CN116986299A

CN116986299A - Grabbing device

Info

Publication number: CN116986299A
Application number: CN202311261111.3A
Authority: CN
Inventors: 袁国庆; 牛杰
Original assignee: Wanxiang Qianchao Co Ltd
Current assignee: Wanxiang Qianchao Co Ltd
Priority date: 2023-09-27
Filing date: 2023-09-27
Publication date: 2023-11-03

Abstract

The application relates to a grabbing device, which comprises a positioning base and N grabbing mechanisms arranged on the positioning base, wherein N is more than or equal to 2; each grabbing mechanism comprises a first clamping jaw and a second clamping jaw which are integrally formed; the first clamping jaw comprises a first clamping part and a second clamping part, and the second clamping jaw comprises a fifth clamping part and a sixth clamping part. The first clamping part and the fifth clamping part are arranged in mirror symmetry, the first end of the first clamping part is connected with the positioning base, and the second end of the first clamping part is connected with the first end of the second clamping part; the first end of the fifth clamping part is connected with the positioning base, and the second end of the fifth clamping part is connected with the first end of the sixth clamping part; the second end of the second clamping part is connected with the second end of the sixth clamping part; the second clamping part and the sixth clamping part are arranged in mirror symmetry and are all used for being abutted against the surface of the workpiece. The grabbing device provided by the application is simple in structure and good in grabbing effect on workpieces.

Description

Grabbing device

Technical Field

The application relates to the technical field of intelligent manufacturing, in particular to a grabbing device.

Background

With the development of intelligent manufacturing technology, more and more kinds of intelligent devices and apparatuses are continuously appeared. In the automated production of products, gripping devices are often used to assist in the production. For example, a cross joint is a "joint" component of a universal drive system for an automotive drive system, which must be gripped during multiple processes during the manufacturing process.

Because of the variety of shapes and sizes of workpieces, different kinds of gripping devices are likely to be selected for workpieces with different shapes and sizes, but the structures of the existing gripping devices are mostly complex, and the cost of design and production and manufacture is relatively high.

Disclosure of Invention

In order to solve the problems of complex structure and relatively high cost of design, production and manufacture of a gripping device of a workpiece, the application provides a gripping device, which comprises a positioning base and N gripping mechanisms arranged on the positioning base;

the positioning base is used for driving all the grabbing mechanisms to move;

n is greater than or equal to 2, and all the grabbing mechanisms are arranged on the positioning base around a first axis;

each grabbing mechanism comprises a first clamping jaw and a second clamping jaw which are integrally formed; the first clamping jaw comprises a first clamping part and a second clamping part, and the second clamping jaw comprises a fifth clamping part and a sixth clamping part;

the first clamping part and the fifth clamping part are arranged in a mirror symmetry mode, the first end of the first clamping part is connected with the positioning base, and the second end of the first clamping part is connected with the first end of the second clamping part; the first end of the fifth clamping part is connected with the positioning base, and the second end of the fifth clamping part is connected with the first end of the sixth clamping part;

the second end of the second clamping part is connected with the second end of the sixth clamping part; the second clamping part and the sixth clamping part are arranged in a mirror symmetry mode and are all used for being abutted against the surface of the workpiece.

In some embodiments, the first jaw further comprises a third grip portion, and the second jaw further comprises a seventh grip portion;

the second end of the second clamping part is connected with the first end of the third clamping part, and the second end of the sixth clamping part is connected with the first end of the seventh clamping part;

the third clamping part and the seventh clamping part are arranged in a mirror symmetry mode, and the second end of the third clamping part is connected with the second end of the seventh clamping part;

the distance between the third clamping part and the seventh clamping part and the first axis gradually increases along the direction from the first end to the second end.

In some embodiments, the first jaw further comprises a fourth grip portion, and the second jaw further comprises an eighth grip portion;

the second end of the third clamping part is connected with the first end of the fourth clamping part, and the second end of the seventh clamping part is connected with the first end of the eighth clamping part;

the fourth clamping part and the eighth clamping part are arranged in mirror symmetry, and the second end of the fourth clamping part is directly connected with the second end of the eighth clamping part;

the distance between the fourth clamping portion and the eighth clamping portion gradually decreases in a direction from the first end to the second end.

