CN214924504U

CN214924504U - Gripping device and mechanical equipment

Info

Publication number: CN214924504U
Application number: CN202120725132.6U
Authority: CN
Inventors: 尹大伍; 覃召辉; 黄辉滟
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-11-30
Anticipated expiration: 2031-04-09

Abstract

An embodiment of the utility model provides a grabbing device and mechanical equipment, grabbing device includes: a support; at least two grabbing components arranged on the bracket; drive assembly sets up in the support, and drive assembly includes: the driving piece is arranged on the bracket; the driving component can drive the transmission component to move so as to drive at least one of the at least two grabbing components to rotate relative to the support; the guide assembly is arranged on the support, and one part of the transmission assembly is connected with the guide assembly. Can restrict the movement track of drive assembly through setting up the direction subassembly, and then can restrict the motion of the subassembly of snatching that is connected with drive assembly, improve the stability of snatching the subassembly operation, and can also improve the accuracy that snatchs the subassembly and snatch the work piece, improve the efficiency that grabbing device snatchs the work piece, further improve production efficiency.

Description

Gripping device and mechanical equipment

Technical Field

The embodiment of the utility model relates to a mechanical equipment technical field particularly, relates to a grabbing device and a mechanical equipment.

Background

At present, the microwave oven transformer feeding and the leatheroid blanking are mainly carried out manually, the manual labor intensity is high, the labor content is dull, the production cost is high, the personnel loss rate is high, and the like. In the correlation technique, in order to improve production efficiency, reduction in production cost, adopt and snatch the mechanism and get the blowing, however, the stroke of the in-process operation that snatchs the mechanism is longer, and stability is poor.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims at solving one of the technical problem that exists among the prior art at least.

To this end, a first aspect of embodiments of the present invention provides a gripping device.

A second aspect of the embodiments of the present invention provides a mechanical apparatus.

In view of this, according to the first aspect of the embodiments of the present invention, there is provided a gripping device, including: a support; at least two grabbing components arranged on the bracket; drive assembly sets up in the support, and drive assembly includes: the driving piece is arranged on the bracket; the driving component can drive the transmission component to move so as to drive at least one of the at least two grabbing components to rotate relative to the support; the guide assembly is arranged on the support, and one part of the transmission assembly is connected with the guide assembly.

The embodiment of the utility model provides a grabbing device includes the support, at least two snatchs subassembly and drive assembly, particularly speaking, at least two snatch the subassembly setting on the support, and drive assembly snatchs at least one in the subassembly with at least two and is connected to under drive assembly's drive, at least one in at least two snatchs the subassembly can be for the rotation of support, in order to snatch the snatching of subassembly realization materials such as work through at least two. Specifically, at least two snatch the subassembly and include that first snatch the subassembly and the subassembly is snatched to the second, drive assembly can drive the second and snatch the subassembly and rotate to when this grabbing device snatched the work piece, first snatch the subassembly and can realize snatching of small range work piece, and can also snatch the subassembly through drive assembly drive second and rotate for the support, enlarge and snatch the scope, in order to realize snatching of great range work piece, simple structure, reduce cost, and the action is rapid, and degree of automation is high, thereby can also improve production efficiency. In addition, at least one of the at least two grabbing components is driven to rotate relative to the support through the driving component, compatibility of grabbing small-range work and large-range workpieces is achieved, and applicability and practicability of the grabbing device can be improved.

It can be understood that, when grabbing in a small range of work is carried out, the driving assembly does not drive the second grabbing assembly to rotate, so that interference on grabbing work of the first grabbing assembly due to movement of the second grabbing assembly can be avoided. For example, for the condition that multiple layers of stacked materials and partition plates exist between the stacked layers, a small-range workpiece is grabbed through the first grabbing component, and at the moment, the driving component does not drive the second grabbing component to rotate, so that the first grabbing component is not interfered to take the workpiece. And after one-layer workpieces are grabbed and finished, when the partition plate needs to be grabbed, the driving assembly drives the second grabbing assembly to rotate, the grabbing of the partition plate is realized, the use continuity is strong, the maintenance operation is simple and convenient, the production failure rate is low, and the application range is wide.

Furthermore, a guide component is arranged on the bracket, wherein a part of the guide component is connected with at least one part of the transmission component, so that when the transmission component is driven by the driving component to drive at least one of the at least two grabbing components to rotate relative to the bracket, the motion of the transmission component is guided because a part of the guide component is connected with a part of the transmission component, and the motion of the transmission component is limited because a part of the transmission component is connected with at least one of the at least two grabbing components, so that the grabbing component connected with the transmission component in the at least two grabbing components is guided, namely, the motion track of the transmission component can be limited through arranging the guide component, the motion of the grabbing component connected with the transmission component can be limited, the stability of the grabbing component in operation is improved, and the accuracy of the grabbing component for grabbing workpieces can be improved, the efficiency of grabbing the work piece of grabbing device is improved, further improves production efficiency.

In addition, the driving assembly can drive the first grabbing assembly and the second grabbing assembly to rotate simultaneously, so that grabbing of workpieces at all positions is achieved, the grabbing range of the grabbing assemblies is further improved, and the grabbing assemblies can be specifically set according to actual needs.

