CN117566427A

CN117566427A - Grabbing device

Info

Publication number: CN117566427A
Application number: CN202311864397.4A
Authority: CN
Inventors: 曾志强; 黄晓峰; 何崇东; 何太云
Original assignee: Shenzhen Increcare Biotech Co Ltd
Current assignee: Shenzhen Increcare Biotech Co Ltd
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-02-20

Abstract

The invention relates to the technical field of mechanical equipment, and discloses a grabbing device which comprises: base, actuating mechanism, drive assembly and snatch the subassembly. The base comprises a bottom plate and side plates, and the side plates and the bottom plate jointly enclose a containing cavity. The driving mechanism is arranged on the bottom plate. The transmission assembly comprises a guide rail, a support plate and a connecting seat, wherein the guide rail extends along the length direction of the bottom plate and is fixedly arranged on the outer side of the side plate; the backup pad slides and locates the guide rail and keep away from a side of curb plate, and is connected with actuating mechanism through the connecting seat. The grabbing component is arranged on the supporting plate and is positioned on one side of the base. According to the invention, the grabbing component is arranged on the supporting plate and positioned on one side of the base, and is driven by the driving mechanism to move along the guide rail, so that the moving range of the grabbing component is obviously improved, and the use is flexible; other components can be installed in the accommodating cavity of the base, so that the space utilization rate is improved.

Description

Grabbing device

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a grabbing device.

Background

In mechanical devices, it is often necessary to grasp the material using a grasping device to effect movement of the material in space. At present, the grabbing component of the grabbing device is generally arranged in the middle area of the whole machine, the movable range of grabbing materials is limited, the movable range of the materials is limited, and the flexibility is poor.

Disclosure of Invention

In view of the above, the present invention provides a gripping device to solve the problem of poor flexibility of gripping materials by the gripping device.

The invention provides a grabbing device, comprising:

the base comprises a bottom plate and side plates, and the side plates and the bottom plate jointly enclose a containing cavity;

the driving mechanism is arranged on the bottom plate;

the transmission assembly comprises a guide rail, a support plate and a connecting seat, wherein the guide rail extends along the length direction of the bottom plate and is fixedly arranged on the outer side of the side plate; the supporting plate is arranged on one side surface of the guide rail far away from the side plate in a sliding manner and is connected with the driving mechanism through the connecting seat;

the grabbing component is arranged on the supporting plate and is positioned on one side of the base.

The beneficial effects are that: according to the grabbing device, the grabbing component is arranged on the supporting plate and located on one side of the base, and the grabbing component is driven to move along the guide rail through the driving mechanism, so that the moving range of the grabbing component is obviously improved, and the grabbing device is flexible to use. In addition, other components can be installed in the accommodating cavity of the base, so that the space utilization rate is improved.

In an alternative embodiment, part of the driving mechanism is located in the accommodating cavity and comprises a first driving piece, a driving wheel, a driven wheel and a driving belt, the driving wheel and the driven wheel are respectively arranged at two ends of the length direction of the bottom plate, the driving belt is sleeved between the driving wheel and the driven wheel, an output shaft of the first driving piece penetrates through the bottom plate to be connected with the driving wheel, and the connecting seat is fixedly connected with the driving belt.

The beneficial effects are that: the driving wheel and the driven wheel are driven to rotate through the first driving piece, so that the driving belt rotates, the connecting seat is driven to move while the driving belt rotates, the supporting plate fixedly connected with the connecting seat moves, the grabbing component is driven to move, and the grabbing component is convenient to move to a proper position to grab or put down materials.

In an alternative embodiment, the device further comprises an anti-collision mechanism, and the anti-collision mechanism is arranged between the driving mechanism and the transmission assembly.

The beneficial effects are that: the anti-collision mechanism is arranged between the driving mechanism and the transmission assembly, and part of the anti-collision mechanism can be installed in the accommodating cavity, so that the utilization rate of the inner space of the accommodating cavity is improved.

