CN216784985U

CN216784985U - Paw device

Info

Publication number: CN216784985U
Application number: CN202122774302.2U
Authority: CN
Inventors: 白兰凤; 苏雪锋; 庞少勇; 师彦平; 丁朝辉
Original assignee: Fulian Technology Shanxi Co Ltd
Current assignee: Fulian Technology Shanxi Co Ltd
Priority date: 2021-11-13
Filing date: 2021-11-13
Publication date: 2022-06-21
Anticipated expiration: 2031-11-13

Abstract

A gripper apparatus for transferring a workpiece, comprising: a base; the gripper mechanism is arranged on the base and used for transferring the workpiece by clamping the workpiece; the induction bracket is arranged on the base or the paw mechanism; the induction piece is arranged on the induction bracket and provided with an induction end for inducing the position of the workpiece when the gripper mechanism moves towards the workpiece; and the conduction assembly comprises a conduction support and a moving part, the conduction support is arranged on the induction support, the moving part movably penetrates through the conduction support, the moving part is provided with a first end and a second end, the first end is opposite to the induction end of the induction piece, the second end is used for abutting against a workpiece when the paw mechanism moves towards the workpiece, and the paw mechanism clamps the workpiece through the induction matching between the conduction assembly and the induction piece. Above-mentioned hand claw device can accurate response work piece position, can not bump the scratch work piece, can also guarantee the stability of work piece position detection, promotes the accuracy of snatching the work piece.

Description

Paw device

Technical Field

The application relates to the technical field of feeding and discharging, in particular to a gripper device.

Background

At present, the material is snatched in order to go on unloading operation in order to adopt the hand claw usually. When the material is grabbed on site by the gripper, the position of the material needs to be detected so as to be matched with the gripper to accurately grab the material. The position of hand claw to the material detects and adopts proximity switch usually, obtains the signal of material in order to detect the position of material through proximity switch. However, the proximity switch of the gripper can detect the material only when the distance between the proximity switch and the material is very small due to the small detected area of the material, so that the gripper cannot conveniently and accurately grab the material and easily scratches the material; and the position of the material is difficult to accurately detect due to different materials of the material, and the detection of the proximity switch is unstable, so that the efficiency of feeding and discharging is influenced.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for a gripper device to improve the stability of the gripper device for material detection and the accuracy of the gripper device for gripping material.

The embodiment of the application provides a hand claw device for shift the work piece, hand claw device includes: a base; the gripper mechanism is arranged on one side of the base and used for transferring the workpiece by clamping the workpiece; the induction bracket is arranged on one side of the base or arranged on the paw mechanism; the induction piece is arranged on the induction bracket, and is provided with an induction end for inducing the position of the workpiece when the gripper mechanism moves towards the position close to the workpiece; and the conduction assembly comprises a conduction support and a moving part, the conduction support is arranged on the induction support, the moving part movably penetrates through the conduction support, the moving part is provided with a first end and a second end which are opposite to each other, the first end is opposite to the induction end of the induction part, the second end is used for enabling the gripper mechanism to approach to the workpiece and abut against the workpiece when the workpiece moves, and the gripper mechanism is clamped by the workpiece through the conduction assembly and the induction matching between the induction parts.

In some embodiments, the movable member includes a movable portion, an induction portion and a stopping portion, the movable portion is disposed between the induction portion and the stopping portion and is respectively connected to the induction portion and the stopping portion, and the induction portion is opposite to the induction end of the induction element; the conduction bracket is provided with a through hole; the movable portion movably penetrates through the through hole, the sensing portion and the stopping portion are respectively located on two sides of the through hole, and the cross-sectional area of the sensing portion and the cross-sectional area of the stopping portion are larger than that of the through hole along the extending direction of the through hole.

In some embodiments, the conductive assembly further comprises a resilient member; the elastic piece is sleeved on the movable part, is positioned between one side of the conduction support facing the stopping part and is respectively connected with one side of the conduction support facing the stopping part and the stopping part.