It should be noted that the first grabbing assembly may include a magnetic member, and the magnetic member is used to suck the workpiece, so as to grab the workpiece in a small range. The second grabbing component can comprise a sucker, and the sucker can rotate at different angles relative to the support under the driving of the driving component so as to realize the suction of workpieces at different positions.

In addition, the support may include a top plate, a bottom plate, and two side plates, the top plate, the bottom plate, and the two side plates being connected to form the support, the driving assembly and the grasping assembly being disposed within the support such that the support can provide support for movement of the grasping assembly. Wherein, can adopt the aluminium alloy with the curb plate, the aluminium alloy cost is low, and material quality is lighter, can alleviate grabbing device's weight, improves grabbing device's flexibility, and can also reduce grabbing device's manufacturing cost.

Additionally, according to the utility model discloses above-mentioned technical scheme provides a grabbing device still has following additional technical characteristics:

in a possible design, the guide assembly comprises a slide block and a guide rail, wherein at least one part of the slide block is connected with the transmission assembly, the slide block comprises a guide groove, the guide rail is arranged on the bracket, and the guide rail is matched with the guide groove.

In this design, it is defined that the guide assembly comprises a slide block and a guide rail, specifically, a part of the slide block is connected with the transmission assembly, so that the transmission assembly can drive the slide block to move relative to the bracket under the driving of the driving piece. Specifically, the slider includes the guide way, corresponds on the support to be provided with the guide rail with guide way looks adaptation, when drive assembly drives at least one motion in at least two grabbing subassemblies, still can drive the slider for the support motion. The guide groove through setting up the slider is for the guide rail of support motion that cooperatees, can prescribe a limit to the motion route of drive assembly, and then prescribe a limit to the up-and-down motion orbit of the subassembly of snatching that is connected with drive assembly, improves the stability of grabbing device operation, and can also improve the accuracy that the subassembly snatchs the work piece of snatching, improves the efficiency that grabbing device snatchs the work piece, further improves production efficiency.

In addition, the guide rail can support structure as an organic whole, and integrative structure has good mechanical properties, and then can improve the joint strength of guide rail and support, further improves grabbing device operation's stability and reliability. And the integrated structure is convenient for batch production, and further the production cost of the gripping device can be reduced.

The support can be provided with a groove, the sliding block is provided with a protrusion, and the protrusion slides in the groove to guide the movement process of the grabbing component.

In a possible design, the gripping device further includes a buffer member located on a moving path of the slider and disposed on the bracket.

In this design, it still includes the bolster to have injectd grabbing device, particularly, the bolster sets up on the support to be located the removal route of slider, thereby at driving piece drive transmission assembly motion, and then when driving and snatch the subassembly and snatch the work piece, the guide rail on guide way and the support on the slider is mutually supported, in order to improve grabbing device and snatch the stability of work piece. Through set up the bolster on the moving path at the slider to play the effect of buffering at direction subassembly reciprocating motion's in-process, further improve the stability of grabbing device during operation, prolong grabbing device's life, and reduce the noise problem that grabbing device during operation produced.

In addition, the arrangement position of the buffer piece on the moving path of the sliding block can be arranged so as to limit the rotation angle of the grabbing component. Specifically, if the position that the bolster set up is higher, then the corresponding subassembly of snatching is less for support pivoted angle, if the position that the bolster set up is lower, then the corresponding subassembly of snatching is great for support pivoted angle, consequently, can realize snatching the setting of subassembly turned angle through the setting position of adjustment bolster to realize snatching of different scope work pieces.

It should be noted that the buffer member may be a hydraulic buffer.

In a possible design, the at least two grabbing components comprise a first grabbing component and a second grabbing component, wherein the first grabbing component is arranged on the support, the second grabbing component is connected with the transmission component, and the transmission component moves to drive the second grabbing component to rotate relative to the support.

In this design, it includes first subassembly and the second subassembly of snatching to have injectd at least two and snatchs the subassembly, the driving piece can drive the second and snatch the subassembly and rotate, thereby when this grabbing device snatched the work piece, the first subassembly of snatching can realize snatching of minizone work piece, and can also snatch the subassembly through the driving piece drive second and rotate for the support, enlarge and snatch the scope, in order to realize snatching of great range work piece, moreover, the steam generator is simple in structure, the cost is reduced, and the action is rapid, and the degree of automation is high, thereby can also improve production efficiency. In addition, the compatibility of grabbing small-range work and large-range workpieces is realized, and the applicability and the practicability of the grabbing device can be improved.

It can be understood that when the grabbing of the small-range work is carried out, the driving piece does not drive the second grabbing component to rotate, so that the situation that the second grabbing component moves to interfere with the grabbing work of the first grabbing component can be avoided. For example, for the condition that multiple layers of stacked materials and partition plates exist between the stacked layers, a small-range workpiece is grabbed through the first grabbing assembly, and at the moment, the driving piece does not drive the second grabbing assembly to rotate, so that the first grabbing assembly is not interfered to take the workpiece. And after one deck work piece snatchs the completion, when needing to snatch the baffle, the driving piece drive second snatchs the subassembly and rotates, realizes snatching the baffle, uses the continuity strong, and maintenance operation is simple and convenient, and production fault rate is low, and application scope is wide.

