in a certain application scenario, the clamping device is used to clamp the battery cell and then move to a flow detection point of an OCV (Open circuit voltage) detection device to perform measurement.

In this embodiment, the clamping device includes a fixed bracket 1, the fixed bracket 1 is connected to a driving mechanism 3 and a product packaging collecting mechanism 4, so as to realize the installation and fixation of the driving mechanism 3 and the product packaging collecting mechanism 4, wherein the driving mechanism 3 is connected to the clamping hand 2 to drive the clamping hand 2 to move, such as move in a horizontal plane and/or a vertical direction, with the position of adjustment tong 2, in this embodiment, as shown with reference to fig. 1, actuating mechanism can drive tong 2 and move about in the horizontal plane, and tong 2 can stretch out and draw back by oneself to carry out the centre gripping of product and release, product packaging receives the product packaging that pickup mechanism 4 is used for receiving the product, is convenient for press from both sides the clamp of follow-up product and gets. For example, for the electric core in this embodiment, its product packaging is the foam case, receives through product packaging and picks up mechanism 4 and picks up the foam case to can avoid the foam case to press from both sides the influence of getting to electric core, for example when the incoming material tray transportation piles up the multilayer foam case that carries a plurality of electric cores, through pressing from both sides after getting the electric core of one deck, can receive through product packaging and pick up mechanism 4 and pick up the empty foam case of this layer, then can press from both sides the electric core of one deck afterwards and get, with this efficiency that the transportation was got to electric core clamp is improved.

Wherein, press from both sides and get the device and include a plurality of tong 2, specifically, in this embodiment, press from both sides and get the device and include 4 tong 2, to this, fixed bolster 1 can be the rectangle-like, and 4 tong 2 distribute in 4 azimuths of fixed bolster 1 bottom, through a plurality of tong to can carry out quick clamp to the product and get. Especially to the product of different models, different not adorn the condition, for example with the electric core of the different specifications of matrix arrangement, 4 tong 2 all can be connected through actuating mechanism 3, drive, the shift position to based on the aperture regulation of tong 2 self, get with the electric core clamp that can cooperate to realize adaptability.

In an optional embodiment of the present invention, the present invention further comprises a slide rail 501 and a slider 502 movably connected to the slide rail 501, the driving mechanism 3 comprises a first cylinder 301 and a transmission structure 302, the slide rail 501 is connected to the fixing bracket 1, the slider 502 is connected to the clamping arm 2, and the transmission structure 302 is connected to the first cylinder 301 and the clamping arm 2 respectively.

In the embodiment, the clamping hands 2 are movably connected with the fixed support 1, so that the fixed support 1 can limit the connection of the clamping hands 2, when the driving mechanism 3 drives the gripper 2, the gripper 2 can operate more stably. Wherein, specifically, tong 2 passes through slide rail 501 and slider 502 and realizes the swing joint with fixed bolster 1, and slider 502 is connected fixedly with tong 2, and slide rail 501 is fixed to be set up in the bottom of fixed bolster 1, and slider 502 cooperates with slide rail 501 to this realizes the stable activity of tong 2, and wherein, actuating mechanism 3 adopts the form of first cylinder 301 and drive structure 302 to realize the drive to tong 2, so that the drive is simpler and stable.

Referring to fig. 2 and 3, in the present embodiment, both ends of the first cylinder 301 may be connected to the grippers 2 through the transmission structure 302, and, referring to fig. 4, the middle portion of the transmission structure 302 is connected to the first cylinder 301, and both ends of the transmission structure 302 far from the middle portion are respectively connected to one gripper 2, so that finally, the first cylinder 301 can drive the 4 grippers 2 in the present embodiment to move, wherein the 2 grippers 2 near one end of the first cylinder 301 are simultaneously driven to move.

In an optional embodiment of the present invention, the slide rail 501 is disposed in an inclined manner with respect to the telescopic rod of the first cylinder 301, the transmission structure 302 is provided with a guide wheel 312, the clamping arm 2 is provided with a long hole 201, the guide wheel 312 is disposed in the long hole 201, and the length direction of the long hole 201 is different from the telescopic direction of the telescopic rod.

Referring to fig. 2 and 4, in this embodiment, the length direction of the telescopic rod of the first cylinder 301 is the positive and negative direction of the x axis in fig. 4 (i.e. the left and right direction in fig. 4), and finally, the telescopic rod of the first cylinder 301 extends and retracts in this direction, while the extending direction of the sliding rail 501 is not parallel to and perpendicular to this retracting direction, and both form a certain inclined form, and as shown in fig. 2 and 4, it can be seen that the sliding rail 501 gradually approaches the first cylinder 301 from the left side to the right side in fig. 4, so as to form an inclination, and based on this, a long hole 201 is provided at the gripper 2, whose length direction is different from the extending and retracting direction of the telescopic rod, in this embodiment, the length direction of the long hole 201 is the positive and negative direction of the y axis (i.e. the up and down direction in fig. 4), which is perpendicular to the extending and retracting direction, a guide wheel 312 is provided at the transmission structure 302, and the guide wheel 312 is located in the long hole 201, so that under the driving of the first cylinder 301, the gripper can simultaneously have position changes in the up and down direction and left and right direction in fig. 4, so as to achieve more comprehensive placement, more accurate placement, more compact product coverage, and more simple and more suitable for product driving structure, and lower cost, and more suitable for products.

