CN215548747U

CN215548747U - Gripping device

Info

Publication number: CN215548747U
Application number: CN202122064068.4U
Authority: CN
Inventors: 张甲贵
Original assignee: Faw Jiefang Dalian Diesel Engine Co ltd; FAW Jiefang Automotive Co Ltd
Current assignee: Faw Jiefang Dalian Diesel Engine Co ltd; FAW Jiefang Automotive Co Ltd
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2022-01-18
Anticipated expiration: 2031-08-30

Abstract

The utility model relates to the technical field of automatic production equipment and discloses a gripping device. The control module can receive and process the position information of the workpiece obtained by the position detection module to control the clamping piece and the second support to clamp the workpiece, the gluing unit is used for gluing the workpiece, and the second material taking assembly is used for picking up the part to be assembled. The gripping device provided by the utility model can realize the functions of automatically gripping and gluing workpieces and automatically gripping and mounting parts to be assembled by utilizing the function that the mechanical arm of the robot can turn over at multiple angles. According to the utility model, multiple operations can be completed only by one mechanical arm of one robot, so that the production cost is reduced, the production line structure is simplified, the occupied area of equipment is saved, and the compact arrangement of the production line is facilitated.

Description

Gripping device

Technical Field

The utility model relates to the technical field of automatic production equipment, in particular to a gripping device.

Background

At present, in a production line of the automobile industry, the automation and unmanned operation of the production line are more and more emphasized, the application of a full-automatic robot is also popularized in the production line, the automation process is higher, and the production efficiency is also high.

For example, in an automobile production line, a plurality of different production links such as picking up parts, gluing at fixed positions, screwing or unscrewing at fixed positions and the like are generally involved, and in the prior art, each manipulator can only complete one of the links. Namely, one manipulator corresponds to one action, so that in many production links, the number of required manipulators is large, and the structure of the whole production line is complex. In addition, the cost of the robot and the investment cost of the matched auxiliary equipment are relatively expensive, the floor area of a production workshop can be increased by simply increasing the number of the equipment, and the compact arrangement of a production line is not facilitated.

SUMMERY OF THE UTILITY MODEL

Based on the above problems, the utility model aims to provide a gripping device, which can realize multiple functions of automatic workpiece taking, gluing, transferring and the like, effectively reduce the number of devices, save the occupied area and improve the production efficiency.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a grasping apparatus comprising:

the supporting assembly comprises an upper plate, a lower plate and a supporting piece, wherein one end of the supporting piece is connected with the upper plate, and the other end of the supporting piece is connected with the lower plate;

the first material taking assembly comprises a clamping piece, the clamping piece is positioned on one side, opposite to the lower plate, of the upper plate, a first support and a second support are respectively arranged on two opposite sides of the upper plate, and the distance between the clamping piece and the second support is adjustable so as to clamp a workpiece to be glued;

the position detection module is used for detecting the position information of the workpiece;

the control module can receive and process the position information of the workpiece, which is obtained by the detection of the position detection module, so as to control the clamping piece and the second bracket to clamp the workpiece;

the gluing unit is arranged at one end of the lower plate and is used for gluing the workpiece;

and the second material taking assembly comprises an adsorption piece arranged on the lower plate and is used for picking up parts to be assembled, and the parts to be assembled can be matched with the workpiece.

As a preferable aspect of the gripping device of the present invention, the support member includes a support plate, a first support column and a second support column, the first support column and the second support column are located at one side of the upper plate and are respectively disposed at two ends of the upper plate, the support plate is located at the other side of the upper plate, and the support plate is configured to be connected to a robot arm of the robot.

As a preferable aspect of the gripping device of the present invention, a plurality of rollers are rotatably provided on both the first carriage and the second carriage in the longitudinal direction thereof, and the workpiece is movable on the plurality of rollers of the first carriage and the plurality of rollers of the second carriage.