In some embodiments, the fourth clamping portion and the eighth clamping portion are generally arcuate.

In some embodiments, the first clamp portion, the third clamp portion, the fifth clamp portion, and the seventh clamp portion are all generally rectilinear.

In some embodiments, the angle between the axis of the first grip portion and the axis of the third grip portion is greater than or equal to 137.5 degrees and less than or equal to 139.5 degrees; an included angle between an axis of the fifth clamping portion and an axis of the seventh clamping portion is greater than or equal to 137.5 degrees and less than or equal to 139.5 degrees.

In some embodiments, the second gripping portion comprises a first gripping portion and a second gripping portion, and the sixth gripping portion comprises a third gripping portion and a fourth gripping portion;

wherein the first gripping portion is closer to the first gripping portion than the second gripping portion, and the third gripping portion is closer to the fifth gripping portion than the fourth gripping portion;

the first grabbing part and the second grabbing part are arranged in a mirror symmetry mode and are integrally V-shaped or U-shaped;

the third grabbing part and the fourth grabbing part are arranged in a mirror symmetry mode and are integrally V-shaped or U-shaped.

In some embodiments, the coefficient of friction of the second grip surface is greater than the coefficient of friction of the first grip surface; the fourth grip surface has a coefficient of friction that is greater than the coefficient of friction of the third grip surface.

In some embodiments, the gripping device further comprises the same number of angular adjustment mechanisms as the gripping mechanisms; the angle adjusting mechanism is mounted on the positioning base and is used for adjusting the inclination angles of the first clamping part and the fifth clamping part relative to the first axis.

In some embodiments, the first and second jaws are integrally formed from spring steel having a circular cross-section.

In some embodiments, all of the gripping mechanisms are identical in shape and size and are uniformly disposed on the positioning base about the first axis.

In some embodiments, the grasping device further comprises N first connectors and N second connectors; the positioning base is provided with N first mounting holes and N second mounting holes, and all the first mounting holes and all the second mounting holes are arranged around the first axis;

the first end of the first clamping part is embedded into the first mounting hole and is detachably connected with the positioning base through the first connecting piece;

the first end of the fifth clamping part is embedded into the second mounting hole and is detachably connected with the positioning base through the second connecting piece.

In some embodiments, the positioning base is further provided with N third mounting holes and N fourth mounting holes, each first mounting hole is communicated with one third mounting hole, and each second mounting hole is communicated with one fourth mounting hole;

the axis of the first mounting hole is parallel to the axis of the second mounting hole, the axis of the third mounting hole is parallel to the axis of the fourth mounting hole, the axis of the first mounting hole is perpendicular to the axis of the third mounting hole, and the axis of the second mounting hole is perpendicular to the axis of the fourth mounting hole;

a first end of the first clamping part penetrates through the first mounting hole and is embedded into the third mounting hole, and the first connecting piece detachably connects the first clamping part with the positioning base in the third mounting hole;

the first end of the fifth clamping part penetrates through the second mounting hole and is embedded into the fourth mounting hole, and the second connecting piece detachably connects the fifth clamping part with the positioning base in the fourth mounting hole.

The grabbing device provided by the application comprises a positioning base and N grabbing mechanisms arranged on the positioning base; the positioning base is used for driving all grabbing mechanisms to move; n is greater than or equal to 2, and all the grabbing mechanisms are arranged on the positioning base around the first axis; each grabbing mechanism comprises a first clamping jaw and a second clamping jaw which are integrally formed; the first clamping jaw comprises a first clamping part and a second clamping part, and the second clamping jaw comprises a fifth clamping part and a sixth clamping part; the first clamping part and the fifth clamping part are arranged in mirror symmetry, the first end of the first clamping part is connected with the positioning base, and the second end of the first clamping part is connected with the first end of the second clamping part; the first end of the fifth clamping part is connected with the positioning base, and the second end of the fifth clamping part is connected with the first end of the sixth clamping part; the second end of the second clamping part is connected with the second end of the sixth clamping part; the second clamping part and the sixth clamping part are arranged in mirror symmetry and are all used for being abutted against the surface of the workpiece. According to the application, the grabbing mechanisms with the number greater than or equal to 2 are arranged on the positioning base around the first axis, each grabbing mechanism comprises two clamping jaws which are integrally formed, each clamping jaw is provided with the clamping part which is matched with the shape of the outer surface of the workpiece, so that the workpiece can be stably grabbed, the structure is simple, the production and the processing are convenient, and the cost is saved.