In a possible design, the second grabbing assembly comprises a grabbing piece and a connecting rod assembly, wherein at least one part of the connecting rod assembly is connected with the transmission assembly, at least one part of the connecting rod assembly is connected with the grabbing piece, and the transmission assembly can drive at least one part of the connecting rod assembly to rotate under the driving of the driving piece, so that at least one part of the connecting rod assembly drives the grabbing piece to rotate.

In this design, it is defined that the second gripper assembly comprises a gripper member and a linkage assembly, in particular, one end of the drive member is connected to the carrier and the other end of the drive member is connected to the transmission assembly, so that the transmission assembly can move under the drive of the drive member. A portion of the linkage assembly is coupled to a portion of the transmission assembly such that movement of the transmission assembly moves the linkage assembly. The part of link assembly is connected with the piece of grabbing, and then makes link assembly move and can drive the piece of grabbing and rotate for the support, realizes the power transmission of driving piece, simple structure, and is easy and simple to handle. In addition, a servo and speed reducer mechanism or a cylinder and gear rack mechanism in the related technology is not needed for power transmission, and the production cost of the grabbing device can be further reduced.

The driving part can comprise a cylinder, the cylinder comprises an air cavity and a piston, and the piston is driven to move in the air cavity so that the piston can drive the transmission assembly to move. It will be appreciated that a floating joint may be provided between the transmission assembly and the cylinder to effect power transfer to the cylinder. And the vertical motion of the cylinder piston can be converted into the rotary motion of the grabbing piece, so that the grabbing of a large-range workpiece is realized. In addition, the cylinder has a simple structure, is convenient to operate, occupies a small space, further can reduce the occupied space of the gripping device, and saves the production cost of the gripping device.

In one possible design, the connecting rod assembly comprises a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is connected with at least one part of the transmission assembly, one end of the second connecting rod is connected with the grabbing piece, the other end of the first connecting rod is connected with the second connecting rod, and the other end of the second connecting rod is movably connected with the support.

In this design, it is defined that the link assembly comprises a first link and a second link, in particular, one end of the first link is connected with a part of the transmission assembly, so that the transmission assembly can drive the first link to move when the driving member drives the transmission assembly to move relative to the bracket. The other end of the first connecting rod is connected with the second connecting rod, one end of the second connecting rod is connected with the grabbing piece, and the other end of the second connecting rod is connected with the support. It can be understood that, between the both ends of second connecting rod are connected to the other end of first connecting rod, because the support is fixed to make first connecting rod motion can drive the second connecting rod around the hookup location rotation with the support, and then make the second connecting rod rotate and to drive and snatch a rotation, realize the power transmission of driving piece, and then make and grab the piece and can satisfy snatching of work piece on a large scale. Can understand, when realizing power transmission with the other end and the leg joint of second connecting rod, because the support is fixed, can further improve the stability when snatching a long stroke and snatching the work piece, prevent to grab and take place the skew when snatching the work piece, improve the accuracy of snatching the work piece, and then improve production efficiency.

In addition, the other end of the second connecting rod can be movably connected with the bottom plate of the bracket. It should be noted that the first connecting rod and the second connecting rod, the first connecting rod and the transmission assembly, and the second connecting rod and the bracket can be movably connected through the connecting pin.

In one possible embodiment, the transmission assembly comprises a first transmission element and a second transmission element, wherein at least a part of the first transmission element is connected to the drive element, at least a part of the second transmission element is connected to at least a part of the first transmission element, at least a part of the second transmission element is connected to the first link, and at least a part of the second transmission element is connected to the slide.

In this design, it is defined that the transmission assembly comprises a first transmission member and a second transmission member, in particular, a part of the first transmission member is connected with the driving member, so that the first transmission member can move relative to the bracket under the driving of the driving member. A part of the second transmission piece is connected with a part of the first transmission piece, so that the second transmission piece can be driven to move relative to the support under the movement of the first transmission piece. One part of the second transmission part is connected with the first connecting rod, namely the second transmission part moves to drive the first connecting rod to move, so that the power transmission of the transmission assembly is realized. In addition, at least one part of the second transmission part is connected with the sliding block, so that the motion stability of the second transmission part can be improved while the motion of the transmission assembly is guided, the motion stability of the first connecting rod connected with the second transmission part can be further improved, and the accurate grabbing of the grabbing part is realized.

It can be understood that the quantity of driving medium can set up according to actual need, that is to say, drive assembly can also include a plurality of driving mediums to realize different power transmission, and then realize grabbing the work piece of piece to different positions and snatch, it is the suitability to further improve grabbing device.

In one possible design, the first gripper assembly comprises at least one magnetic element.

In this design, it includes at least one magnetism spare to have injectd first subassembly of snatching, particularly, at least one magnetism spare can with work piece magnetic attraction to make grabbing device can realize the absorption to the work piece through the magnetism spare, can further improve first subassembly of snatching the efficiency of snatching to the work piece, thereby improve production efficiency.