As a preferable scheme of the gripping device of the present invention, each of the first support and the second support includes a bottom plate, and a first plate and a second plate respectively disposed on two opposite sides of the bottom plate, the first plate and the second plate surround the bottom plate to form an installation cavity, the roller is located in the installation cavity, one end of the roller is rotatably connected to the first plate, and the other end of the roller is rotatably connected to the second plate.

As a preferable scheme of the gripping device of the present invention, the clamping member includes a bearing plate and a first limiting plate disposed on one side of the bearing plate, a second limiting plate is disposed on one side of the second plate of the second bracket, the side being away from the bottom plate, and the first limiting plate and the second limiting plate can clamp the workpiece.

As a preferable scheme of the gripping device of the present invention, the first material taking assembly further includes a driving member, and an output end of the driving member is connected to the clamping member to drive the clamping member to move and clamp the workpiece with the second support.

As a preferable aspect of the gripping device of the present invention, the suction member includes a plurality of suction cups, and the plurality of suction cups are distributed on a side of the lower plate facing away from the upper plate.

As a preferable scheme of the gripping device of the present invention, the second material taking assembly further includes a pressing member, the pressing member includes a plurality of pressing pillars, and the plurality of pressing pillars are distributed on a side of the lower plate opposite to the upper plate and spaced from the plurality of suckers.

As a preferred scheme of the gripping device, a trigger mechanism is arranged at one end of the upper plate, which is far away from the gluing unit, a sliding rack is connected to a production line, an unlockable limit stop member is arranged on the sliding rack, the limit stop member can limit a workpiece on the sliding rack, and the trigger mechanism can unlock the limit stop member to release the workpiece.

As a preferable scheme of the gripping device of the present invention, the gripping device further includes a material detection module, the gluing unit includes a glue storage housing, and the material detection module is configured to detect a material amount in the glue storage housing.

The utility model has the beneficial effects that:

when the grabbing device provided by the utility model is used on a production line, the grabbing device is connected with a mechanical arm of a robot, the grabbing device is transferred to a sliding material rack on the production line through the mechanical arm, and a workpiece to be glued on the sliding material rack can slide to a clamping piece under the action of self gravity. When the position detection module detects that the workpiece moves in place, the control module controls the clamping piece to move towards the second support, so that the clamping piece and the second support act together to clamp the workpiece. And then the robot transfers the device to a gluing rotary table through a mechanical arm, and places the workpiece on a positioning column of the gluing rotary table. Then, the robot turns the device by a first preset angle through the mechanical arm, the gluing unit is opposite to the surface to be glued of the workpiece, and then the device is moved to glue the surface to be glued of the workpiece. After the gluing is finished, the robot turns the device for the second preset angle again, and shifts the device to a material placing frame bearing the part to be assembled, so that the adsorption piece of the second material taking assembly is opposite to the part to be assembled, and the part to be assembled is adsorbed and grabbed. And finally, the robot transfers the device to a gluing turntable again, and the part to be assembled and the glued workpiece are installed in a matched mode. The gripping device provided by the utility model can realize the functions of automatically gripping workpieces, automatically gluing the workpieces and automatically gripping and installing parts to be assembled by utilizing the function that the mechanical arm of the robot can turn over at multiple angles. Compared with a production line in the prior art, wherein each mechanical arm can only complete one action, the utility model can complete multiple operations only by one mechanical arm of one robot, thereby avoiding using a plurality of robots, reducing the production cost, simplifying the structure of the production line, saving the occupied area of equipment and being beneficial to the compact arrangement of the production line.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a front view of a grasping device according to an embodiment of the present invention;

FIG. 2 is a left side view of a grasping device according to an embodiment of the present invention;

FIG. 3 is a top view of a grasping device according to an embodiment of the present invention;

FIG. 4 is a first flowchart of a grasping device according to an embodiment of the present invention;

FIG. 5 is a second flowchart of a grasping device according to an embodiment of the present invention;

fig. 6 is a top view of a gripping device according to an embodiment of the present invention gripping a workpiece.

