Gripping mechanism, loading device and loading control method
View Patent ↗The present application discloses a gripping mechanism, a loading device and a loading control method. The gripping mechanism includes a base body and a first gripping assembly. A clamping zone is configured on one side of the base body. The first gripping assembly includes a first jaw and a second jaw, with the first jaw being arranged on one of two opposite sides of the clamping zone, and the second jaw being arranged on the other side; wherein at least one of the first jaw and the second jaw is movably connected to the base body, such that a spacing between the first jaw and the second jaw is adjustable, so that the requirements for gripping plates of different specifications and sizes can be met. That is, the gripping mechanism according to embodiments of the present application can be compatible with plates of different specifications and sizes.
1 . A gripping mechanism, comprising:
a base body, with a clamping zone being configured on one side of the base body; and
a first gripping assembly comprising a first jaw and a second jaw, with the first jaw being arranged on one of two opposite sides of the clamping zone, and the second jaw being arranged on the other side;
wherein at least one of the first jaw and the second jaw is movably connected to the base body, such that a spacing between the first jaw and the second jaw is adjustable,
the gripping mechanism further comprises a distance detector and a sensor, wherein the distance detector is configured to detect a distance value between the plate and the distance detector; when the distance value is within a preset range, the plate is located in the clamping zone; and the distance detector is further configured to send a gripping signal for gripping the plate, and
the sensor is configured to sense the plate in the clamping zone.
2 . The gripping mechanism according to claim 1 , wherein when the first jaw is movably connected to the base body, the first gripping assembly further comprises a first adjusting structure connected to the first jaw, the base body is configured with a plurality of first mounting positions, and the first adjusting structure is connected to different first mounting positions such that the spacing between the first jaw and the second jaw is variable.
3 . The gripping mechanism according to claim 2 , wherein the first gripping assembly further comprises a first locker to lock the first adjusting structure to different first mounting positions.
4 . The gripping mechanism according to claim 3 , wherein the first locker comprises a first fastener, each of the first mounting positions is provided with a first connecting hole, the first adjusting structure is provided with a second connecting hole, and the first fastener passes through the first connecting hole and the second connecting hole to lock the first adjusting structure to the first mounting position.
5 . The gripping mechanism according to claim 2 , wherein the first gripping assembly further comprises a first detection structure, and the first mounting position connected to the first adjusting structure is a first detection position; and the first detection structure is configured to obtain position information of the first detection position and send the position information of the first detection position.
6 . The gripping mechanism according to claim 5 , wherein the first detection structure comprises a first trigger and a plurality of first detectors, wherein the plurality of first detectors are arranged in one-to-one correspondence with the plurality of first mounting positions, the first trigger is connected to the first adjusting structure, and the first trigger is configured to trigger the first detector corresponding to the first detection position to send the position information of the first detection position; and
the first detector comprises a proximity switch, and the first trigger comprises a metal trigger configured to trigger the proximity switch.
7 . The gripping mechanism according to claim 2 , wherein when the second jaw is movably connected to the base body, a movable connection structure between the second jaw and the base body is the same as the movable connection structure between the first jaw and the base body.
8 . The gripping mechanism according to claim 2 , wherein the first jaw further comprises a first driver, the first driver is connected to the first adjusting structure and the first jaw, and the first driver is configured to drive the first jaw to move toward the second jaw, so as to clamp a plate located in the clamping zone.
9 . The gripping mechanism according to claim 1 , wherein a side portion of the first jaw that faces the clamping zone is provided with a first protective structure to abut against an edge portion of the plate, and the first protective structure has a hardness range of 20 HD-100 HD; and/or a side portion of the second jaw that faces the clamping zone is provided with a second protective structure to abut against a further edge portion of the plate, and the second protective structure has a hardness range of 20 HD-100 HD.
10 . The gripping mechanism according to claim 1 , further comprising a second gripping assembly, wherein the second gripping assembly comprises a third jaw and a fourth jaw; the third jaw is arranged on one of two further opposite sides of the clamping zone, and the fourth jaw is arranged on the other side; and at least one of the third jaw and the fourth jaw is movably connected to the base body to adjust a spacing between the third jaw and the fourth jaw;
when the third jaw is movably connected to the base body, the second gripping assembly further comprises a second driver, the second driver is connected to the third jaw and the base body, and the second driver is configured to drive the third jaw to move so as to adjust the spacing between the third jaw and the fourth jaw; and
when the fourth jaw is movably connected to the base body, the second gripping assembly further comprises a third driver, the third driver is connected to the fourth jaw and the base body, and the third driver is configured to drive the fourth jaw to move so as to adjust the spacing between the third jaw and the fourth jaw.