In some embodiments, the gripper mechanism comprises a drive assembly, a first gripper, and a second gripper; the driving assembly is provided with two output ends; the first gripper and the second gripper are respectively connected with two output ends of the driving assembly, and the first gripper and the second gripper are close to each other under the driving of the driving assembly to clamp the workpiece.

In some embodiments, the first and second jaws each comprise a body and a finger; the body is connected with the output end of the driving assembly, and one side of the body, which is far away from the driving assembly, is provided with a finger groove used for accommodating the finger; the finger is adapted to the workpiece.

In some embodiments, the gripper device further comprises a stop; the stop piece is arranged on the induction bracket and is arranged at an interval with the induction piece; along the direction perpendicular to the induction support, the distance between one end of the stop piece far away from the induction support and the induction support is smaller than the distance between one end of the moving piece far away from the induction support and the induction support.

In some embodiments, the gripper apparatus further comprises a guide bracket and a guide; the guide bracket is connected with the base or the driving assembly, and the guide bracket is arranged opposite to the induction bracket; the guide piece is connected with the guide support, and the guide piece is used for guiding when the gripper mechanism moves towards the workpiece.

In some embodiments, the guide bracket and the induction bracket are both provided with a position avoiding groove; the avoidance groove is used for avoiding the first gripper and the second gripper when the driving assembly drives the first gripper and the second gripper to approach each other.

In some embodiments, the gripper apparatus further comprises a cleaning member; the cleaning piece is arranged on the other side of the base and used for cleaning impurities on the workpiece.

In some embodiments, the gripper apparatus further comprises a connecting rod; one end of the connecting rod is connected with the base, and the other end of the connecting rod is connected with a manipulator outside the gripper device.

The gripper device comprises a transmission component, a movable part, a gripper mechanism, a workpiece, a sensing piece, a movable part and a sensing piece, wherein the first end of the movable part of the transmission component is opposite to the sensing end of the sensing piece, the second end of the movable part is opposite to the workpiece to be captured and is abutted against the workpiece when the gripper mechanism moves towards the workpiece, the movable part is firstly abutted against the workpiece when the gripper mechanism captures the workpiece, the movable part moves towards the direction close to the sensing piece under the reaction force of the workpiece when the gripper mechanism continues to move towards the workpiece, so that the first end of the movable part is sensed by the sensing end of the sensing piece, the sensing piece senses the position of the workpiece through the movable part, the sensing piece can sense the position of the workpiece through the sensing movable part, the workpiece is prevented from being difficult to be sensed due to small detected area of the workpiece, or the workpiece is prevented from being difficult to be sensed accurately due to short distance between the sensing piece and the workpiece or the sensing piece from scratching the workpiece, the influence of material factors of the workpiece on workpiece position detection can be avoided, the stability of the gripper device on workpiece position detection is guaranteed, the accuracy of the gripper device for grabbing the workpiece is improved, and the efficiency of workpiece feeding and discharging is improved.

Drawings

Fig. 1 is a perspective view of a gripper device according to some embodiments of the present disclosure.

Figure 2 is a schematic exploded view of the gripper apparatus shown in figure 1.

Fig. 3 is an exploded view of the induction bracket, induction member, conduction assembly, stop member, guide bracket, guide member and connection plate shown in fig. 2.

Figure 4 is an exploded view of the gripper mechanism shown in figure 2.

Description of the main elements

Paw device 100

Base 10

Paw mechanism 20

Drive assembly 21

First gripper 22

Second gripper 23

Body 231

Finger groove 232

Finger 233

Avoidance groove 234

Paw type connecting piece 24

Induction bracket 31

Sensing member 32

Connecting plate 33

Conductive component 40

Conducting support 41

Through hole 411

Movable member 42

Movable part 421

Sensing part 422

Stopper 423

Elastic member 43

Guide bracket 51

Avoiding groove 511

Guide 52

Cleaning element 60

Connecting rod 70

Stop 80

Workpiece 200

Projection 201

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, it is to be noted that the meaning of "a plurality" is two or more unless specifically defined otherwise.