In the figure:

1-a support assembly; 2-a first take-off assembly; 3-a position detection module; 4-a gluing unit; 5-second taking of material

An assembly; 6-a roller; 7-a trigger mechanism; 8-a material detection module;

11-upper plate; 12-a lower plate; 13-a support;

111-a first scaffold; 112-a second bracket; 113-a first avoidance hole;

1111-bottom plate; 1112-a first plate; 1113-second plate; 1121-second limiting plate;

131-a support plate; 132-a first support column; 133-a second support column;

21-a clamp; 22-a drive member;

211-carrier plate; 212-a first limiting plate; 2111-second avoidance hole;

221-a first mount; 222-a mounting plate;

31-a proximity switch; 32-a limit bracket;

41-glue storage shell; 42-a glue spreading head; 43-a fourth mounting frame;

51-a suction cup; 52-pressing the column;

71-a trigger screw; 72-a second mounting frame;

81-magnetic switch; 82-a sensor; 83-a third mounting frame;

100-a workpiece; 200-a robot; 201-a mechanical arm;

300-a sliding material rack; 400-gluing a rotary table;

500-placing a material rack; 501-parts to be assembled.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 4, the present embodiment provides a gripping device, which can be applied to an assembly line of an oil pan of an automobile, and the gripping device includes a supporting component 1, a first material taking component 2, a position detecting module 3, a control module, a glue applying unit 4, and a second material taking component 5.

Referring to fig. 1 to 3, the support assembly 1 includes an upper plate 11, a lower plate 12, and a support 13, and one end of the support 13 is connected to the upper plate 11 and the other end is connected to the lower plate 12. The support 13 connects the upper plate 11 and the lower plate 12 together so that the upper plate 11 and the lower plate 12 can carry the workpiece 100. The first material taking assembly 2 comprises a clamping piece 21, the clamping piece 21 is located on one side, back to the lower plate 12, of the upper plate 11, a first support 111 and a second support 112 are respectively arranged on two opposite sides of the upper plate 11, and the distance between the clamping piece 21 and the second support 112 is adjustable. When it is necessary to clamp the work 100, the work 100 to be glued can be clamped by adjusting the distance between the clamping member 21 and the second bracket 112. The position detection module 3 is used for detecting the position information of the workpiece 100, and the control module can receive and process the position information of the workpiece 100 detected by the position detection module 3 to control the clamping piece 21 and the second bracket 112 to clamp the workpiece 100; the glue applying unit 4 is provided at one end of the lower plate 12 for applying glue to the work 100; the second material taking assembly 5 comprises an adsorption member arranged on the lower plate 12 and used for picking up the part 501 to be assembled, and the part 501 to be assembled can be matched with the workpiece 100.

When the gripping device is used on a production line, the gripping device is connected with a mechanical arm 201 of a robot 200, the gripping device is transferred to a sliding rack 300 on the production line through the mechanical arm 201, and a workpiece 100 to be glued on the sliding rack 300 can slide to a clamping piece 21 under the action of self gravity. When the position detection module 3 detects that the workpiece 100 is moved to the position, the control module controls the clamping member 21 to move towards the second support 112, so that the clamping member 21 and the second support 112 cooperate to clamp the workpiece 100. The robot 200 then transfers the device to the gluing turret 400 by means of the robot arm 201 and places the work piece 100 on the positioning post of the gluing turret 400. Then, the robot 200 turns the apparatus by a first preset angle through the mechanical arm 201, so that the gluing unit 4 is opposite to the surface to be glued of the workpiece 100, and then the apparatus is moved to glue the surface to be glued of the workpiece 100. After the gluing is finished, the robot 200 turns the device by a second preset angle again, and shifts the device to the material placing frame 500 bearing the part 501 to be assembled, so that the adsorption part of the second material taking assembly 5 is opposite to the part 501 to be assembled, and the part 501 to be assembled is adsorbed and grabbed. Finally, the robot 200 transfers the device to the gluing turntable 400 again, and the part 501 to be assembled and the glued workpiece 100 are installed in a matched mode.