In an alternative embodiment, the anti-collision mechanism comprises a first anti-collision block, an elastic piece and a second anti-collision block, wherein the first anti-collision block is fixedly connected with the transmission belt; the elastic piece is arranged between the first anti-collision block and the second anti-collision block; the second crashproof piece is fixedly connected with the supporting plate.

The beneficial effects are that: the first anti-collision block is fixedly connected with the driving belt so as to move up and down along with the driving belt and drive the second anti-collision block and the supporting plate to move up and down. When the grabbing component is not aligned with the material, the material or a reagent box cover for loading the material can firstly prop against the second anti-collision block, the second anti-collision block upwards compresses the elastic piece, and the impact is relieved through the elastic piece, so that the grabbing component and the material are prevented from being damaged due to mutual collision.

In an alternative embodiment, the anti-collision mechanism further comprises a first guide shaft and a second guide shaft, one end of the first guide shaft is fixedly arranged on the second anti-collision block, the other end of the first guide shaft extends along the length direction of the bottom plate, and the first guide shaft penetrates through the first anti-collision block and is in sliding connection with the first anti-collision block; the elastic piece is sleeved on the first guide shaft; one end of the second guide shaft is fixedly arranged on the first anti-collision block, the other end of the second guide shaft extends along the length direction of the bottom plate, and the second guide shaft penetrates through the second anti-collision block and is in sliding connection with the second anti-collision block.

The beneficial effects are that: through setting up first guiding axle and second guiding axle, can guide first crashproof piece and second crashproof piece and do rectilinear movement, improve the motion stability of first crashproof piece and second crashproof piece, can also guide the removal of elastic component simultaneously.

In an alternative embodiment, the first crash block, the first guide shaft, the second guide shaft and the second crash block form a connecting seat.

The beneficial effects are that: the first anti-collision block, the first guide shaft, the second guide shaft and the second anti-collision block form a connecting seat, and the connecting seat is simple in structure and convenient to use.

In an alternative embodiment, the anti-collision mechanism further comprises an anti-collision optocoupler and an anti-collision optocoupler baffle, the anti-collision optocoupler being connected to one of the first anti-collision block and the second anti-collision block; one end of the anti-collision optical coupling baffle is connected with the other one of the first anti-collision block and the second anti-collision block.

The beneficial effects are that: when the grabbing component is not aligned with the material, and the material or a reagent box cover for loading the material is propped against the second anti-collision block, the second anti-collision block moves upwards, the anti-collision optical coupling baffle plate interacts with the anti-collision optical coupling, and the anti-collision optical coupling output signal feedback anti-collision mechanism is triggered to remind an operator of grabbing the unaligned material of the component.

In an alternative embodiment, one side of the first crash block is provided with a mounting groove along the moving direction of the driving mechanism; the anti-collision mechanism further comprises a fixed clamping plate, wherein the fixed clamping plate is detachably connected with one side, provided with the mounting groove, of the first anti-collision block, and part of the transmission belt is clamped in the mounting groove.

The beneficial effects are that: the part of the driving belt is clamped in the mounting groove of the first anti-collision block through the fixing clamp plate, the connection tightness of the driving belt and the first anti-collision block can be improved, the fixing clamp plate is detachably connected with one side of the first anti-collision block, which is provided with the mounting groove, so that the fixing position of the first anti-collision block and the driving belt can be conveniently adjusted, and the driving belt is convenient to maintain.

In an alternative embodiment, the grabbing assembly comprises a connecting plate, a second driving piece, a cam and a grabbing mechanism, wherein the connecting plate is fixedly connected with one side of the supporting plate away from the side plate; the second driving piece is fixedly arranged on the connecting plate, an output shaft of the second driving piece penetrates through the connecting plate to be connected with the cam, and the second driving piece drives the cam to rotate so that the grabbing mechanism can open and close to grab materials.