In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; they may be mechanically, electrically, or communicatively linked, directly or indirectly through intervening media, or in a communication or interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise direct contact between the first and second features through another feature in between. Also, the first feature "on," "above" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal thickness of the first feature is higher than that of the second feature. A first feature "under," "below," and "beneath" a second feature includes a first feature that is directly under and obliquely below the second feature, or simply means that the first feature is less horizontally thick than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

The embodiment of the application provides a hand claw device for shift the work piece, hand claw device includes: a base; the gripper mechanism is arranged on one side of the base and used for transferring the workpiece by clamping the workpiece; the induction bracket is arranged on one side of the base or arranged on the paw mechanism; the sensing piece is arranged on the sensing support and provided with a sensing end used for sensing the position of the workpiece when the gripper mechanism moves towards the position close to the workpiece; and the conduction assembly comprises a conduction support and a moving part, the conduction support is arranged on the induction support, the moving part movably penetrates through the conduction support, the moving part is provided with a first end and a second end which are opposite to each other, the first end is opposite to the induction end of the induction part, the second end of the moving part is used for abutting against the workpiece when the paw mechanism moves close to the workpiece, and the paw mechanism clamps the workpiece through induction matching between the conduction assembly and the induction part.

The gripper device provided by the embodiment of the application, the first end of the moving part passing through the conduction assembly is opposite to the sensing end of the sensing part, the second end of the moving part is opposite to the workpiece to be grabbed and is abutted to the workpiece when the gripper mechanism moves towards the workpiece, when the gripper device grabs the workpiece, the moving part is firstly abutted to the workpiece, when the gripper mechanism continues to move towards the workpiece, the moving part moves towards the direction close to the sensing part under the reaction force of the workpiece, so that the first end of the moving part is sensed by the sensing end of the sensing part, the sensing part senses the position of a station through the moving part, the sensing part can sense the position of the workpiece through sensing the moving part, the workpiece is prevented from being difficult to be sensed due to the small detection area of the workpiece, or the workpiece is prevented from being difficult to accurately sense the position of the workpiece or the workpiece is prevented from being scratched by sensing collision with the sensing part due to the short distance between the sensing part and the workpiece, the influence of material factors of the workpiece on workpiece position detection can be avoided, the stability of the gripper device on workpiece position detection is guaranteed, the accuracy of the gripper device for grabbing the workpiece is improved, and the efficiency of workpiece feeding and discharging is improved.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, in some embodiments, a gripper device 100 is provided. The gripper device 100 is used for transferring the workpiece 200 for loading and unloading operations. The workpiece 200 may be a middle frame, a small piece, or other material of an electronic device. The gripper device 100 includes a base 10, a gripper mechanism 20, a sensing bracket 31, a sensing element 32, and a conducting element 40.

The base 10 is used for carrying the gripper mechanism 20, the sensing bracket 31, the sensing element 32 and the conducting element 40. A gripper mechanism 20 is provided on one side of the base 10, and the gripper mechanism 20 is used to transfer the workpiece 200 by gripping the workpiece 200. The sensing bracket 31 is disposed on one side of the base 10 or on the gripper mechanism 20, for example, when the sensing bracket 31 is disposed on one side of the base 10, the sensing bracket 31 is disposed on the same side as the gripper mechanism 20. The sensing member 32 is disposed on the sensing bracket 31, and the sensing member 32 has a sensing end for sensing the position of the workpiece 200 when the gripper mechanism 20 moves toward the workpiece 200. The conductive element 40 includes a conductive bracket 41 and a movable element 42 as shown in fig. 3, the conductive bracket 41 is disposed on the sensing bracket 31, the movable element 42 movably penetrates through the conductive bracket 41, the movable element 42 has a first end and a second end, the first end is, for example, an end opposite to the sensing end of the sensing element 32, the second end of the movable element 42 is used for abutting against the workpiece 200 when the gripper mechanism 20 moves towards the workpiece 200, and the gripper mechanism 20 clamps the workpiece 200 through the inductive engagement between the conductive element 40 and the sensing element 32. Here, the sensing end of the sensing element 32 is, for example, an end of the sensing element 32 facing downward in fig. 1 or 3, the first end of the movable element 42 is, for example, an end of the movable element 42 facing upward in fig. 1 or 3, and the second end of the movable element 42 is, for example, an end of the movable element 42 facing downward in fig. 1 or 3.