The gripping device provided by the embodiment can realize the automatic gripping of the workpiece 100, the automatic gluing of the workpiece 100 and the automatic gripping and mounting functions of the part 501 to be assembled by using the function that the mechanical arm 201 of the robot 200 can be overturned at multiple angles. Compare in prior art production line that every arm 201 can only accomplish an action, the grabbing device of this embodiment only needs a arm 201 of a robot 200 can accomplish multinomial operation, avoids using a plurality of robots 200, has reduced manufacturing cost, has simplified the production line structure simultaneously, can save equipment area, does benefit to the compactification of production line and arranges.

In other embodiments, the gluing unit 4 can also be replaced by a cutting module for cutting jobs, a welding module for welding jobs, a marking module for printing, a camera module for taking pictures, etc. That is, the grasping apparatus of the present embodiment can perform a plurality of tasks using one robot arm 201 of the robot 200.

As shown in fig. 1 and 2, the support 13 optionally includes a support plate 131, a first support column 132 and a second support column 133, and the first support column 132 and the second support column 133 are located at one side of the upper plate 11 and are respectively disposed at two ends of the upper plate 11. In this embodiment, the two ends of the first supporting column 132 and the second supporting column 133 are connected to the upper plate 11 and the lower plate 12 respectively, specifically, bolts may be used for connecting, threaded holes are axially formed in the centers of the first supporting column 132 and the second supporting column 133, and after the bolts penetrate through the upper plate 11 or the lower plate 12, the bolts are screwed into the threaded holes.

Referring to fig. 2, the supporting plate 131 is located on the other side of the upper plate 11, the top end of the supporting plate 131 is connected to the upper plate 11, the bottom end of the supporting plate 131 is connected to the lower plate 12, similarly, bolts may be used for connection, threaded holes are formed in the top end and the bottom end of the supporting plate 131, and the bolts are screwed into the threaded holes after penetrating through the upper plate 11 or the lower plate 12, so as to connect the supporting plate 131 to the upper plate 11 and the lower plate 12. In this embodiment, the support plate 131 functions to support the upper plate 11 and the lower plate 12 together with the first support columns 132 and the second support columns 133, so that the upper plate 11 and the lower plate 12 are connected together and can carry the workpiece 100 and the like. The supporting plate 131 is connected to a robot arm 201 of the robot 200, and referring to fig. 1, a through hole is formed in the middle of the supporting plate 131, a mounting hole is formed in the periphery of the through hole, and a connecting plate is arranged on the robot arm 201. Specifically, when the device is installed, the mechanical arm 201 of the robot 200 passes through the through hole, then the bolt sequentially passes through the connecting plate and the mounting hole on the support plate 131, and the device and the mechanical arm 201 can be connected after the nut is tightened (as shown in fig. 4).

As shown in fig. 1 and 3, optionally, a plurality of rollers 6 are rotatably disposed on both the first bracket 111 and the second bracket 112 along the length direction thereof, and the workpiece 100 can move on the plurality of rollers 6 of the first bracket 111 and the plurality of rollers 6 of the second bracket 112. When work piece 100 on the production line slided to this device on, gyro wheel 6 rotated under the thrust effect of work piece 100, and gyro wheel 6 rotates and can assist work piece 100 to move on upper plate 11 to make work piece 100 can slide smoothly to the upper place of upper plate 11, it is more convenient when work piece 100 snatchs and transfers.