The beneficial effects are that: the connecting plate is fixedly connected with one side of the support plate away from the side plate, so that the grabbing assembly is integrally positioned on one side of the base, the movable range of the grabbing mechanism is enlarged, and the flexibility of the grabbing mechanism is improved. The cam is driven to rotate through the second driving piece, so that the grabbing mechanism is opened and closed to grab materials.

In an alternative embodiment, snatch the mechanism and include connecting piece, first clamping jaw, second clamping jaw and spring, connecting piece and connecting plate fixed connection, first clamping jaw and second clamping jaw respectively with connecting piece sliding connection, the both ends of spring are connected with first clamping jaw and second clamping jaw respectively, the cam is located between first clamping jaw and the second clamping jaw, the second driving piece drive cam rotates to make first clamping jaw and second clamping jaw switch between open state and closed state under the effect of spring.

The beneficial effects are that: the second driving piece drives the cam to rotate, the first clamping jaw and the second clamping jaw are pressed and separated by the cam to be switched to an open state, at the moment, materials cannot be grabbed, and the spring is stretched. Then, the second driving piece drives the cam to continue to rotate, the cam does not press the first clamping jaw and the second clamping jaw any more, and the spring rebounds to be switched to a closed state, so that materials are clamped, the grabbing process is stable and reliable, and the use is convenient.

Drawings

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

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

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic view of a part of a grabbing device according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a gripping module of a gripping device according to an embodiment of the present invention;

fig. 5 is a schematic view of the structure of fig. 4 at another view angle.

Reference numerals illustrate:

1. a base; 101. a bottom plate; 102. a side plate; 103. detecting an optocoupler; 2. a driving mechanism; 201. a first driving member; 202. a driving wheel; 203. driven wheel; 204. a transmission belt; 3. a transmission assembly; 301. a guide rail; 302. a support plate; 4. a grabbing component; 401. a connecting plate; 402. a second driving member; 403. a cam; 404. a grabbing mechanism; 4041. a connecting piece; 4042. a first jaw; 4043. a second jaw; 4044. a spring; 4045. a first slide rail; 4046. a second slide rail; 405. a hollow optocoupler is grabbed; 406. grasping the empty optocoupler baffle; 407. calibrating an optocoupler; 408. calibrating an optocoupler baffle; 5. an anti-collision mechanism; 501. a first impact block; 502. a first guide shaft; 503. an elastic member; 504. a second impact block; 505. a second guide shaft; 506. an anti-collision optical coupler; 507. an anti-collision optical coupling baffle; 508. and fixing the clamping plate.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The grabbing component for the existing grabbing device is generally arranged in the middle area of the whole machine, the movable range for grabbing materials is limited, and the problem of poor flexibility is caused. According to the embodiment of the invention, the grabbing component is arranged on the supporting plate and positioned on one side of the whole machine, and is driven to move along the guide rail by the driving mechanism, so that the moving range of the grabbing component is obviously improved, and the use is flexible.

Embodiments of the present invention are described below with reference to fig. 1 to 5.

According to an embodiment of the present invention, as shown in fig. 1 and 2, there is provided a grasping apparatus mainly including: base 1, actuating mechanism 2, drive assembly 3 and snatch subassembly 4. The base 1 comprises a bottom plate 101 and side plates 102 surrounding the bottom plate 101, and the side plates 102 and the bottom plate 101 jointly form a containing cavity. The driving mechanism 2 is provided on the base plate 101. The transmission assembly 3 comprises a guide rail 301, a support plate 302 and a connecting seat, wherein the guide rail 301 extends along the length direction of the bottom plate 101 and is fixedly arranged on the outer side of the side plate 102; the support plate 302 is slidably disposed on a side surface of the guide rail 301 away from the side plate 102, and is connected to the driving mechanism 2 through a connection seat. The gripping assembly 4 is provided on the support plate 302 at one side of the base 1.