Some embodiments provide a gripper apparatus 100 for transferring a workpiece 200, which may be implemented generally as follows: the gripper unit 100 is moved by an external robot (not shown) so that the gripper unit 20 can move in a direction close to the workpiece 200; in the process that the gripper mechanism 20 moves toward the direction close to the workpiece 200, one end (i.e., the second end) of the movable element 42 in the conductive element 40, which is far away from the sensing element 32, first abuts against the workpiece 200, and moves relative to the conductive support 41 and the sensing element 32 under the stopping effect of the workpiece 200, so that the movable element 42 moves toward the direction close to the sensing element 32 relative to the sensing element 32, and when the end (i.e., the first end) of the movable element 42, which is opposite to the sensing element 32, moves to a distance that can be sensed by the sensing element 32, the sensing element 32 senses the movable element 42, and then senses the position of the workpiece 200, it can be understood that the sensing element 32 indirectly senses the position of the workpiece 200 through the movable element 42. When the sensing element 32 senses the moveable member 42, the gripper mechanism 20 is actuated to grip the workpiece 200. Thus, the gripper device 100 can accurately grasp the workpiece 200.

In the gripper device 100 according to some embodiments, the sensing element 32 indirectly senses the position of the workpiece 200 by sensing the position of the movable element 42, so as to avoid that the detected area of the workpiece 200 is small and the workpiece 200 is difficult to sense, and further avoid that the workpiece 200 is difficult to accurately sense due to a short distance between the workpiece 200 and the sensing element 32 when the sensing element 32 senses the workpiece 200 or the sensing element 32 scratches the workpiece 200 by touching, and further avoid that the workpiece 200 is difficult to accurately sense due to different materials of the workpiece 200, thereby ensuring the detection stability of the sensing element 32, improving the accuracy of the gripper device 100 in gripping the workpiece 200, and improving the efficiency of loading and unloading.

In some embodiments, the gripper unit 100 further comprises a cleaning element 60. The cleaning member 60 is disposed at the other side of the base 10, for example, the cleaning member 60 and the gripper mechanism 20 are disposed at adjacent two sides of the base 10, and the cleaning member 60 is used for cleaning impurities on the workpiece 200. The cleaning member 60 may be a blowing nozzle, and the cleaning member 60 is communicated with an external air supply device (not shown), and blows off impurities on the workpiece 200 to be gripped by supplying positive pressure gas, so as to clean the workpiece 200.

It is understood that in other embodiments, the cleaning member 60 may be a nozzle, and the cleaning member 60 communicates with an external liquid delivery device (not shown) to spray liquid to clean the impurities on the workpiece 200.

In some embodiments, the gripper apparatus 100 further comprises a connecting rod 70. One end of the connecting rod 70 is connected to the base 10, and the other end of the connecting rod 70 is connected to a robot outside the gripper device 100. Therefore, the robot drives the gripper device 100 to move through the connecting rod 70, so that the gripper device 100 picks the workpiece 200 and then performs loading and unloading operations.

Referring to fig. 2 and 3, in some embodiments, the gripper mechanism 20 includes a driving element 21, a first gripper 22, and a second gripper 23. The drive assembly 21 has two outputs and the drive assembly 21 may be, for example, a double-headed drive cylinder. The first gripper 22 and the second gripper 23 are respectively connected to two output ends of the driving assembly 21, and the first gripper 22 and the second gripper 23 approach each other to grip the workpiece 200 under the driving of the driving assembly 21. The workpiece 200 is, for example, a small piece of an electronic device, the workpiece 200 has three protrusions 201, and the first and

second jaws

22 and 23 are driven by the driving assembly 21 to expand away from each other to support two of the protrusions 201 on the workpiece 200, thereby clamping the workpiece 200.