Optionally, referring to fig. 2, each of the first bracket 111 and the second bracket 112 includes a bottom plate 1111 and a first plate 1112 and a second plate 1113 respectively disposed on two opposite sides of the bottom plate 1111, the first plate 1112 and the second plate 1113 surround the bottom plate 1111 to form a mounting cavity, the rollers 6 are located in the mounting cavity, and the rollers 6 are spaced apart from each other along the extending direction of the bottom plate 1111. Roller 6 has one end rotatably connected to first plate 1112 and the other end rotatably connected to second plate 1113. Taking the first bracket 111 as an example, in the embodiment, a rotating shaft is disposed on the roller 6, rotating holes are disposed on the first plate 1112 and the second plate 1113, one end of the rotating shaft is rotatably engaged with the rotating hole of the first plate 1112, and the other end of the rotating shaft is rotatably engaged with the rotating hole of the second plate 1113, so as to rotatably connect the roller 6 with the first plate 1112 and the second plate 1113. The roller 6 is mounted on the second bracket 112 in the same manner as the first bracket 111.

As shown in fig. 2 and 3, the first reclaiming assembly 2 optionally further comprises a driving member 22, and an output end of the driving member 22 is connected with the clamping member 21 to drive the clamping member 21 to move and clamp the workpiece 100 with the second bracket 112. In this embodiment, the first avoiding hole 113 is formed in the center of the upper plate 11, the first mounting frame 221 is disposed on one side of the clamping member 21 facing the upper plate 11, and the first mounting frame 221 is located in the first avoiding hole 113. The driving member 22 is fixed on the first mounting frame 221, the output end of the driving member 22 is connected to the mounting plate 222, one end of the mounting plate 222 away from the driving member 22 is connected to the upper plate 11, and specifically, the mounting plate 222 and the upper plate 11 can be fixed by using screws or the like. By providing the first avoiding hole 113, the driving member 22 can be prevented from interfering with the upper plate 11 when driving the clamping member 21 to move.

In other embodiments, the first mounting bracket 221 may also be fixed on the upper plate 11, and one end of the mounting plate 222 away from the driving member 22 passes through the first avoiding hole 113 and is connected to the clamping member 21, as long as the clamping member 21 can be driven to move relative to the second bracket 112.

Preferably, the driving member 22 is a cylinder, which is smooth and easy to control. In other embodiments, the driving member 22 may be a cylinder or a screw.

Optionally, referring to fig. 2 and fig. 3, the clamping member 21 includes a supporting plate 211 and a first limiting plate 212 disposed on a side of the supporting plate 211, and a second limiting plate 1121 is disposed on a side of the second plate 1113 of the second bracket 112 away from the bottom plate 1111. The first mounting bracket 221 may be fixed to the bearing plate 211 by screws. The first limiting plate 212 is disposed at an acute angle with the supporting plate 211, i.e. inclined toward the second bracket 112. The second limiting plate 1121 is inclined toward the first limiting plate 212 on the second plate 1113 of the second bracket 112 so that the first and second limiting

plates

212 and 1121 can stably clamp the workpiece 100. When the workpiece 100 slides to the supporting plate 211 of the clamping member 21 from the production line, the workpiece 100 is just located between the first limiting plate 212 and the second limiting plate 1121, and after the workpiece 100 is moved to the right position, the driving member 22 is started to move the clamping member 21 to the second bracket 112 until the first limiting plate 212 and the second limiting plate 1121 clamp the workpiece 100, so that the workpiece 100 is prevented from shaking when the robot 200 transfers the device.

Further, a plurality of second avoidance holes 2111 are provided on the bearing plate 211, and each second avoidance hole 2111 corresponds to one roller 6. That is, the outer peripheral surface of the roller 6 can extend out of the second avoiding hole 2111, so as to ensure that the bottom surface of the workpiece 100 can contact with the roller 6 when the workpiece 100 slides onto the bearing plate 211, so that the roller 6 can play a role in assisting the movement of the workpiece 100.