According to the grabbing device provided by the embodiment of the invention, the grabbing component 4 is arranged on the supporting plate 302 and is positioned on one side of the base 1, and the grabbing component 4 is driven by the driving mechanism 2 to move along the guide rail 301, so that the moving range of the grabbing component 4 is obviously improved, and the grabbing device is flexible to use. In addition, other components can be installed in the accommodating cavity of the base 1, so that the space utilization rate is improved.

It should be noted that, the embodiment of the present invention does not limit the driving mechanism 2, as long as the driving mechanism 2 can drive the grabbing assembly 4 to move along the guide rail 301.

In one embodiment, as shown in fig. 3, a portion of the drive mechanism 2 is located within the receiving cavity and includes a first drive member 201, a drive pulley 202, a driven pulley 203, and a drive belt 204. The driving wheel 202 and the driven wheel 203 are respectively arranged at two ends of the bottom plate 101 in the length direction, the transmission belt 204 is sleeved between the driving wheel 202 and the driven wheel 203, and an output shaft of the first driving piece 201 penetrates through the bottom plate 101 to be connected with the driving wheel 202. The connecting seat is fixedly connected with the driving belt 204. The driving wheel 202 and the driven wheel 203 are driven to rotate by the first driving piece 201, so that the driving belt 204 rotates, the connecting seat is driven to linearly move while the driving belt 204 rotates, the supporting plate 302 fixedly connected with the connecting seat moves, the grabbing component 4 is driven to move, and the grabbing component 4 is convenient to move to a proper position to grab or put down materials.

In particular, the drive mechanism 2 may be used as a component of the lifting movement of the gripper assembly 4. The bottom plate 101 is vertically placed, and a driving wheel shaft and a driven wheel shaft are respectively arranged at the upper end and the lower end. The driving wheel 202 is arranged on a driving wheel shaft at the lower end of the bottom plate 101 through a bearing. The driven wheel 203 is arranged on a driven wheel shaft at the upper end of the bottom plate 101 through a bearing. The driving belt 204 is vertically sleeved between the driving wheel 202 and the driven wheel 203, and the connecting seat is fixedly connected with a vertically moving part of the driving belt 204. The first driving piece 201 can adopt a driving motor, and the driving belt 204 drives the connecting seat, the supporting plate 302 and the grabbing component 4 to move up and down by controlling the forward and reverse rotation of the driving motor, so that the lifting motion of the grabbing component 4 is realized.

In other embodiments, the driving mechanism 2 may also use a telescopic motor, a telescopic cylinder, or other conventional driving mechanisms.

In one embodiment, the gripping device further comprises an anti-collision mechanism 5, the anti-collision mechanism 5 is arranged between the driving mechanism 2 and the transmission assembly 3, and a part of the anti-collision mechanism 5 is installed in the accommodating cavity. A part of the anti-collision mechanism 5 is installed in the accommodating cavity to improve the utilization rate of the inner space of the accommodating cavity.

Further, as shown in fig. 3, the anti-collision mechanism 5 includes a first anti-collision block 501, an elastic member 503 and a second anti-collision block 504, where the first anti-collision block 501 is fixedly connected with the driving belt 204, so as to move up and down along with the driving belt 204, and drive the second anti-collision block 504 and the supporting plate 302 to move up and down. The elastic member 503 is provided between the first impact block 501 and the second impact block 504. The second impact block 504 is fixedly coupled to the support plate 302. The elastic member 503 may be a conventional elastic member such as a spring, an elastic pad, or the like.

When the grabbing component 4 is not aligned with the material, the material or a reagent box cover for loading the material will firstly prop against the second anti-collision block 504, the second anti-collision block 504 compresses the elastic piece 503 upwards, and the impact is relieved through the elastic piece 503, so that the grabbing component 4 and the material are prevented from being damaged due to mutual collision.