Wherein, the magnetism piece can adopt the electrophoresis magnetism, the electrophoresis magnetism is formed by permanent magnet and electromagnet combination, the electrophoresis magnetism only needs electric power when magnetizing or demagnetizing, that is to say, in grabbing device course of operation, when the condition of outage suddenly appearing, can utilize the characteristic that the electrophoresis magnetism outage takes magnetism, even the condition of outage suddenly appears, the work piece also can not drop from the magnetism piece, thereby can avoid in grabbing device course of operation, damage the problem of product when unexpected circumstances such as outage suddenly.

It should be noted that the number of the magnetic members may be set according to actual needs, and it can be understood that a plurality of magnetic members may be provided to increase the range of the magnetic members sucking the workpiece.

In one possible embodiment, the gripping element comprises at least one suction cup.

In this design, it includes at least one sucking disc to have injectd the piece of snatching, particularly, the driving piece includes the cylinder, the cylinder is at the during operation, can drive first driving medium and carry out the up-and-down motion, first driving medium motion can drive second driving medium up-and-down motion, and then make the one end motion that the second driving medium can drive first connecting rod, and then the other end through first connecting rod drives the second connecting rod and rotates different angles for the support, the sucking disc is connected to the one end of second connecting rod, thereby the realization turns into the rotary motion of sucking disc with the motion of the vertical direction of cylinder, realize the absorption of work piece on a large scale.

It can be understood that the number of the second grabbing components can be set to be a plurality of, so that the grabbing range of the grabbing device is further expanded, and the applicability of the grabbing device is improved.

According to the utility model discloses a second aspect provides a mechanical equipment, include the grabbing device that provides like above-mentioned arbitrary technical scheme, therefore possess this grabbing device's whole beneficial technological effect, no longer describe herein.

Further, the mechanical equipment further comprises a manipulator and a driving device, wherein the manipulator is connected with the grabbing device, and the driving device is connected with the manipulator.

In this design, mechanical equipment includes manipulator, drive arrangement and grabbing device, particularly, grabbing device sets up on the manipulator, and specifically, grabbing device can carry out fixed mounting through the roof of support and manipulator, and drive arrangement's output is connected with the manipulator to under drive arrangement's drive, the manipulator can remove, and can drive grabbing device when the manipulator removes and remove, realize snatching of work piece.

Furthermore, the grabbing device comprises at least two grabbing components and a driving device, the at least two grabbing components comprise a first grabbing component and a second grabbing component, the driving piece can drive the second grabbing component to rotate, when the grabbing device grabs a workpiece, the first grabbing component can realize grabbing of a small-range workpiece, the driving piece can drive the second grabbing component to rotate relative to the support, the grabbing range is enlarged, grabbing of a large-range workpiece is realized, the structure is simple, the cost is reduced, the action is rapid, the automation degree is high, and the production efficiency can be further improved. In addition, the compatibility of grabbing a small-range work and a large-range workpiece is realized, and the applicability and the practicability of mechanical equipment with the grabbing device can be improved.

Additional aspects and advantages in accordance with the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows one of the structural schematics of a gripping device according to an embodiment of the invention;

fig. 2 shows a second schematic structural view of a gripping device according to an embodiment of the present invention;

fig. 3 shows a third schematic structural diagram of a gripping device according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 3 is:

100 gripper device, 110 support, 120 first gripper assembly, 130 second gripper assembly, 131 gripper, 132 linkage assembly, 1321 first linkage, 1322 second linkage, 140 drive assembly, 141 drive member, 142 transmission assembly, 1421 first transmission member, 1422 second transmission member, 150 guide assembly, 151 slider, 152 guide rail, 160 buffer member.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Gripping apparatus 100 and mechanical devices provided according to some embodiments of the present invention are described below with reference to fig. 1-3.

The first embodiment is as follows:

as shown in fig. 1, 2 and 3, an embodiment of the first aspect of the present invention provides a grasping apparatus 100, where the grasping apparatus 100 includes: a support 110; at least two grasping assemblies disposed on the support 110; drive assembly 140 is disposed on support 110, and drive assembly 140 includes: a driving member 141 disposed on the bracket 110; a transmission component 142, a part of the transmission component 142 is connected with the driving component 141, a part of the transmission component 142 is connected with at least one of the at least two grabbing components, and the driving component 141 can drive the transmission component 142 to move so as to drive at least one of the at least two grabbing components to rotate relative to the bracket 110; and a guide assembly 150 disposed on the bracket 110, wherein a portion of the transmission assembly 142 is connected to the guide assembly 150.

The embodiment of the utility model provides a grabbing device 100 includes support 110, at least two snatchs subassembly and drive assembly 140, particularly speaking, at least two snatch the subassembly setting on support 110, and drive assembly 140 is connected with at least one of at least two snatchs subassemblies to under drive assembly 140's drive, at least one in at least two snatchs the subassembly can rotate for support 110, in order to snatch the subassembly through at least two and realize snatching of materials such as work. Specifically, at least two grabbing components include a first grabbing component 120 and a second grabbing component 130, the driving component 140 can drive the second grabbing component 130 to rotate, so that when the grabbing device 100 grabs a workpiece, the first grabbing component 120 can grab the workpiece in a small range, and the driving component 140 can drive the second grabbing component 130 to rotate relative to the support 110, so that the grabbing range is expanded, the grabbing of the workpiece in a large range is realized, the structure is simple, the cost is reduced, the action is rapid, the automation degree is high, and the production efficiency can be further improved. In addition, the driving assembly 140 drives at least one of the at least two grabbing assemblies to rotate relative to the support 110, so that the applicability and practicability of the grabbing device 100 can be improved.