Drawings

Fig. 1 is a bottom view of a gripping device for gripping a workpiece according to an embodiment of the present application;

fig. 2 is a front view of a gripping device according to an embodiment of the present application when gripping a workpiece;

FIG. 3 illustrates a bottom view of a positioning base provided by an embodiment of the present application;

FIG. 4 illustrates a front view of a positioning base provided by an embodiment of the present application;

fig. 5 shows a front view of a gripping mechanism provided by an embodiment of the present application;

FIG. 6 shows a right side view of a gripping mechanism provided by an embodiment of the present application;

FIG. 7 illustrates a left side view of a grasping mechanism provided by an embodiment of the application;

fig. 8 shows a bottom view of a workpiece gripped by a gripping device according to an embodiment of the present application.

Reference numerals: 01-work piece, 02-positioning base, 21-first mounting hole, 22-second mounting hole, 23-third mounting hole, 24-fourth mounting hole, 03-grabbing mechanism, 31-first clamping jaw, 311-first clamping portion, 312-second clamping portion, 3121-first grabbing portion, 3122-second clamping portion, 313-third clamping portion, 314-fourth clamping portion, 32-second clamping jaw, 321-fifth clamping portion, 322-sixth clamping portion, 3221-third clamping portion, 3222-fourth clamping portion, 323-seventh clamping portion, 324-eighth clamping portion, 04-first connecting piece, 05-second connecting piece, A-first axis, angle of axes of a-first clamping portion and third clamping portion, angle of axes of b-fifth clamping portion and seventh clamping portion.

Detailed Description

The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the present disclosure, and are not meant to imply any limitation on the scope of the present disclosure.

As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment".

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. 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.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

The present embodiment discloses a gripping device, as shown in fig. 1 to 5, the gripping device includes a positioning base 02, and N gripping mechanisms 03 mounted on the positioning base 02; wherein the positioning base 02 is used for driving all grabbing mechanisms 03 to move; n is greater than or equal to 2, all gripping means 03 being arranged on the positioning base 02 around the first axis a; each gripping mechanism 03 includes a first grip jaw 31 and a second grip jaw 32 integrally formed; the first clamping jaw 31 includes a first clamping portion 311 and a second clamping portion 312, and the second clamping jaw 32 includes a fifth clamping portion 321 and a sixth clamping portion 322; the first clamping part 311 and the fifth clamping part 321 are arranged in a mirror symmetry mode, a first end of the first clamping part 311 is connected with the positioning base 02, and a second end of the first clamping part 311 is connected with a first end of the second clamping part 312; a first end of the fifth clamping portion 321 is connected to the positioning base 02, and a second end of the fifth clamping portion 321 is connected to a first end of the sixth clamping portion 322; a second end of the second clamping portion 312 is connected to a second end of the sixth clamping portion 322; the second clamping portion 312 and the sixth clamping portion 322 are disposed in mirror symmetry and are both configured to abut against the surface of the workpiece 01.

In the present embodiment, a plurality of gripping mechanisms 03 are used to grip the workpiece 01 by co-operation. As shown in fig. 5, each gripping mechanism 03 includes a first clamping jaw 31 and a second clamping jaw 32 which are integrally formed, and the first clamping jaw 31 and the second clamping jaw 32 are arranged in mirror symmetry, that is, each gripping mechanism 03 has a first clamping portion 311 and a fifth clamping portion 321, a second clamping portion 312 and a sixth clamping portion 322 which are arranged in mirror symmetry. Wherein, the first clamping part 311 and the fifth clamping part 321 are used for being connected with the positioning base 02, and the second clamping part 312 and the sixth clamping part are used for being abutted with the surface of the workpiece 01 and providing clamping force for the workpiece 01.