In related embodiments, guide wheel 312 may alternatively take the form of a bearing.

In this embodiment, in a specific application scenario, the driving mechanism 3 mainly drives the gripper 2 in the horizontal direction, and the tightening and expanding directions of the gripper 2 are also in the horizontal direction. In other embodiments, the driving mechanism 3 may further include a driving component capable of driving the gripper 2 to move in a vertical direction, so as to adjust the position in the vertical direction, or the gripper 2 itself may adjust the position in the vertical direction, or the gripping device may be integrally mounted on a device capable of being lifted, such as a robotic arm, so as to adjust the position of the gripping device in the vertical direction, or even adjust the horizontal position, so as to combine the position adjustments, so as to enable the gripping device to move to a predetermined position more accurately and quickly.

In an optional embodiment of the present invention, the product packaging collecting and picking mechanism 4 comprises a moving structure and a foam sucker, the moving structure is respectively connected with the fixing support 1 and the foam sucker, and the moving structure is suitable for driving the foam sucker to move.

In this embodiment, product packaging receives pickup mechanism 4 specifically includes the foam and absorbs the ware to can absorb to the foam packing and absorb and pick up, make and receive the process simple more swift, and still have the removal structure, for example cylinder or motor cooperation movable structure drive the activity of foam absorption ware, in order can cooperate the absorption that realizes the foam packing better.

In other embodiments, the product package collecting and picking mechanism 4 may also be another type of gripper structure to grip the foam package or a connecting structure capable of cooperating with the foam package to achieve quick connection and disconnection for collecting and picking.

In an optional embodiment of the present invention, the foam sucking device comprises a vacuum chuck 401 and a vacuum generator 402, the moving structure comprises a second air cylinder 403, the second air cylinder 403 is connected to the vacuum chuck 401, and the vacuum chuck 401 is connected to the vacuum generator 402.

Referring to fig. 1 and 2, in the present embodiment, the foam sucker includes a vacuum cup 401, the vacuum cup 401 is connected to a vacuum generator 402 to provide a negative pressure under the action of the vacuum generator 402 to suck the foam package, and when the operation is stopped, the foam package is lowered to collect the foam package, for example, after sucking, the foam package is moved to a waste area and placed in the waste area. The moving structure is specifically the second cylinder 403, and in this embodiment, the second cylinder 403 is connected with the vacuum chuck 401, and the vacuum chuck 401 is lifted in the vertical direction, so that the foam packages can be collected and picked up conveniently.

Wherein, vacuum chuck 401 and second cylinder 403 can be a plurality of, and in this embodiment, a plurality of vacuum chuck 401 are located fixed bolster 1 all around or four corners, and a plurality of vacuum chuck 401 all connect vacuum generator 402 to this provides suction through a plurality of vacuum chuck 401, and in order to realize that the more stable receipts of foam packing are picked up.

The utility model discloses an optional embodiment, press from both sides and get device still includes visual positioning control system, visual positioning control system with 2 communication connection of tong, wherein, visual positioning system includes visual detection structure 6, visual detection structure 6 with fixed bolster 1 swing joint.

Referring to fig. 1, 2 and 4, a vision inspection structure 6 is connected to one side of the fixed bracket 1 to accurately identify the position of the marked product, and then the whole auxiliary gripper 2 of the vision positioning control system is used for clamping the product, so as to realize more accurate clamping. Wherein visual detection structure 6 and fixed bolster 1 swing joint to can realize the removal in a plurality of positions, do not sheltered from when guaranteeing to detect.

The clamping device further comprises a light supplement device 7, the light supplement device 7 is connected with the fixed support 1, a window 701 is arranged on the light supplement device 7, and the vision detection structure 6 points to the window 701. In this embodiment, the light supplement device 7 is a circular ring-shaped lighting device with a circular window formed in the middle, wherein the window 701 forms an incident light path of the visual detection structure 6, as shown in fig. 1, when the light supplement device 7 works, the light supplement can be specifically performed on a position corresponding to the window 701, so that the detection content of the visual detection structure 6, such as the photographing content, is clearer, and the capture point is more obvious.

In an optional embodiment of the present invention, the gripping device further comprises a hydraulic buffer structure 8, wherein the hydraulic buffer structure 8 is connected to the fixed bracket 1 and adapted to abut against the gripper 2; and/or

The clamping device further comprises a photoelectric detection device 9, and the photoelectric detection device 9 is connected with the clamping hand 2.

Referring to fig. 4, in this embodiment, the hydraulic buffer structure 8 is arranged to ensure that the clamping arm 2 can be stably and accurately stopped at a position where the clamping arm needs to be stopped during the displacement process, so that the product can be clamped more accurately.