It can be understood that the driving unit 140 does not drive the second gripper assembly 130 to rotate when the gripping of a small range of work is performed, so that the second gripper assembly 130 is prevented from moving to interfere with the gripping of the first gripper assembly 120. For example, in the case of multiple stacked materials and a partition plate between the stacked materials, a small range of workpieces are first grabbed by the first grabbing assembly 120, and at this time, the driving assembly 140 does not drive the second grabbing assembly 130 to rotate, so that the first grabbing assembly 120 is not interfered to grab the workpieces. And after one layer of work piece snatchs and accomplish, when needing to snatch the baffle, drive assembly 140 drives second and snatchs subassembly 130 and rotate, realizes snatching the baffle, uses the continuity strong, and maintenance operation is simple and convenient, and production fault rate is low, and application scope is wide.

Further, a guide assembly 150 is further disposed on the bracket 110, wherein a portion of the guide assembly 150 is connected to at least a portion of the transmission assembly 142, so that when the transmission assembly 142 is driven by the driving member 141 and at least one of the at least two grasping assemblies can be driven by the transmission assembly 142 to rotate relative to the bracket 110, a portion of the guide assembly 150 is connected to a portion of the transmission assembly 142 to guide the movement of the transmission assembly 142, and a portion of the transmission assembly 142 is connected to at least one of the at least two grasping assemblies to guide the grasping assembly connected to the transmission assembly 142 of the at least two grasping assemblies, that is, the guide assembly 150 is disposed to limit the movement track of the transmission assembly 142, so as to limit the movement of the grasping assembly connected to the transmission assembly 142 and improve the stability of the grasping assembly in operation, and the accuracy of grabbing the work piece by the grabbing component can be improved, the efficiency of grabbing the work piece by the grabbing device 100 is improved, and the production efficiency is further improved.

In addition, the driving assembly 140 can drive the first grabbing assembly 120 and the second grabbing assembly 130 to rotate simultaneously, so as to grab workpieces at various positions, further improve the grabbing range of the grabbing assemblies, and can be specifically set according to actual needs.

It should be noted that the first grasping assembly 120 may include a magnetic member, and the magnetic member is used to absorb the workpiece, so as to grasp the workpiece in a small range. The second grasping assembly 130 may include a suction cup, which is rotated by the driving assembly 140 at different angles relative to the support 110 to achieve suction of workpieces at different positions.

In addition, the support frame 110 may include a top plate, a bottom plate, and two side plates, which are connected to form the support frame 110, and the driving assembly 140 and the grasping assembly are disposed within the support frame 110, so that the support frame 110 can provide support for movement of the grasping assembly. Wherein, can adopt the aluminium alloy with the curb plate, the aluminium alloy cost is low, and the material quality is lighter, can alleviate grabbing device 100's weight, improves grabbing device 100's flexibility, and can also reduce grabbing device 100's manufacturing cost.

Example two:

as shown in fig. 1, 2 and 3, on the basis of the above embodiment, further, the guiding assembly 150 includes a sliding block 151 and a guiding rail 152, wherein at least a portion of the sliding block 151 is connected to the transmission assembly 142, the sliding block 151 includes a guiding groove, the guiding rail 152 is disposed on the bracket 110, and the guiding rail 152 is adapted to the guiding groove.

In this embodiment, the guide assembly 150 is defined to include a slider 151 and a guide rail 152, and specifically, a portion of the slider 151 is connected to the transmission assembly 142, so that the transmission assembly 142 can move the slider 151 relative to the bracket 110 under the driving of the driving member 141. Specifically, the sliding block 151 includes a guiding groove, and the bracket 110 is correspondingly provided with a guiding rail 152 adapted to the guiding groove, so that when the transmission assembly 142 drives at least one of the at least two grabbing assemblies to move, the sliding block 151 is also driven to move relative to the bracket 110. The guide groove provided with the sliding block 151 moves in a matched manner relative to the guide rail 152 of the support 110, so that the movement path of the transmission component 142 can be limited, the up-and-down movement track of the grabbing component connected with the transmission component 142 is limited, the operation stability of the grabbing device 100 is improved, the accuracy of grabbing the grabbing component to grab a workpiece can be improved, the efficiency of grabbing the workpiece by the grabbing device 100 is improved, and the production efficiency is further improved.

In addition, the guide rail 152 can be integrated with the support 110, and the integrated structure has good mechanical properties, so that the connection strength between the guide rail 152 and the support 110 can be improved, and the operation stability and reliability of the gripping device 100 can be further improved. And the integrated structure is convenient for mass production, so that the production cost of the gripping device 100 can be reduced.