The specific materials, shapes and sizes of the grabbing mechanism 03 are not limited, and can be reasonably selected according to actual application requirements. For example, the grasping mechanism 03 may have other structural compositions in addition to the first clamping portion 311, the second clamping portion 312, the fifth clamping portion 321, and the sixth clamping portion 322.

In the present embodiment, the connection manner between the second end of the second clamping portion 312 and the second end of the sixth clamping portion 322 is not limited, and may be reasonably selected according to practical application requirements. For example, the second end of the second clamp portion 312 and the second end of the sixth clamp portion 322 may be directly connected, or indirectly connected through other components.

In this embodiment, the specific structures of the second clamping portion 312 and the sixth clamping portion 322 are not limited, that is, the bonding areas between the second clamping portion 312 and the sixth clamping portion and the outer surface of the workpiece 01 are not limited, and the bonding areas can be reasonably selected according to the actual application requirements, so that the workpiece 01 can be firmly grasped. For example, the second clamping portion 312 and the sixth clamping portion 322 may have an overall circular arc shape or a zigzag shape.

In this embodiment, the surface friction coefficient of the gripping mechanism 03 is not limited, and may be reasonably selected according to practical application requirements. For example, the surface friction coefficient at all positions of the grasping mechanism 03 may be the same in magnitude, or the surface friction coefficient at some positions may be different from that at other positions.

In this embodiment, the first axis a is parallel to the direction of movement of the workpiece when the gripping device grips the workpiece. The specific way of arranging the grabbing mechanism 03 on the positioning base 02 around the first axis a is not limited, and can be reasonably selected according to practical application requirements. For example, the gripping mechanisms 03 are uniformly arranged around the first axis a on the positioning base 02, and the gripping mechanisms 03 are unevenly arranged around the first axis a on the positioning base 02. Through arranging all grabbing mechanisms 03 on the positioning base 02 around the first axis A, when all grabbing mechanisms 03 grab the workpiece 01, grabbing forces suffered by the workpiece 01 are more balanced, and grabbing stability is improved.

In the description of the example of the workpiece 01, the cross joint shown in fig. 8 has a central axis, and therefore, in order to facilitate stable gripping of the workpiece 01, it is preferable that the first axis a coincides with the central axis of the workpiece 01 when the workpiece 01 is gripped.

In the present embodiment, the positioning base 02 is used to mount all the gripping mechanisms 03 and move all the gripping mechanisms 03. In the actual use process, the positioning base 02 further has a connection structure for connecting with a driving mechanism (not shown), so that the driving mechanism can drive the gripping device to move relative to the workpiece 01 and grip the workpiece 01, and further drive the gripping device and the workpiece 01 to move together to other positions where the workpiece 01 needs to be placed.

In some embodiments, as shown in fig. 6-7, the first jaw 31 further includes a third grip portion 313, and the second jaw 32 further includes a seventh grip portion 323; wherein, the second end of the second clamping portion 312 is connected to the first end of the third clamping portion 313, and the second end of the sixth clamping portion 322 is connected to the first end of the seventh clamping portion 323; the third clamping portion 313 and the seventh clamping portion 323 are mirror symmetrically disposed, and the second end of the third clamping portion 313 is connected to the second end of the seventh clamping portion 323.

The distances between the third and seventh clamping portions 313 and 323 and the first axis a are gradually increased in the direction from the first end to the second end.

In this embodiment, by providing the third clamping portion 313 and the seventh clamping portion 323, not only can the movement direction of the workpiece 01 relative to the grabbing mechanism 03 be guided in the process of grabbing the workpiece 01 by the grabbing device, but also the clamping force applied to the workpiece 01 can be gradually increased, and the whole grabbing process is smoother.

In the present embodiment, the connection relationship between the third clamping portion 313 and the seventh clamping portion 323 is not limited, and may be reasonably selected according to practical application requirements. For example, the second end of the third clamping portion 313 and the second end of the seventh clamping portion 323 may be directly connected, or indirectly connected through other members.

In the present embodiment, the specific shapes of the third clamping portion 313 and the seventh clamping portion 323 are not limited, and may be reasonably selected according to practical application requirements. For example, the third and seventh clamping portions 313 and 323 may be linear or arcuate as a whole.