Still further, the anti-collision mechanism 5 further includes a first guide shaft 502 and a second guide shaft 505. One end of the first guide shaft 502 is fixedly provided on the second crash block 504, and the other end extends in the longitudinal direction of the bottom plate 101. The first guide shaft 502 passes through the first impact block 501, and is slidably connected with the first impact block 501. The elastic member 503 is sleeved on the first guide shaft 502. The second guide shaft 505 has one end fixedly provided to the first anti-collision block 501 and the other end extending in the longitudinal direction of the bottom plate 101, passes through the second anti-collision block 504, and is slidably connected to the second anti-collision block 504. By providing the first guide shaft 502 and the second guide shaft 505, the first impact block 501 and the second impact block 504 can be guided to move linearly, the movement stability of the first impact block 501 and the second impact block 504 can be improved, and the movement of the elastic member 503 can be guided.

In one embodiment, as shown in fig. 2, the bottom plate 101 is further provided with a detection optocoupler 103 and a through hole, and the detection optocoupler 103 is disposed at the through hole. When the driving mechanism 2 drives the connecting seat to be located at the highest point, the through hole is shielded by the connecting seat, and the detection optocoupler 103 outputs a signal to feed back the driving mechanism 2 to reach the highest point.

In one embodiment, the first anti-collision block 501, the first guide shaft 502, the second guide shaft 505 and the second anti-collision block 504 form a connection seat, which is simple in structure and convenient to use.

In one embodiment, the anti-collision mechanism 5 further includes an anti-collision optocoupler 506 and an anti-collision optocoupler baffle 507, the anti-collision optocoupler 506 being connected to the second anti-collision block 504. One end of the crashproof optocoupler baffle 507 is connected with the first crashproof block 501, and the other end interacts with the crashproof optocoupler 506 along with the relative movement of the first crashproof block 501 and the second crashproof block 504. When the gripper assembly 4 is misaligned with the material, causing the material or a reagent pack cover or the like loaded with the material to be pushed against the second crash block 504. The second anti-collision block 504 moves upwards, the anti-collision optical coupling baffle 507 interacts with the anti-collision optical coupling 506, the level of the anti-collision optical coupling 506 jumps, and the output signal feedback anti-collision mechanism 5 is triggered to remind an operator of misalignment of the grabbing component 4.

In another embodiment, the anti-collision optocoupler 506 may also be coupled to the first anti-collision block 501. One end of the anti-collision optocoupler barrier 507 may be connected with the second anti-collision block 504, and the other end interacts with the anti-collision optocoupler 506 with the relative movement of the first and second anti-collision blocks 501 and 504.

In one embodiment, one side of the first impact block 501 is provided with a mounting groove along the moving direction of the driving mechanism 2. The impact mechanism 5 further includes a fixing clip 508, and the fixing clip 508 is detachably connected to the side of the first impact block 501 where the mounting groove is provided, and clamps a portion of the transmission belt 204 in the mounting groove. The fixing clamp plate 508 clamps the part of the driving belt 204 in the mounting groove of the first anti-collision block 501, so that the connection tightness of the driving belt 204 and the first anti-collision block 501 can be improved, and the fixing clamp plate 508 is detachably connected with one side of the first anti-collision block 501 provided with the mounting groove, so that the fixing position of the first anti-collision block 501 and the driving belt 204 can be conveniently adjusted, and the maintenance is convenient.

In one embodiment, as shown in fig. 1, the gripper assembly 4 includes a web 401, a second driver 402, a cam 403, and a gripper mechanism 404. The connection plate 401 is fixedly connected with the side of the support plate 302 away from the side plate 102. The second driving piece 402 is fixedly arranged on the connecting plate 401, and an output shaft of the second driving piece 402 penetrates through the connecting plate 401 to be connected with the cam 403, and the second driving piece 402 drives the cam 403 to rotate so that the grabbing mechanism 404 can open and close to grab materials. The connecting plate 401 is fixedly connected with one side of the supporting plate 302 away from the side plate 102, so that the grabbing assembly 4 is integrally positioned on one side of the base 1, the movable range of the grabbing mechanism 404 is enlarged, and the flexibility of the grabbing mechanism is improved. The cam 403 is driven to rotate by the second driving member 402, so that the grabbing mechanism 404 is opened and closed to grab the material.