It should be noted that a groove may be further formed in the support 110, a protrusion is disposed on the slider 151, and the protrusion slides in the groove to guide the movement process of the grabbing component.

Example three:

as shown in fig. 1, 2 and 3, in addition to any of the above embodiments, the grabbing device 100 further includes a buffer 160, and the buffer 160 is located on the moving path of the slider 151 and is disposed on the bracket 110.

In this embodiment, the grabbing device 100 is further defined to further include a buffer 160, specifically, the buffer 160 is disposed on the support 110 and located on the moving path of the sliding block 151, so that when the driving element 141 drives the transmission assembly 142 to move, and then drives the grabbing assembly to grab the workpiece, the guide groove on the sliding block 151 and the guide rail 152 on the support 110 cooperate with each other to improve the stability of the grabbing device 100 for grabbing the workpiece. By arranging the buffer member 160 on the moving path of the slider 151, the buffer function is achieved in the reciprocating motion process of the guide assembly 150, the stability of the grabbing device 100 during operation is further improved, the service life of the grabbing device 100 is prolonged, and the noise problem generated during operation of the grabbing device 100 is reduced.

In addition, the position of the buffer member 160 on the moving path of the slider 151 may be set to define the rotation angle of the grasping assembly. Specifically, if the position of the buffer member 160 is set higher, the angle of rotation of the corresponding grabbing component relative to the support 110 is smaller, and if the position of the buffer member 160 is set lower, the angle of rotation of the corresponding grabbing component relative to the support 110 is larger, so that the setting of the rotation angle of the grabbing component can be realized by adjusting the setting position of the buffer member 160, so as to grab workpieces in different ranges.

It should be noted that the buffer member 160 may be a hydraulic buffer.

Example four:

as shown in fig. 1, fig. 2 and fig. 3, based on the above embodiment, further, the at least two grabbing components include a first grabbing component 120 and a second grabbing component 130, wherein the first grabbing component 120 is disposed on the support 110, the second grabbing component 130 is connected to the transmission component 142, and the transmission component 142 moves to drive the second grabbing component 130 to rotate relative to the support 110.

In this embodiment, at least two grabbing components including the first grabbing component 120 and the second grabbing component 130 are defined, and the driving component 141 can drive the second grabbing component 130 to rotate, so that when the grabbing device 100 grabs a workpiece, the first grabbing component 120 can grab a small-range workpiece, and the driving component 141 can drive the second grabbing component 130 to rotate relative to the support 110, so as to expand the grabbing range, so as to grab a large-range workpiece, and the gripping device has the advantages of simple structure, reduced cost, rapid action, high automation degree, and further can improve the production efficiency. In addition, the applicability and practicality of the grasping apparatus 100 can be improved by realizing compatibility of grasping a small range of work with a large range of work pieces.

It can be understood that, when the grabbing is performed in a small range of work, the driving member 141 does not drive the second grabbing assembly 130 to rotate, so that the second grabbing assembly 130 is prevented from moving and interfering with the grabbing work of the first grabbing assembly 120. For example, in the case of multiple stacked materials and a partition plate between the stacked materials, the first grabbing assembly 120 first grabs a small range of workpieces, and at this time, the driving member 141 does not drive the second grabbing assembly 130 to rotate, so that the first grabbing assembly 120 is not interfered to take the workpieces. And after one-layer work piece snatchs and accomplishes, when needing to snatch the baffle, driving piece 141 drives second and snatchs subassembly 130 and rotates, realizes snatching the baffle, uses the continuity strong, and maintenance operation is simple and convenient, and production fault rate is low, and application scope is wide.

Example five:

as shown in fig. 1, 2 and 3, based on the above embodiment, further, the second grabbing assembly 130 includes a grabbing member 131 and a connecting rod assembly 132, wherein at least a portion of the connecting rod assembly 132 is connected to a transmission assembly 142, and at least a portion of the connecting rod assembly 132 is connected to the grabbing member 131, and the transmission assembly 142 can rotate at least a portion of the connecting rod assembly 132 under the driving of the driving member 141, so that at least a portion of the connecting rod assembly 132 rotates the grabbing member 131.

In this embodiment, the second grasping assembly 130 is defined to include the grasping element 131 and the link assembly 132, and specifically, one end of the driving element 141 is connected to the bracket 110, and the other end of the driving element 141 is connected to the transmission assembly 142, so that the transmission assembly 142 can move under the driving of the driving element 141. A portion of the linkage assembly 132 is coupled to a portion of the transmission assembly 142 such that movement of the transmission assembly 142 moves the linkage assembly 132. A part of the connecting rod assembly 132 is connected with the grabbing part 131, so that the connecting rod assembly 132 moves to drive the grabbing part 131 to rotate relative to the bracket 110, and the power transmission of the driving part 141 is realized. In addition, a servo and speed reducer mechanism or a cylinder and gear rack mechanism in the related art is not required to be adopted for power transmission, and the production cost of the gripping device 100 can be further reduced.