In some embodiments, as shown in fig. 5, the first jaw 31 further includes a fourth grip portion 314, and the second jaw 32 further includes an eighth grip portion 324; wherein, the second end of the third clamping portion 313 is connected to the first end of the fourth clamping portion 314, and the second end of the seventh clamping portion 323 is connected to the first end of the eighth clamping portion 324; the fourth clamping part 314 and the eighth clamping part 324 are arranged in mirror symmetry, and the second end of the fourth clamping part 314 is directly connected with the second end of the eighth clamping part 324; the distance between the fourth clamping portion 314 and the eighth clamping portion 324 gradually decreases in the direction from the first end to the second end.

In the present embodiment, the connection of the first jaw 31 and the second jaw 32 can be achieved by providing the fourth clamping portion 314 and the eighth clamping portion 324; and along the direction from the first end to the second end, the distance between the fourth clamping portion 314 and the eighth clamping portion 324 is gradually reduced, so that the clamping range of the grabbing mechanism 03 to the outer wall of the workpiece 01 is gradually increased in the grabbing process of the workpiece 01, and the effect of gradually increasing the clamping force can be achieved, so that the workpiece 01 is not easy to slip and fall off in the clamping process.

In the present embodiment, the overall shape of the fourth clamping portion 314 and the eighth clamping portion 324 is not limited, and may be reasonably selected according to practical application requirements. For example, the fourth clamping portion 314 and the eighth clamping portion 324 may be generally linear, arcuate, etc.

In some embodiments, fourth clamping portion 314 and eighth clamping portion 324 are generally arcuate in shape.

In the present embodiment, the overall shape of the fourth clamping portion 314 and the eighth clamping portion 324 is set to be arc-shaped, not only facilitating the processing, but also enabling the clamping force to be increased more smoothly.

In some embodiments, the first clamping portion 311, the third clamping portion 313, the fifth clamping portion 321, and the seventh clamping portion 323 are all generally rectilinear.

In the present embodiment, the first clamping portion 311, the third clamping portion 313, the fifth clamping portion 321 and the seventh clamping portion 323 are all linear, which is convenient for processing and controlling the maximum clamping force that the gripping device can apply to the workpiece 01 during design.

In this embodiment, the angle between the axis of the first clamping portion 311 and the axis of the third clamping portion 313 is not limited, and the angle between the axis of the fifth clamping portion 321 and the axis of the seventh clamping portion 323 is not limited, and may be reasonably selected according to practical application requirements. For example, the included angle may range from greater than 120 degrees to less than 150 degrees.

In some embodiments, the angle between the axis of the first clamping portion 311 and the axis of the third clamping portion 313 is greater than or equal to 137.5 degrees and less than or equal to 139.5 degrees; the included angle between the axis of the fifth grip 321 and the axis of the seventh grip 323 is greater than or equal to 137.5 degrees and less than or equal to 139.5 degrees.

In this embodiment, as shown in fig. 6 to 7, the included angle between the axis of the first clamping portion 311 and the axis of the third clamping portion 313 is a, the included angle between the axis of the fifth clamping portion 321 and the axis of the seventh clamping portion 323 is b, and the values of a and b are set to be between 137.5 degrees and 139.5 degrees, so that the workpiece 01 can be easily grasped, that is, the outer surface of the workpiece 01 can be relatively smoothly abutted against the surfaces of the second clamping portion 312 and the sixth clamping portion 322.

In some embodiments, as shown in fig. 6-7, the second clamp portion 312 includes a first grip portion 3121 and a second grip portion 3122, and the sixth clamp portion 322 includes a third grip portion 3221 and a fourth grip portion 3222; wherein the first grasping portion 3121 is closer to the first clamping portion 311 than the second grasping portion 3122, and the third grasping portion 3221 is closer to the fifth clamping portion 321 than the fourth grasping portion 3222.

The first grabbing part 3121 and the second grabbing part 3122 are arranged in mirror symmetry, and are overall V-shaped or U-shaped; the third and fourth grasping portions 3221 and 3222 are mirror-symmetrically disposed and have an overall V-shape or U-shape.