Specifically, the connection plate 401 may be fixedly connected to the support plate 302 by a conventional fixed connection manner such as a screw bolt, a buckle, or the like, for supporting the second driving member 402, the cam 403, and the grasping mechanism 404. The second driver 402 may employ a drive motor.

Further, as shown in fig. 4 and 5, the grasping mechanism 404 includes a connecting member 4041, a first jaw 4042, a second jaw 4043, and a spring 4044. The connecting member 4041 is fixedly connected with the connection plate 401. The first jaw 4042 and the second jaw 4043 are slidably coupled to the connector 4041, respectively. The two ends of the spring 4044 are respectively connected with the first clamping jaw 4042 and the second clamping jaw 4043, and are always kept in a tight state. The cam 403 is located between the first jaw 4042 and the second jaw 4043. The second driver 402 drives the cam 403 to rotate and under the action of the spring 4044, the first and second jaws 4042, 4043 are switched between an open state and a closed state.

The second driving member 402 drives the cam 403 to rotate, the first clamping jaw 4042 and the second clamping jaw 4043 are pressed and separated by the cam 403 to switch to an open state, at which time the material cannot be gripped, and the spring 4044 is stretched. The second driving piece 402 drives the cam 403 to rotate continuously, the cam 403 does not press against the first clamping jaw 4042 and the second clamping jaw 4043 any more, and the spring 4044 rebounds to switch to a closed state, so that materials are clamped, the grabbing process is stable and reliable, and the use is convenient.

In particular, the shape of the first jaw 4042 and the second jaw 4043 may be adapted according to the material gripped by the gripping device application. Taking the example of a medical device grasping cuvette, the cuvette is generally cylindrical, and thus the first jaw 4042 and the second jaw 4043 may be provided as opposing arcuate openings. In the closed state, the inner surfaces of the first clamping jaw 4042 and the second clamping jaw 4043 are in fit with the outer wall of the reaction cup.

In one embodiment, as shown in fig. 4, the grabbing mechanism 404 further includes a first sliding rail 4045 and a second sliding rail 4046 fixedly disposed on two sides of the connecting member 4041, the first clamping jaw 4042 is mounted on the first sliding rail 4045 through a sliding block, and the second clamping jaw 4043 is mounted on the second sliding rail 4046 through a sliding block. As the cam 403 rotates, the first and second jaws 4042, 4043 slide back and forth on the first and second slide tracks 4045, 4046, respectively, to effect switching between the open and closed states.

In one embodiment, as shown in fig. 5, the gripper assembly 4 further includes a gripper optocoupler 405 and a gripper optocoupler stop 406. The hollow optocoupler 405 is connected to one of the first clamping jaw 4042 and the second clamping jaw 4043, and is provided with a hollow open slot. The grappling optocoupler stop 406 is connected to the other of the first jaw 4042 and the second jaw 4043 and moves into and out of the grappling open slot with the movement of the first jaw 4042 and the second jaw 4043. In the closed state, the grab photo-coupler blocking piece 406 enters the grab opening slot, and the level of the grab photo-coupler 405 jumps to feed back the first clamping jaw 4042 and the second clamping jaw 4043 to enter the closed state, so as to clamp materials. In the open state, the grab photo-coupler blocking piece 406 leaves the grab opening slot, and the level of the grab photo-coupler 405 jumps to feed back the first clamping jaw 4042 and the second clamping jaw 4043 to enter the open state, and the material is released.

In one embodiment, the two side end surfaces of the cam 403 are provided with a first track surface and a second track surface opposite to each other in the circumferential direction. The thickness of the first track surface and the second track surface gradually increases from one end to the other end, and a step is formed at the joint of the narrowest part and the thickest part. The upper ends of the first clamping jaw 4042 and the second clamping jaw 4043 are respectively provided with a roller which is abutted with the first track surface and the second track surface. As the cam 403 rotates, the first and second jaws 4042, 4043 move along the first and second track surfaces, respectively, to effect switching of the first and second jaws 4042, 4043 between the open and closed states.