It will be appreciated that in other embodiments, the first jaw 22 and the second jaw 23 may be moved closer to each other to clamp two protrusions 201 on the workpiece 200 under the driving of the driving assembly 21, thereby clamping the workpiece 200.

It will be appreciated that in other embodiments, the drive assembly 21 may further comprise two linear cylinders respectively connected to the first and

second jaws

22, 23, which extend or contract simultaneously to move the first and

second jaws

22, 23 away from or toward each other.

It is understood that in other embodiments, the workpiece 200 may also be a middle frame of an electronic device, and the first and

second jaws

22 and 23 move away from or close to each other to clamp the workpiece 200 under the driving of the driving assembly 21.

It is understood that in other embodiments, the gripper mechanism 20 may also be a negative pressure suction mechanism, and the gripper mechanism 20 sucks the workpiece 200 through negative pressure.

In some embodiments, the gripper mechanism 20 may simultaneously grip multiple workpieces 200. The number of sensing elements 32, conductive elements 40 and workpieces 200 is equal. In one embodiment, the number of the gripper mechanisms 20 is two, and the two gripper mechanisms are respectively disposed on two opposite sides of the base 10. Each gripper mechanism 20 can simultaneously grip four workpieces 200. The number of the sensing elements 32 and the conducting elements 40 is also four. Thus, the gripper mechanism 20 of the gripper device 100 can grip four workpieces 200 at a time, and the efficiency of gripping the workpieces 200 by the gripper device 100 is improved.

It will be appreciated that in other embodiments, each gripper mechanism 20 may also grip one, two, three, five, six, or more workpieces 200.

In some embodiments, the sensing arm 31 is substantially L-shaped, and the sensing arm 31 is coupled to the driving assembly 21 by two oppositely disposed coupling plates 33. The connecting plate 33 is substantially plate-shaped, and two oppositely disposed connecting plates 33 are connected to both sides of the driving unit 21, respectively. In this way, the connection of the inductive bracket 31 to the driving assembly 21 is achieved.

It will be appreciated that in other embodiments, the inductive bracket 31 may also be connected to the base 10 by two connecting plates 33.

In some embodiments, the movable member 42 includes a movable portion 421, a sensing portion 422, and a stopping portion 423. The movable portion 421 is, for example, substantially cylindrical, the sensing portion 422 and the stopping portion 423 are, for example, substantially circular, the sensing portion 422 may be made of iron or other materials that are easily sensed by the sensing element 32, and the material of the movable portion 421 may be the same as or different from the material of the sensing portion 422; the stopping portion 423 may be made of a rubber material or a plastic steel material, and the stopping portion 423 is made of a rubber material or a plastic steel material, so that the workpiece 200 is prevented from being damaged when the stopping portion 423 abuts against the workpiece 200. The movable portion 421 is disposed between the sensing portion 422 and the stopping portion 423 and is connected to the sensing portion 422 and the stopping portion 423 respectively, the sensing portion 422 is opposite to the sensing end of the sensing element 32, and the stopping portion 423 is opposite to the workpiece 200 to be grasped.

The conductive support 41 is, for example, substantially L-shaped. The conductive bracket 41 is opened with a through hole 411. The movable portion 421 movably penetrates through the through hole 411, the sensing portion 422 and the stopping portion 423 are respectively located on two sides of the through hole 411, and along the extending direction of the through hole 411, the cross-sectional area of the sensing portion 422 and the cross-sectional area of the stopping portion 423 are both larger than the cross-sectional area of the through hole 411. Thus, the movable element 42 is stopped in the through hole 411, and the stopping portion 423 with a larger area abuts against the workpiece 200, so as to prevent the workpiece 200 from being difficult to detect or scratched due to a smaller detected area.