As shown in fig. 1 and 2, the suction member may optionally include a plurality of suction cups 51, and the plurality of suction cups 51 may be distributed on a side of the lower plate 12 opposite to the upper plate 11. In this embodiment, the suction cups 51 are preferably vacuum suction cups, the vacuum suction cups are connected to a vacuum device, and when the parts 501 to be assembled are grabbed, the vacuum device is started to suck, so that negative pressure is generated in the suction cups 51, and the parts 501 to be assembled are adsorbed on the suction cups 51. After the robot 200 transfers the apparatus to the glued workpiece 100, the vacuum device is turned off to release the part 501 to be assembled, which is placed on the glued workpiece 100. In other embodiments, the adsorbing member may also be a magnet or the like for grasping a part capable of magnetic attraction.

Further, a rectangular hole is opened in the middle of the lower plate 12, that is, the lower plate 12 has a rectangular ring structure, so that the weight of the whole device can be reduced, and the plurality of suction cups 51 are uniformly distributed along the circumferential direction of the lower plate 12.

Optionally, the second material taking assembly 5 further comprises a pressing member, the pressing member comprises a plurality of pressing posts 52, and the plurality of pressing posts 52 are distributed on one side of the lower plate 12, which is opposite to the upper plate 11, and are spaced from the plurality of suction cups 51. After the part 501 to be assembled is placed on the workpiece 100 on which the glue is applied, the robot 200 aligns the pressing columns 52 on the lower plate 12 of the device with the part 501 to be assembled, and presses the part 501 to be assembled on the workpiece 100 through the pressing columns 52, so that the connection strength between the part 501 to be assembled and the workpiece 100 can be ensured. Preferably, the plurality of pressing columns 52 are all made of polyurethane material, which has high strength and is wear resistant.

As shown in fig. 1 and 3, optionally, a trigger mechanism 7 is disposed at an end of the upper plate 11 away from the gluing unit 4, and an unlockable limit stop is disposed on the sliding rack 300 on the production line, and the limit stop is used for limiting the workpiece 100 on the sliding rack 300. When the robot 200 transfers the device to the position of the sliding rack 300, the triggering mechanism 7 is aligned with the limit stop member, the limit stop member is pushed to unlock the limiting stop member, and the limit of the workpiece 100 is released, so that the workpiece 100 can slide to the clamping piece 21 of the device from the sliding rack 300.

Optionally, the triggering mechanism 7 includes a second mounting bracket 72 and two triggering screws 71 spaced apart from the second mounting bracket 72, and the second mounting bracket 72 is fixed to an end of the upper plate 11 away from the position detection module 3. In this embodiment, the second mounting bracket 72 is an L-shaped plate, one end of the L-shaped plate is fixed to the upper plate 11 by a screw, and the trigger screw 71 is fixed to one end of the L-shaped plate away from the first plate 11. The limit stop part can be a plate-shaped structure rotationally arranged on the sliding rack 300, and one end, away from the second mounting rack 72, of the two trigger screws 71 can be abutted to the plate-shaped structure so as to push the plate-shaped structure to rotate, so that the limit stop part is separated from the workpiece 100 on the sliding rack 300, and the limit of the workpiece 100 is relieved. At this time, the workpiece 100 on the slide holder 300 can be slid onto the holding member 21 of the present apparatus.

Optionally, the gripping device further includes a material detection module 8, a third mounting frame 83 is disposed on the lower plate 12, and the material detection module 8 is fixed on the third mounting frame 83. The gluing unit 4 comprises a glue storage shell 41, bonding glue is arranged in the glue storage shell 41, and the material detection module 8 is used for detecting the material quantity of the bonding glue in the glue storage shell 41. The amount of the adhesive on the workpiece 100 can be obtained by detecting the material amount, so as to judge whether the adhesive coating operation of the workpiece 100 is qualified.