Specifically, the cam 403 has a first position and a second position, and when the cam 403 rotates to the first jaw 4042 and the second jaw 4043 are pressed apart by the cam 403 to switch to the open state, the first position of the cam 403. When the cam 403 rotates to no longer press against the first and second jaws 4042, 4043, the spring 4044 springs back to switch to the closed state, which acts as the second position of the cam 403.

In one embodiment, the gripper assembly 4 further includes a calibration optocoupler 407 and a calibration optocoupler stop 408. The calibration optocoupler 407 is fixedly connected with the connecting plate 401 and provided with a calibration opening slot, and the calibration optocoupler baffle 408 is arranged on the periphery of the cam 403 and rotates along with the cam 403 to come in and go out of the calibration opening slot. Specifically, the top of the connection plate 401 extends toward the cam 403 to form a horizontal plate on which the alignment optocoupler 407 is fixed. When the cam 403 is at the first position or the second position, the calibration optocoupler stop 408 is located in the calibration slot, and the level jump of the optocoupler 405 is grasped to feed back the rotation state of the cam 403. When the cam 403 is not in the first position or the second position, the alignment optocoupler shutter 408 is separated from the alignment open slot.

The working process of the embodiment of the invention is as follows:

the first driving piece 201 is controlled to rotate forward in advance, and the driving belt 204 is driven by the driving wheel 202 and the driven wheel 203 to sequentially drive the first anti-collision block 501, the first guide shaft 502, the second guide shaft 505, the second anti-collision block 504, the supporting plate 302 and the connecting plate 401 to move up and down, so that the first clamping jaw 4042 and the second clamping jaw 4043 move to a proper position for grabbing materials.

The second driving member 402 is then controlled to drive the cam 403 to rotate, the first clamping jaw 4042 and the second clamping jaw 4043 are switched from the open state to the closed state, the spring 4044 is contracted, and the first clamping jaw 4042 and the second clamping jaw 4043 clamp the material.

Then, the first driving member 201 is controlled to rotate reversely, so as to drive the grabbing mechanism 404 to move up and down to a proper position for placing materials.

Finally, the second driving member 402 is controlled to drive the cam 403 to rotate, the first clamping jaw 4042 and the second clamping jaw 4043 are switched from the closed state to the open state, the spring 4044 is continuously stretched, and the first clamping jaw 4042 and the second clamping jaw 4043 loosen materials.

The gripping device of the present invention may also include other necessary modules or components, such as control systems, wires, etc., to perform the basic functions of the gripping device. It should be noted that any suitable existing configuration may be used for other necessary modules or components included in the gripping device. For clarity and brevity, the technical solutions provided by the present embodiments will not be repeated here, and the drawings in the description are correspondingly simplified. It will be understood that the invention is not limited in scope thereby.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims

1. A grasping device, comprising:

the base (1) comprises a bottom plate (101) and side plates (102), wherein the side plates (102) and the bottom plate (101) jointly enclose a containing cavity;

a driving mechanism (2) arranged on the bottom plate (101);

the transmission assembly (3) comprises a guide rail (301), a support plate (302) and a connecting seat, wherein the guide rail (301) extends along the length direction of the bottom plate (101) and is fixedly arranged on the outer side of the side plate (102); the supporting plate (302) is arranged on one side surface of the guide rail (301) away from the side plate (102) in a sliding manner, and is connected with the driving mechanism (2) through the connecting seat;

and the grabbing component (4) is arranged on the supporting plate (302) and is positioned on one side of the base (1).