In some embodiments, the conductive assembly 40 further includes a resilient member 43. The elastic element 43 may be a spring, the elastic element 43 is sleeved outside the movable portion 421, the elastic element 43 is located between the side of the conductive bracket 41 facing the stopping portion 423 and is respectively connected to the side of the conductive bracket 41 facing the stopping portion 423 and the stopping portion 423, and it can also be understood that the elastic element 43 is respectively abutted to the side of the conductive bracket 41 facing the stopping portion 423 and the stopping portion 423. Thus, when the movable element 42 abuts against the workpiece 200, the elastic element 43 is compressed to generate an elastic acting force, and the elastic element 43 has an effect of slowing down the moving speed of the movable element 42, so that the situation that the movable element 42 moves too fast to cause the sensing element 32 to be difficult to accurately sense the movable element 42 is avoided.

In some embodiments, the gripper device 100 further comprises a stop 80. The number of stops 80 is equal to the number of sensing elements 32 and conductive assemblies 40. The stop member 80 is, for example, substantially rod-shaped, and the stop member 80 is disposed at an end of the sensing bracket 31 far away from the driving assembly 21 and spaced apart from the sensing member 32. In the direction perpendicular to the induction bracket 31, the direction perpendicular to the induction bracket 31 can be understood as the Z-axis direction shown in fig. 3, and the distance between the end of the stopper 80 away from the induction bracket 31 and the induction bracket 31 is smaller than the distance between the end of the movable member 42 away from the induction bracket 31 and the induction bracket 31. Thus, when the gripper mechanism 20 moves in a direction approaching the workpiece 200, the movable element 42 first abuts against the workpiece 200, the stop member 80 then abuts against the workpiece 200, and the stop member 80 can pass through the rear abutment against the workpiece 200 to stop the movement range of the movable element 42, thereby preventing the movable element 42 from moving beyond the range and damaging the sensing element 32.

In some embodiments, the end of the stop 80 away from the sensing arm 31 protrudes beyond the end of the first and

second jaws

22 and 23 for clamping the workpiece 200. Thus, when the stop member 80 abuts against the workpiece 200, the first claw 22 and the second claw 23 are not in direct contact with the workpiece 200, and when the first claw 22 and the second claw 23 are driven by the driving assembly 21 to be away from each other and opened to inwardly support the two protrusions 201 on the workpiece 200, the first claw 22 and the second claw 23 can be prevented from interfering with the surface of the workpiece 200 when moving, so that the workpiece 200 is prevented from being damaged, and the appearance of the workpiece 200 can be protected.

In some embodiments, the gripper unit 100 further comprises a guide bracket 51 and a guide 52. The guide bracket 51 is, for example, substantially plate-shaped, and the guide 52 is, for example, substantially rod-shaped. The guide bracket 51 is connected to the driving assembly 21 through two opposite connecting plates 33, the guide bracket 51 is disposed opposite to the sensing bracket 31, and the guide bracket 51 and the sensing bracket 31 are disposed at both sides of the first and

second claws

22 and 23. A guide 52 is connected to the guide bracket 51, and the guide 52 is used for guiding the gripper mechanism 20 when moving toward the workpiece 200, so that the gripper device 100 can accurately grip the workpiece 200. The number of the guide pieces 52 is two. It is understood that the workpiece 200 can be placed on an external platform (not shown) having a guiding hole (not shown) adapted to the guiding element 52, and the guiding element 52 is engaged with the guiding hole to guide the movement of the gripper apparatus 100.

It will be appreciated that the guide bracket 51 may also be connected to the base 10 by two connecting plates 33. The number of the guiding elements 52 can also be one, three, four or more, and the number of the guiding elements 52 is equal to the number of the guiding holes on the machine table.