Further, the glue applying unit 4 further includes a fourth mounting frame 43 and a glue applying head 42 disposed on the glue storing housing 41, the fourth mounting frame 43 is fixed on the lower plate 12 and located at a side far from the third mounting frame 83, and the glue storing housing 41 is fixed on the fourth mounting frame 43. The material detection module 8 comprises a magnetic switch 81 and a laser sensor 82, the magnetic switch 81 is used for controlling the opening and closing of the laser sensor 82, and the laser sensor 82 is used for detecting the material quantity in the glue storage shell 41. In other embodiments, the laser sensor 82 may be replaced by an infrared sensor or the like as long as the amount of the material in the glue storage housing 41 can be detected.

Optionally, referring to fig. 1 and 3, the position detection module 3 includes a limit bracket 32 and a proximity switch 31 disposed on the limit bracket 32, the limit bracket 32 is located at an end of the upper plate 11 away from the trigger mechanism 7, and the limit bracket 32 can limit the workpiece 100 to prevent the workpiece 100 from exceeding a preset stroke during the sliding process. When the proximity switch 31 detects that the workpiece 100 approaches the limit bracket 32, the control module controls the driving member 22 to be activated to enable the clamping member 21 to approach the second bracket 112, so as to clamp the workpiece 100.

Referring to fig. 4 to 6, the workpiece 100 is an oil pan, the to-be-assembled part 501 is a sealing pad of the oil pan, and the oil pan is in an inclined state on the sliding rack 300 (as shown in fig. 5), so that when the limit stop is unlocked, the oil pan can slide to the device under the action of self gravity. When the oil pan is glued and the sealing gasket is installed, the grabbing device of the embodiment has the following use process:

firstly, the oil pan is placed on the sliding rack 300 according to an agreed rule, and the sliding rack 300 is transferred to an assembly production line to be fixed. Next, the arm 201 of the robot 200 is connected to the support plate 131 of the present apparatus. Then, the robot 200 moves the device to the sliding rack 300, so that the trigger screw 71 of the trigger mechanism 7 unlocks the limit stop on the sliding rack 300, and the oil pan slides to the bearing plate 211 of the clamping member 21 along the arrow direction in fig. 5 under the action of the self gravity. When the proximity switch 31 of the position detection module 3 detects that the left end of the oil pan approaches the limit bracket 32, the control module controls the driving member 22 to start, so as to drive the clamping member 21 to move toward the second bracket 112, so that the first limit plate 212 and the second limit plate 1121 clamp the oil pan, as shown in fig. 6.

Then, the robot 200 transfers the apparatus to the gluing turntable 400, and the driving member 22 drives the clamping member 21 to move away from the second bracket 112, so that the first and second limiting

plates

212 and 1121 release the oil pan, so as to place the oil pan on the positioning column of the gluing turntable 400. The robot 200 then turns the apparatus 90 degrees counterclockwise, so that the gluing head 42 of the gluing unit 4 faces downward and shifts to the starting point of gluing the oil pan, and gluing the oil pan is started. After the glue spreading is finished, the robot 200 rotates the device by 180 degrees in the counterclockwise direction, starts the magnetic switch 81 of the material detection module 8, and detects the amount of the material in the glue storage shell 41 through the laser sensor 82. After the detection is finished, the robot 200 turns the device for 90 degrees again along the counterclockwise direction, so that the suckers 51 face downwards, the device is shifted to the material placing frame 500, the suckers 51 are aligned with the sealing gaskets on the material placing frame 500, and the vacuum equipment is started to make the suckers 51 suck the sealing gaskets. The robot 200 then again moves the apparatus to the gluing turret 400, closes the vacuum apparatus to place the gasket on the already glued oil pan, and presses the gasket flat and tight against the oil pan by means of the plurality of pressing posts 52 on the lower plate 12, completing the gasket installation.