2. The grabbing device according to claim 1, wherein the part of the driving mechanism (2) is located in the accommodating cavity and comprises a first driving member (201), a driving wheel (202), a driven wheel (203) and a driving belt (204), the driving wheel (202) and the driven wheel (203) are respectively arranged at two ends of the length direction of the bottom plate (101), the driving belt (204) is sleeved between the driving wheel (202) and the driven wheel (203), an output shaft of the first driving member (201) penetrates through the bottom plate (101) to be connected with the driving wheel (202), and the connecting seat is fixedly connected with the driving belt (204).

3. Gripping device according to claim 2, further comprising an anti-collision mechanism (5), the anti-collision mechanism (5) being arranged between the drive mechanism (2) and the transmission assembly (3).

4. A gripping device according to claim 3, characterized in that the anti-collision mechanism (5) comprises a first anti-collision block (501), an elastic member (503) and a second anti-collision block (504), the first anti-collision block (501) being fixedly connected with the drive belt (204); the elastic piece (503) is arranged between the first anti-collision block (501) and the second anti-collision block (504); the second crash block (504) is fixedly connected to the support plate (302).

5. The grabbing device according to claim 4, wherein the anti-collision mechanism (5) further comprises a first guide shaft (502) and a second guide shaft (505), one end of the first guide shaft (502) is fixedly arranged on the second anti-collision block (504), the other end of the first guide shaft extends along the length direction of the bottom plate (101), and the first guide shaft (502) penetrates through the first anti-collision block (501) and is in sliding connection with the first anti-collision block (501); the elastic piece (503) is sleeved on the first guide shaft (502); one end of the second guide shaft (505) is fixedly arranged on the first anti-collision block (501), the other end of the second guide shaft extends along the length direction of the bottom plate (101), and the second guide shaft (505) penetrates through the second anti-collision block (504) and is in sliding connection with the second anti-collision block (504).

6. The gripping device according to claim 5, characterized in that the first impact block (501), the first guide shaft (502), the second guide shaft (505) and the second impact block (504) form the connection socket.

7. The gripping device according to claim 4, characterized in that the anti-collision mechanism (5) further comprises an anti-collision optocoupler (506) and an anti-collision optocoupler baffle (507), the anti-collision optocoupler (506) being connected with one of the first anti-collision block (501) and the second anti-collision block (504); one end of the anti-collision optocoupler baffle (507) is connected with the other one of the first anti-collision block (501) and the second anti-collision block (504).

8. The gripping device according to claim 4, characterized in that one side of the first impact block (501) is provided with a mounting groove along the moving direction of the driving mechanism (2); the anti-collision mechanism (5) further comprises a fixed clamping plate (508), wherein the fixed clamping plate (508) is detachably connected with one side, provided with the mounting groove, of the first anti-collision block (501), and part of the transmission belt (204) is clamped in the mounting groove.

9. The gripping device according to any of claims 1 to 8, characterized in that the gripping assembly (4) comprises a connection plate (401), a second drive member (402), a cam (403) and a gripping mechanism (404), the connection plate (401) being fixedly connected to a side of the support plate (302) remote from the side plate (102); the second driving piece (402) is fixedly arranged on the connecting plate (401), an output shaft of the second driving piece (402) penetrates through the connecting plate (401) to be connected with the cam (403), and the second driving piece (402) drives the cam (403) to rotate so that the grabbing mechanism (404) can open and close to grab materials.

10. The gripping device according to claim 9, wherein the gripping mechanism (404) comprises a connecting member (4041), a first gripping jaw (4042), a second gripping jaw (4043) and a spring (4044), the connecting member (4041) is fixedly connected with the connecting plate (401), the first gripping jaw (4042) and the second gripping jaw (4043) are respectively connected with the connecting member (4041) in a sliding manner, two ends of the spring (4044) are respectively connected with the first gripping jaw (4042) and the second gripping jaw (4043), the cam (403) is located between the first gripping jaw (4042) and the second gripping jaw (4043), and the second driving member (402) drives the cam (403) to rotate and enables the first gripping jaw (4042) and the second gripping jaw (4043) to switch between an open state and a closed state under the action of the spring (4044).