The driving member 141 may include a cylinder, and the cylinder includes an air chamber and a piston, and the piston is driven to move in the air chamber, so that the piston moves to drive the transmission assembly 142 to move. It will be appreciated that a floating joint may be provided between the transmission assembly 142 and the cylinder to enable power transfer of the cylinder. And the up-and-down motion of the cylinder piston can be converted into the rotation motion of the grabbing piece 131, so that the grabbing of the large-range workpiece is realized. In addition, the cylinder has a simple structure, is convenient to operate, occupies a small space, further reduces the occupied space of the gripping device 100, and saves the production cost of the gripping device 100.

As shown in fig. 1, 2 and 3, based on the above embodiment, the connecting rod assembly 132 further includes a first connecting rod 1321 and a second connecting rod 1322, wherein one end of the first connecting rod 1321 is connected to at least a portion of the transmission assembly 142, one end of the second connecting rod 1322 is connected to the grabbing member 131, the other end of the first connecting rod 1321 is connected to the second connecting rod 1322, and the other end of the second connecting rod 1322 is movably connected to the bracket 110.

In this embodiment, the link assembly 132 is defined to include a first link 1321 and a second link 1322, and specifically, one end of the first link 1321 is connected to a portion of the transmission assembly 142, so that the transmission assembly 142 can move the first link 1321 when the driving member 141 drives the transmission assembly 142 to move relative to the bracket 110. The other end of the first link 1321 is connected to the second link 1322, one end of the second link 1322 is connected to the grasping member 131, and the other end of the second link 1322 is connected to the bracket 110. It can be understood that, the other end of the first connecting rod 1321 is connected between two ends of the second connecting rod 1322, because the support 110 is fixed, the first connecting rod 1321 can move to drive the second connecting rod 1322 to rotate around the connecting position with the support 110, and then the second connecting rod 1322 can rotate to drive the grabbing piece 131 to rotate, so that the power transmission of the driving piece 141 is realized, and then the grabbing piece 131 can meet the grabbing of a large-range workpiece. It can be understood that, when the other end of the second connecting rod 1322 is connected with the support 110 to realize power transmission, because the support 110 is fixed, the stability of the grabbing piece 131 when grabbing a workpiece in a long stroke can be further improved, the grabbing piece 131 is prevented from deviating when grabbing the workpiece, the accuracy of grabbing the workpiece is improved, and further the production efficiency is improved.

In addition, the other end of the second connecting rod 1322 may be movably connected to the bottom plate of the support frame 110. It should be noted that the first link 1321 and the second link 1322, the first link 1321 and the transmission assembly 142, and the second link 1322 and the bracket 110 may be movably connected through a connecting pin.

As shown in fig. 1, 2 and 3, based on the above embodiment, the transmission assembly 142 further includes a first transmission member 1421 and a second transmission member 1422, wherein at least a portion of the first transmission member 1421 is connected to the driving member 141, at least a portion of the second transmission member 1422 is connected to at least a portion of the first transmission member 1421, at least a portion of the second transmission member 1422 is connected to the first link 1321, and at least a portion of the second transmission member 1422 is connected to the slider 151.

In this embodiment, the transmission assembly 142 is defined to include a first transmission member 1421 and a second transmission member 1422, and specifically, a portion of the first transmission member 1421 is connected to the driving member 141, so that the first transmission member 1421 can move relative to the bracket 110 under the driving of the driving member 141. A portion of the second transmission member 1422 is connected to a portion of the first transmission member 1421, so that the movement of the first transmission member 1421 can drive the second transmission member 1422 to move relative to the bracket 110. A portion of the second transmission member 1422 is connected to the first link 1321, that is, the second transmission member 1422 moves to drive the first link 1321 to move, so as to transmit power of the transmission assembly 142. In addition, at least a part of the second transmission part 1422 is further connected to the sliding block 151, so that the motion stability of the second transmission part 1422 can be improved while guiding the motion of the transmission assembly 142, and further, the motion stability of the first connecting rod 1321 connected to the second transmission part 1422 can be further improved, thereby realizing accurate grabbing of the grabbing part 131.

It can be understood that the number of the transmission members can be set according to actual requirements, that is, the transmission assembly 142 can further include a plurality of transmission members to realize different power transmission, so as to realize that the grabbing member 131 grabs the workpieces at different positions, thereby further improving the applicability of the grabbing device 100.

In a specific embodiment, further, the first grasping element 120 includes at least one magnetic member.

In this embodiment, it is defined that the first grasping assembly 120 includes at least one magnetic member, and specifically, the at least one magnetic member can be magnetically attracted to the workpiece, so that the grasping apparatus 100 can achieve suction of the workpiece through the magnetic member, and the grasping efficiency of the workpiece by the first grasping assembly 120 can be further improved, thereby improving the production efficiency.

Wherein, the magnetism piece can adopt the electrophoresis magnetism, the electrophoresis magnetism is formed by permanent magnet and electromagnet combination, the electrophoresis magnetism only needs electric power when magnetizing or demagnetizing, that is to say, in grabbing device 100 course, when the condition of outage suddenly appearing, can utilize the characteristic that the electrophoresis magnetism outage takes magnetism, even the condition of outage suddenly appears, the work piece also can not drop from the magnetism piece, thereby can avoid in grabbing device 100 course, damage the problem of product when unexpected condition such as outage suddenly.