In the present embodiment, by providing the first and second grasping portions 3121 and 3122 that are V-shaped or U-shaped overall, and the third and fourth grasping portions 3221 and 3222 that are V-shaped or U-shaped overall, abutment with the workpiece 01 from two opposite directions can be achieved, so that grasping of the workpiece 01 is more stable, and can be applied to workpieces 01 of different sizes, and the application range of the grasping apparatus is enlarged.

In some embodiments, the coefficient of friction of the surface of the second grip 3122 is greater than the coefficient of friction of the surface of the first grip 3121; the friction coefficient of the surface of the fourth grasping portion 3222 is greater than that of the surface of the third grasping portion 3221.

In the present embodiment, when the gripping device grips the workpiece 01, the gravity of the workpiece 01 acts on the second gripping portion 3122 and the fourth gripping portion 3222, so that by increasing the friction coefficients of the surfaces of the second gripping portion 3122 and the fourth gripping portion 3222, the phenomenon that the workpiece 01 slides down from the gripping device can be avoided.

In some embodiments, the gripping device further comprises the same number of angular adjustment mechanisms (not shown) as the gripping mechanisms 03; an angle adjustment mechanism is mounted on the positioning base 02 for adjusting the inclination angles of the first clamping portion 311 and the fifth clamping portion 321 with respect to the first axis a.

In the present embodiment, by adjusting the inclination angles of the first clamping portion 311 and the fifth clamping portion 321 with respect to the first axis a by the angle adjustment mechanism, the magnitude of the clamping force that the gripping device can apply to the workpiece 01 can be adjusted, so that the gripping device can not only adapt to more kinds of workpieces 01, but also can prevent the clamping force to the workpiece 01 from being too large or too small. Because if the clamping force applied by the gripping device to the workpiece 01 is too great, the workpiece 01 is not easy to take out from the gripping device later; if the clamping force applied by the gripping device to the workpiece 01 is too small, a phenomenon in which the workpiece 01 slips off from the gripping device may occur.

In some embodiments, as shown in fig. 5-7, the first jaw 31 and the second jaw 32 are integrally formed from spring steel having a circular cross-section.

In the embodiment, the cylindrical spring steel is not only conveniently obtained from market purchase, but also is convenient for processing and forming due to the superior performance. Further, since the outer peripheral surface of the wire is circular, the outer surface of the workpiece 01 is not easily scratched even when the first clamping jaw 31 and the second clamping jaw 32 are in contact with the outer surface of the workpiece 01.

In some embodiments, the number of gripping mechanisms 03 is 2.

In the present embodiment, the number of the gripping mechanisms 03 is 2, compared with the case where more than 2 gripping mechanisms 03 are provided, so that the overall structure of the gripping apparatus can be made simpler.

In some embodiments, all gripping means 03 are identical in shape and size and are uniformly arranged on the positioning base 02 around the first axis a.

In this embodiment, all the gripping mechanisms 03 have the same shape and size, and are uniformly arranged around the first axis a on the positioning base 02, so that the gripping force applied by the gripping device to the workpiece 01 can be more balanced.

In some embodiments, as shown in fig. 2-3, the grasping device further comprises N first connectors 04 and N second connectors 05; the positioning base 02 is provided with N first mounting holes 21 and N second mounting holes 22, and all the first mounting holes 21 and all the second mounting holes 22 are arranged around the first axis A;

a first end of a first clamping portion 311 is inserted into a first mounting hole 21 and detachably connected to the positioning base 02 via a first connecting member 04; a first end of a fifth clamping portion 321 is inserted into a second mounting hole 22 and detachably connected to the positioning base 02 via a second connector 05.

In this embodiment, each grabbing mechanism 03 and the positioning base 02 are detachably connected, so that when the workpiece 01 with different shapes or sizes is clamped in practical application, the corresponding grabbing mechanism 03 can be replaced according to the shape or size of the workpiece 01, and when one grabbing mechanism 03 is damaged and cannot be used continuously, only the grabbing mechanism 03 needs to be replaced independently, which is beneficial to saving the manufacturing and using costs of the grabbing device.

In this embodiment, the specific structure type, shape and size of the first connector 04 are not limited, and the specific positions of the first mounting hole 21 and the second mounting hole 22 on the positioning base 02 are also not limited, and may be reasonably selected according to practical application requirements.