For the 4 grippers 2 in this embodiment, a hydraulic buffer structure 8 may be disposed at a position of the fixing bracket 1 close to the 4 grippers 2, so as to buffer and position the grippers 2.

Referring to fig. 4, a photoelectric detection device 9 may be disposed at each of the grippers 2 to sense a condition of the gripper 2 of the product, for example, to sense a condition that the product falls off in the gripping process in time, and then the product may be clasped according to the sensed condition, or an emergency stop of the corresponding device may be implemented based on a controller, so as to avoid loss expansion.

In an optional embodiment of the present invention, the clamping device further includes an equipment quick-change structure, the equipment quick-change structure is detachably connected to the fixing bracket 1, and the equipment quick-change structure includes at least one of a circuit quick-change 10a, a gas circuit quick-change 10b, and a robot connection base 10 c.

Referring to fig. 1, in the present embodiment, an equipment quick-change structure is provided at the fixing bracket 1, so as to achieve quick connection and replacement of the gripping device with other equipment, and better adaptation. Specifically, the equipment quick-change structure may include a line quick-change 10a to facilitate connection replacement of electric wires, communication lines, and the like; the gas circuit quick change 10b can be included so as to facilitate the connection and the replacement of gas supply equipment; a robot connecting base 10c may be included, to facilitate connection of the robot, such as a quick-connect robotic arm, etc.

The utility model discloses a robot of another embodiment, include as above press from both sides get device and robotic arm, robotic arm is suitable for the drive it gets the device activity to press from both sides.

The robot in this embodiment has similar technical effects to the above gripping device, and will not be described herein again. And, the robot arm is adapted to drive the movement of the gripping device, such as the robot arm is connected to the fixed frame 1 of the gripping device through the above-mentioned robot connection base 10c, and is a multi-axis, such as a six-axis robot, and the up-and-down position adjustment, even the horizontal position adjustment, of the gripping device is realized through the robot arm, thereby combining through various position adjustments, so that the gripping device can move to a predetermined position more accurately and swiftly to grip a product.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to fall within the scope of the present disclosure.

Claims (10)

1. The clamping device is characterized by comprising a fixed support (1), a clamping hand (2), a driving mechanism (3) and a product packaging collecting and picking mechanism (4), wherein the driving mechanism (3) is respectively connected with the clamping hand (2) and the fixed support (1) and is suitable for driving the clamping hand (2) to move, and the product packaging collecting and picking mechanism (4) is connected with the fixed support (1).

2. The clamping device as claimed in claim 1, further comprising a sliding rail (501) and a sliding block (502) movably connected with the sliding rail (501), wherein the driving mechanism (3) comprises a first cylinder (301) and a transmission structure (302), the sliding rail (501) is connected with the fixed support (1), the sliding block (502) is connected with the clamping hand (2), and the transmission structure (302) is respectively connected with the first cylinder (301) and the clamping hand (2).

3. The clamping device as claimed in claim 2, wherein the slide rail (501) is arranged obliquely to the telescopic rod of the first cylinder (301), a guide wheel (312) is arranged at the transmission structure (302), a long hole (201) is arranged at the clamping arm (2), the guide wheel (312) is arranged at the long hole (201), and the length direction of the long hole (201) is different from the telescopic direction of the telescopic rod.

4. The gripping device according to claim 1, characterized in that said product package pick-up means (4) comprise a mobile structure and a foam extractor, said mobile structure being connected to said fixed support (1) and to said foam extractor, respectively, said mobile structure being suitable for moving said foam extractor.

5. The gripping device according to claim 4, characterized in that the foam extractor comprises a vacuum cup (401) and a vacuum generator (402), the moving structure comprising a second air cylinder (403), the second air cylinder (403) being connected to the vacuum cup (401), the vacuum cup (401) being connected to the vacuum generator (402).

6. The gripping device of claim 1, further comprising a visual positioning control system in communication with the gripper (2), wherein the visual positioning control system comprises a visual detection structure (6), and wherein the visual detection structure (6) is movably connected to the fixed support (1).

7. The clamping device as claimed in claim 6, further comprising a light supplement device (7), wherein the light supplement device (7) is connected to the fixed support (1), the light supplement device (7) is provided with a window (701), and the visual detection structure (6) points to the window (701).

8. The gripping device according to any one of claims 1 to 7, further comprising a hydraulic buffer structure (8), the hydraulic buffer structure (8) being connected to the fixed support (1) and adapted to abut against the gripper (2); and/or

The device is characterized by further comprising a photoelectric detection device (9), wherein the photoelectric detection device (9) is connected with the clamping hand (2).

9. The gripping apparatus according to any one of claims 1-7, further comprising an equipment quick-change structure detachably connected to the stationary gantry (1), the equipment quick-change structure comprising at least one of a line quick-change (10 a), a gas circuit quick-change (10 b), and a robot connection base (10 c).

10. A robot, characterized in that it comprises a gripping device according to any one of claims 1 to 9 and a robotic arm adapted to drive the gripping device in motion.

Images