11 . The gripping mechanism according to claim 1 , further comprising a moving assembly, wherein the moving assembly is connected to the base body, and the moving assembly is configured to drive the base body to move.
12 . The gripping mechanism according to claim 1 , wherein a side portion of the base body that faces the clamping zone is provided with a suction structure to suction the plate;
the suction structure comprises a connecting portion and an elastic portion, wherein the connecting portion is connected to the base body and the elastic portion, the elastic portion is located at a side portion of the connecting portion that faces the clamping zone, and a surface of the elastic portion that faces the clamping zone is provided with a vacuum suction hole configured to suction the plate; and
the side portion of the base body that faces the clamping zone is further provided with a limiting structure, and a side surface of the limiting structure that faces the clamping zone is configured to abut against the plate.
13 . A loading device, comprising a gripping mechanism of claim 1 , and
a bin structure to store plates, wherein the bin structure comprises a rack and a storage assembly, the storage assembly is connected to the rack, and the storage assembly is capable of storing the plates of different specifications and sizes.
14 . The loading device according to claim 13 , wherein the storage assembly comprises a support structure and a storage structure, wherein the support structure is connected to the rack; the storage structure comprises a first storage structure and a second storage structure arranged on the support structure, and a storage zone for storing the plates is formed between the first storage structure and the second storage structure; and at least one of the first storage structure and the second storage structure is movably connected to the support structure, such that a spacing between the first storage structure and the second storage structure is adjustable;
on the basis that the first storage structure is movably connected to the base body, the support structure is configured with a plurality of second mounting positions, and the first storage structure is connected to different second mounting positions such that the spacing between the first storage structure and the second storage structure is variable; and
the storage structure further comprises a second locker to lock the first storage structure to different second mounting positions.
15 . The loading device according to claim 14 , wherein the storage structure further comprises a second detection structure, and the second mounting position connected to the first storage structure is a second detection position; and the second detection structure is configured to obtain position information of the second detection position and send the position information of the second detection position; and
the second detection structure comprises a second trigger and a plurality of second detectors, wherein the plurality of second detectors are arranged in one-to-one correspondence with the plurality of second mounting positions, the second trigger is connected to the first storage structure, and the second trigger is configured to trigger the second detector corresponding to the second detection position to send the position information of the second detection position.
16 . The loading device according to claim 14 , wherein when the second storage structure is movably connected to the support structure, a movable connection structure between the second storage structure and the support structure is the same as the movable connection structure between the first storage structure and the support structure.
17 . The loading device according to claim 13 , wherein the bin structure comprises a plurality of storage assemblies, which are located in an accommodating space enclosed by the rack, a top portion of the rack is configured with a first opening for allowing the gripping mechanism to enter the accommodating space, and the plurality of storage assemblies are stacked along the height of the rack;
each of the storage assemblies is connected to a sliding structure, and each of the sliding structures is slidably connected to the rack, such that the sliding structure can drive the corresponding storage assembly to slide in a first direction between the bottom of the first opening and a side of the first opening;
the rack is configured with a second opening in communication with the accommodating space, and the storage assembly is slidably connected to the sliding structure, such that the storage assembly can enter and exit the accommodating space through the second opening in a second direction; and
the first direction is parallel to the second direction.
18 . The loading device according to claim 17 , wherein the bin structure further comprises a third locker to lock and connect the sliding structure to the storage assembly; and
one of the sliding structure and the storage assembly is provided with a locking hole, the other thereof is connected to the third locking structure, and an end portion of the third locking structure is configured to be inserted into the locking hole, so as to lock and connect the sliding structure to the storage assembly.
19 . A loading control method, comprising:
providing gripping mechanism, comprising:
a base body, with a clamping zone being configured on one side of the base body; and
a first gripping assembly comprising a first jaw and a second jaw, with the first jaw being arranged on one of two opposite sides of the clamping zone, and the second jaw being arranged on the other side;
wherein at least one of the first jaw and the second jaw is movably connected to the base body, such that a spacing between the first jaw and the second jaw is adjustable,
the gripping mechanism further comprises a distance detector and a sensor, wherein the distance detector is configured to detect a distance value between the plate and the distance detector when the distance value is within a preset range, the plate is located in the clamping zone; and the distance detector is further configured to send a gripping signal for gripping the plate, and
the sensor is configured to sense the plate in the clamping zone;
receiving first specification information of a plate that can be gripped by the gripping mechanism;
receiving second specification information of a plate stored in a storage module to be unloaded in a bin mechanism; and
controlling the gripping mechanism to grip the plate stored in the storage module to be unloaded when the first specification information, the second specification information and specification information of a target plate are consistent with one another.