In some embodiments, as shown in fig. 3-4, the positioning base 02 is further provided with N third mounting holes 23 and N fourth mounting holes 24, each first mounting hole 21 is communicated with one third mounting hole 23, and each second mounting hole 22 is communicated with one fourth mounting hole 24;

the axis of the first mounting hole 21 is parallel to the axis of the second mounting hole 22, the axis of the third mounting hole 23 is parallel to the axis of the fourth mounting hole 24, the axis of the first mounting hole 21 is perpendicular to the axis of the third mounting hole 23, and the axis of the second mounting hole 22 is perpendicular to the axis of the fourth mounting hole 24;

a first end of a first clamping portion 311 passes through a first mounting hole 21 and is embedded into a third mounting hole 23, and a first connecting member 04 detachably connects the first clamping portion 311 with the positioning base 02 in the third mounting hole 23;

a first end of a fifth clamping portion 321 passes through a second mounting hole 22 and is inserted into a fourth mounting hole 24, and a second connector 05 detachably connects the fifth clamping portion 321 with the positioning base 02 in the fourth mounting hole 24.

In the present embodiment, by providing the first mounting hole 21 and the third mounting hole 23, which are mutually perpendicular in axis, and the second mounting hole 22 and the fourth mounting hole 24, which are mutually perpendicular in axis, on the positioning base 02, it is possible to make the first end of the first clamping portion 311 fixed in the positioning base 02 when the grasping mechanism 03 is mounted on the positioning base 02, which is advantageous in improving the mounting fastening degree between the grasping mechanism 03 and the positioning base 02.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of implementing the disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure.

Claims

1. A gripping device, characterized in that the gripping device comprises a positioning base and N gripping mechanisms arranged on the positioning base; wherein, the liquid crystal display device comprises a liquid crystal display device,

the positioning base is used for driving all the grabbing mechanisms to move;

2. The grasping device according to claim 1, wherein the first jaw further comprises a third grip portion, the second jaw further comprises a seventh grip portion; wherein, the liquid crystal display device comprises a liquid crystal display device,

3. The grasping device according to claim 2, wherein the first jaw further comprises a fourth grip portion, and the second jaw further comprises an eighth grip portion; wherein, the liquid crystal display device comprises a liquid crystal display device,

4. The gripping device of claim 2, wherein the first gripping portion, the third gripping portion, the fifth gripping portion, and the seventh gripping portion are each integrally rectilinear;

an included angle between the axis of the first clamping part and the axis of the third clamping part is greater than or equal to 137.5 degrees and less than or equal to 139.5 degrees; an included angle between an axis of the fifth clamping portion and an axis of the seventh clamping portion is greater than or equal to 137.5 degrees and less than or equal to 139.5 degrees.

5. The grasping device according to claim 1, wherein the second grasping portion includes a first grasping portion and a second grasping portion, and the sixth grasping portion includes a third grasping portion and a fourth grasping portion; wherein, the liquid crystal display device comprises a liquid crystal display device,

the first gripping portion is closer to the first gripping portion than the second gripping portion, and the third gripping portion is closer to the fifth gripping portion than the fourth gripping portion;

6. The grasping device according to claim 5, wherein a coefficient of friction of the second grasping portion surface is greater than a coefficient of friction of the first grasping portion surface; the fourth grip surface has a coefficient of friction that is greater than the coefficient of friction of the third grip surface.

7. The grasping device according to claim 1, wherein the grasping device further includes the same number of angle adjustment mechanisms as the grasping mechanisms; the angle adjusting mechanism is mounted on the positioning base and is used for adjusting the inclination angles of the first clamping part and the fifth clamping part relative to the first axis.

8. The grasping device according to claim 1, wherein the first and second jaws are integrally formed of spring steel having a circular cross section.

9. The grasping device according to claim 1, wherein the grasping device further comprises N first connectors and N second connectors; the positioning base is provided with N first mounting holes and N second mounting holes, and all the first mounting holes and all the second mounting holes are arranged around the first axis;

10. The gripping device of claim 9, wherein the positioning base is further provided with N third mounting holes and N fourth mounting holes, each of the first mounting holes being in communication with one of the third mounting holes, each of the second mounting holes being in communication with one of the fourth mounting holes;