In another specific embodiment, further, the grasping member 131 includes at least one suction cup.

In this embodiment, it includes at least one sucking disc to have injectd grabbing piece 131, specifically speaking, driving piece 141 includes the cylinder, the cylinder is at work, can drive first driving part 1421 and carry out the up-and-down motion, first driving part 1421 moves and can drive second driving part 1422 and move up-and-down motion, and then make second driving part 1422 can drive the one end motion of first connecting rod 1321, and then drive second connecting rod 1322 through the other end of first connecting rod 1321 and rotate different angles for support 110, the sucking disc is connected to the one end of second connecting rod 1322, thereby realize turning into the rotary motion of sucking disc with the motion of cylinder vertical direction, realize the absorption of work piece on a large scale.

It can be understood that the number of the second grabbing components 130 may be set to be plural, so as to further expand the grabbing range of the grabbing device 100 and improve the applicability of the grabbing device 100.

Example six:

according to the second aspect of the present invention, there is provided a mechanical device, comprising the grabbing device 100 according to any one of the above embodiments, so as to have all the beneficial technical effects of the grabbing device 100, which is not described herein again.

Further, the mechanical apparatus further comprises a manipulator and a driving device, wherein the manipulator is connected with the gripping device 100, and the driving device is connected with the manipulator.

In this embodiment, the mechanical equipment includes a manipulator, a driving device and the gripping device 100, specifically, the gripping device 100 is disposed on the manipulator, specifically, the gripping device 100 may be fixedly mounted with the manipulator through a top plate of the support 110, and an output end of the driving device is connected with the manipulator, so that the manipulator can move under the driving of the driving device, and the gripping device 100 can be driven to move while the manipulator moves, thereby realizing the gripping of the workpiece.

Further, the grabbing device 100 comprises at least two grabbing components and a driving device, the at least two grabbing components comprise a first grabbing component 120 and a second grabbing component 130, the driving part 141 can drive the second grabbing component 130 to rotate, when the grabbing device 100 grabs a workpiece, the first grabbing component 120 can grab the workpiece in a small range, the driving part 141 can drive the second grabbing component 130 to rotate relative to the support 110, the grabbing range is expanded, grabbing of the workpiece in a large range is achieved, the structure is simple, the cost is reduced, the action is rapid, the automation degree is high, and therefore the production efficiency can be improved. In addition, by realizing compatibility of grasping a small range of work and a large range of work pieces, the applicability and practicality of the mechanical equipment having the grasping apparatus 100 can be improved.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

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

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A grasping device, comprising:

a support;

at least two grabbing components arranged on the bracket;

a drive assembly disposed in the support, the drive assembly including:

the driving piece is arranged on the bracket;

a transmission assembly, a part of which is connected with the driving member, a part of which is connected with at least one of the at least two grabbing assemblies, and the driving member can drive the transmission assembly to move so as to drive at least one of the at least two grabbing assemblies to rotate relative to the bracket;

the guide assembly is arranged on the support, and one part of the transmission assembly is connected with the guide assembly.

2. The grasping apparatus according to claim 1, wherein the guide assembly includes:

a slider, at least a portion of the slider being connected to the drive assembly, the slider including a guide slot;

the guide rail set up in the support, the guide rail with guide way looks adaptation.

3. The grasping apparatus according to claim 2, wherein the grasping apparatus further comprises:

and the buffer piece is positioned on the moving path of the sliding block and arranged on the bracket.

4. The grasping apparatus according to claim 2, wherein the at least two grasping assemblies include:

the first grabbing component is arranged on the bracket;

the second grabbing component is connected with the transmission component, and the transmission component moves to drive the second grabbing component to rotate relative to the support.

5. The grasping apparatus according to claim 4, wherein the second grasping assembly includes:

grasping the part;

a linkage assembly, at least a portion of the linkage assembly being coupled to the drive assembly, at least a portion of the linkage assembly being coupled to the grabber;

under the driving of the driving piece, the transmission assembly can drive at least one part of the connecting rod assembly to rotate, so that at least one part of the connecting rod assembly drives the grabbing piece to rotate.

6. The grasping apparatus according to claim 5, wherein the link assembly includes:

a first link having one end connected to at least a portion of the drive assembly;

one end of the second connecting rod is connected with the grabbing piece, the other end of the first connecting rod is connected with the second connecting rod, and the other end of the second connecting rod is movably connected with the support.

7. The grasping apparatus according to claim 6, wherein the transmission assembly includes:

the first transmission piece is connected with at least one part of the driving piece;

at least one part of the second transmission piece is connected with at least one part of the first transmission piece, at least one part of the second transmission piece is connected with the first connecting rod, and at least one part of the second transmission piece is connected with the sliding block.

8. The grasping apparatus according to any one of claims 1 to 7,

the first grasping assembly includes at least one magnetic member.

9. The grasping apparatus according to any one of claims 5 to 7,

the gripping member comprises at least one suction cup.

10. A mechanical device, comprising:

the grasping device according to any one of claims 1 to 9;

the manipulator is connected with the grabbing device;

and the driving device is connected with the manipulator.