Referring to fig. 4, in some embodiments, each gripper mechanism 20 further comprises a gripper link 24. The number of the gripper connectors 24 is two, the gripper connectors 24 are substantially L-shaped, and the first gripper 22 and the second gripper 23 are respectively connected to the output end of the drive assembly 21 through the corresponding gripper connectors 24. The drive assembly 21 is moved to move the first and

second jaws

22, 23 toward and away from each other by driving the two jaw connectors 24.

Referring to fig. 3, in some embodiments, the guiding bracket 51 and the sensing bracket 31 are both provided with an avoiding groove 511. The avoiding groove 511 is used for avoiding the claw coupling member 24 coupled to the first and

second claws

22 and 23 when the driving unit 21 drives the first and

second claws

22 and 23 to approach or move away from each other, so as to prevent the guide bracket 51 and the sensing bracket 31 from interfering with the first and

second claws

22 and 23 during movement.

With continued reference to fig. 4, in some embodiments, each of the first and

second jaws

22, 23 includes a body 231 and a finger 233. The first and

second jaws

22, 23 are substantially similar in construction. Taking the second gripper 23 as an example, the second gripper 23 comprises a body 231 and four fingers 233, and the number of the fingers 233 is equal to the number of the workpieces 200 to be gripped. The body 231 is connected with the paw connecting piece 24, a finger groove 232 is arranged on one side of the body 231 away from the driving component 21, the finger groove 232 is used for accommodating a finger 233 matched with the workpiece 200 to be grabbed, and the workpiece 200 is clamped by the finger 233 in a matching manner. The finger 233 is detachably disposed in the finger groove 232. Thus, different fingers 233 can be replaced to be suitable for grasping different kinds of workpieces 200.

In some embodiments, the body 231 may further be provided with an avoiding groove 234 penetrating through the body 231, the avoiding groove 234 is located between two adjacent finger grooves 232, and the avoiding groove 234 is used for avoiding other workpieces 200 on the machine table when the first gripper 22 and the second gripper 23 grip the workpiece 200.

Some embodiments provide a gripper apparatus 100 that performs substantially the following: the robot moves the gripper unit 100 via the connecting rod 70, so that one of the gripper mechanisms 20 moves toward the workpiece 200. During the movement of the gripper mechanism 20 in the direction approaching the workpiece 200, one end (i.e., the second end) of the movable member 42 away from the sensing element 32 first abuts against the workpiece 200 and moves in the direction approaching the sensing element 32 relative to the conductive bracket 41 and the sensing element 32. The sensing element 32 senses the moveable member 42, i.e., the sensing element 32 senses the position of the workpiece 200 via the moveable member 42. During movement of the moveable member 42, the stop 80 abuts the workpiece 200, causing the gripper apparatus 100 to stop moving relative to the workpiece 200. The drive assembly 21 drives the first jaw 22 and the second jaw 23 to spread apart from each other to inwardly support the two protrusions 201 of the workpiece 200, thereby causing the jaw mechanism 20 to grip the workpiece 200. The manipulator drives the gripper device 100 to move to a position where blanking is needed, and the workpiece 200 is transferred. In some embodiments, the driving assembly 21 can also drive the first gripper 22 and the second gripper 23 to approach each other to release the workpiece 200, the workpiece 200 enters a blanking position, and the movable member 42 returns to the original position under the elastic action of the elastic member 43 to prepare for transferring the workpiece 200 again.

The gripper device 100 provided by the embodiment of the application, the position of response piece 32 through response moving part 42 is with the position of indirect response work piece 200, it is less and difficult to respond to work piece 200 to avoid the detected area of work piece 200, can also avoid the distance between work piece 200 and the response piece 32 when response piece 32 senses work piece 200 to be short partially and difficult to accurate response work piece 200 or response piece 32 bump scratch work piece 200, can also avoid being difficult to accurate response work piece 200 because of the material difference of work piece 200, guarantee the detection stability of response piece 32, promote the accuracy that gripper device 100 snatched work piece 200, the efficiency of unloading is gone up and down in the improvement. The elastic member 43 allows the movable member 42 to return to the initial position after the gripper mechanism 20 releases the workpiece 200. By means of the stop 80, the first jaw 22 and the second jaw 23 are prevented from directly contacting the surface of the workpiece 200, and the workpiece 200 is prevented from being damaged when the first jaw 22 and the second jaw 23 move. The guide 52 guides the movement locus of the gripper device 100, and ensures that the gripper mechanism 20 can accurately grip the workpiece 200.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A gripper apparatus for transferring a workpiece, the gripper apparatus comprising:

a base;

the gripper mechanism is arranged on one side of the base and used for transferring the workpiece by clamping the workpiece;

the induction bracket is arranged on one side of the base or arranged on the paw mechanism;

the induction piece is arranged on the induction bracket, and is provided with an induction end for inducing the position of the workpiece when the gripper mechanism moves towards the position close to the workpiece; and

the conduction subassembly, including conduction support and moving part, the conduction support is located the response support, the moving part movably runs through the conduction support, the moving part has relative first end and second end, first end with the response end of response piece is relative, the second end is used for the gripper mechanism court is close to when the work piece removes with the work piece butt, gripper mechanism passes through the conduction subassembly with response cooperation between the response piece is right the work piece presss from both sides tightly.

2. The gripper apparatus of claim 1,

the movable part comprises a movable part, an induction part and a stopping part, the movable part is arranged between the induction part and the stopping part and is respectively connected with the induction part and the stopping part, and the induction part is opposite to the induction end of the induction element;

the conduction bracket is provided with a through hole;

the movable part movably penetrates through the through hole, the sensing part and the stopping part are respectively positioned on two sides of the through hole, and the cross sectional area of the sensing part and the cross sectional area of the stopping part are both larger than the cross sectional area of the through hole along the extending direction of the through hole.

3. The gripper apparatus of claim 2,

the conductive assembly further comprises an elastic member;

the elastic piece is sleeved on the movable part, is positioned between one side of the conduction support facing the stopping part and is respectively connected with one side of the conduction support facing the stopping part and the stopping part.

4. The gripper apparatus of claim 1,

the gripper mechanism comprises a driving assembly, a first gripper and a second gripper;

the driving assembly is provided with two output ends;

the first gripper and the second gripper are respectively connected with two output ends of the driving assembly, and the first gripper and the second gripper are driven by the driving assembly to approach each other so as to clamp the workpiece.

5. The gripper apparatus of claim 4,

the first and second grippers each comprise a body and a finger;

the body is connected with the output end of the driving assembly, and a finger groove is formed in one side, away from the driving assembly, of the body and used for accommodating the finger;

the finger is adapted to the workpiece.

6. The gripper apparatus of claim 4,

the gripper apparatus further comprises a stop;

the stop piece is arranged on the induction bracket and is arranged at an interval with the induction piece;

along the direction perpendicular to the induction support, the distance between one end of the stop piece far away from the induction support and the induction support is smaller than the distance between one end of the moving piece far away from the induction support and the induction support.

7. The gripper apparatus of claim 6,

the gripper device further comprises a guide bracket and a guide piece;

the guide bracket is connected with the base or the driving assembly, and the guide bracket is arranged opposite to the induction bracket;

the guide piece is connected with the guide support, and the guide piece is used for guiding when the gripper mechanism moves towards the workpiece.

8. The gripper apparatus of claim 7,

the guide bracket and the induction bracket are both provided with a position avoiding groove;

the avoidance groove is used for avoiding the first gripper and the second gripper when the driving assembly drives the first gripper and the second gripper to approach each other.

9. The gripper apparatus of claim 1,

the gripper device further comprises a cleaning piece;

the cleaning piece is arranged on the other side of the base and used for cleaning impurities on the workpiece.

10. The gripper apparatus of claim 1,

the gripper device further comprises a connecting rod;

one end of the connecting rod is connected with the base, and the other end of the connecting rod is connected with a manipulator outside the gripper device.