Finally, the robot 200 turns the device by 90 degrees again, so that the gluing head 42 faces downwards, the device is shifted to the gluing starting point of the oil pan, the sealing pad on the oil pan is glued again, and the next assembly operation can be performed after the gluing is completed.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A grasping device, comprising:

the supporting assembly (1) comprises an upper plate (11), a lower plate (12) and a supporting piece (13), wherein one end of the supporting piece (13) is connected with the upper plate (11), and the other end of the supporting piece (13) is connected with the lower plate (12);

the first material taking assembly (2) comprises a clamping piece (21), the clamping piece (21) is positioned on one side, back to the lower plate (12), of the upper plate (11), a first support (111) and a second support (112) are respectively arranged on two opposite sides of the upper plate (11), and the distance between the clamping piece (21) and the second support (112) is adjustable so as to clamp a workpiece (100) to be glued;

a position detection module (3) for detecting position information of the workpiece (100);

the control module can receive and process the position information of the workpiece (100) detected by the position detection module (3) to control the clamping piece (21) and the second bracket (112) to clamp the workpiece (100);

a gluing unit (4) arranged at one end of the lower plate (12) and used for gluing on the workpiece (100);

and the second material taking assembly (5) comprises an adsorption piece arranged on the lower plate (12) and is used for picking up a part (501) to be assembled, and the part (501) to be assembled can be matched with the workpiece (100).

2. The gripping device according to claim 1, wherein the support member (13) comprises a support plate (131), a first support column (132) and a second support column (133), the first support column (132) and the second support column (133) are located at one side of the upper plate (11) and are respectively arranged at two ends of the upper plate (11), the support plate (131) is located at the other side of the upper plate (11), and the support plate (131) is configured to be connected with a mechanical arm (201) of a robot (200).

3. Gripping device according to claim 1, wherein a plurality of rollers (6) are rotatably arranged on both the first carriage (111) and the second carriage (112) along their length, the work piece (100) being movable over the plurality of rollers (6) of the first carriage (111) and the plurality of rollers (6) of the second carriage (112).

4. The grasping apparatus according to claim 3, wherein the first bracket (111) and the second bracket (112) each include a base plate (1111) and a first plate (1112) and a second plate (1113) respectively disposed on opposite sides of the base plate (1111), the first plate (1112) and the second plate (1113) are defined on the base plate (1111) to form a mounting cavity, the roller (6) is disposed in the mounting cavity, one end of the roller (6) is rotatably connected to the first plate (1112), and the other end of the roller is rotatably connected to the second plate (1113).

5. The grasping apparatus according to claim 4, wherein the holder (21) includes a bearing plate (211) and a first limit plate (212) disposed on a side of the bearing plate (211), a second limit plate (1121) is disposed on a side of the second plate (1113) of the second bracket (112) away from the base plate (1111), and the first limit plate (212) and the second limit plate (1121) are capable of holding the workpiece (100).

6. The gripping device according to claim 1, wherein the first take-off assembly (2) further comprises a drive member (22), an output end of the drive member (22) being connected to the gripping member (21) for driving the gripping member (21) to move and grip the workpiece (100) with the second support (112).

7. Gripping device according to claim 1, wherein the suction element comprises a plurality of suction cups (51), the plurality of suction cups (51) being distributed on a side of the lower plate (12) facing away from the upper plate (11).

8. The gripping device according to claim 7, characterized in that the second extracting assembly (5) further comprises a pressing member including a plurality of pressing posts (52), wherein the plurality of pressing posts (52) are distributed on the side of the lower plate (12) facing away from the upper plate (11) and are spaced from the plurality of suction cups (51).

9. The gripping device according to claim 1, characterized in that a trigger mechanism (7) is arranged at one end of the upper plate (11) far away from the gluing unit (4), a sliding frame (300) is connected to the production line, an unlockable limit stop is arranged on the sliding frame (300), the limit stop can limit the workpiece (100) on the sliding frame (300), and the trigger mechanism (7) can unlock the limit stop to release the workpiece (100).

10. The gripping device according to any one of claims 1 to 9, further comprising a material detection module (8), wherein the gluing unit (4) comprises a glue storage housing (41), and the material detection module (8) is configured to detect an amount of material in the glue storage housing (41).