CN218905441U

CN218905441U - Grabbing device, mechanical arm and processing system

Info

Publication number: CN218905441U
Application number: CN202320043513.5U
Authority: CN
Inventors: 黄红生
Original assignee: Hechuang Automotive Technology Co Ltd
Current assignee: Hechuang Automotive Technology Co Ltd
Priority date: 2023-01-03
Filing date: 2023-01-03
Publication date: 2023-04-25
Anticipated expiration: 2033-01-03

Abstract

The utility model provides a grabbing device, a mechanical arm and a machining system. At least two clamping jaws, each the clamping jaw is around the central axis interval setting of installation body, each the one end of clamping jaw all with the installation body rotates to be connected, each the other end of clamping jaw all is equipped with along being close to the lift portion that the direction of the central axis of installation body extends. The driving mechanism is in transmission connection with each clamping jaw, so that the clamping jaws can drive the lifting part to move to the bottom of the piece to be grabbed so as to grab the piece to be grabbed. The lifting part in the application can be matched with the clamping jaw to stably and reliably clamp the workpiece to be grabbed from the bottom of the workpiece to be grabbed, so that the condition that the workpiece to be grabbed drops due to poor grabbing force points of the grabbing device is avoided, subsequent processing of the workpiece to be grabbed is facilitated, and the processing quality and efficiency of the workpiece to be grabbed are improved.

Description

Grabbing device, mechanical arm and processing system

Technical Field

The utility model relates to the technical field of automobile sheet metal machining, in particular to a grabbing device, a mechanical arm and a machining system.

Background

The metal plate is manufactured by filament power winding, laser cutting, heavy processing, metal bonding, metal drawing, plasma cutting, precision welding, roll forming, sheet metal bending forming, die forging and water jet cutting. The sheet metal part has the characteristics of light weight, high strength, conductivity, low cost, high mass production performance and the like, and is widely applied to the fields of electronic appliances, communication, automobile industry, medical appliances and the like. In the automobile industry, the sheet metal part of the existing automobile chassis bracket has a complex structure, so that the sheet metal part needs to be grabbed and subjected to omnibearing deep processing during production and processing. The traditional sheet metal part grabbing method is to place a sheet metal part to be grabbed on a cargo platform and grab the sheet metal part from the side or the top by utilizing a grabbing device. However, the sheet metal part falls off easily due to poor grabbing force points of the conventional grabbing device in the process of grabbing the sheet metal part, and the processing quality and the processing efficiency of the sheet metal part are affected.

Disclosure of Invention

Based on this, it is necessary to provide a grabbing device, a mechanical arm and a processing system for solving the problems that the sheet metal part is easy to fall off due to poor grabbing force points of the traditional grabbing device in the process of grabbing the sheet metal part, and the processing quality and the processing efficiency of the sheet metal part are affected.

The technical scheme is as follows:

in a first aspect, a gripping device is provided, comprising:

a mounting body;

the clamping jaws are arranged at intervals around the central axis of the installation body, one end of each clamping jaw is rotationally connected with the installation body, and the other end of each clamping jaw is provided with a lifting part extending along the direction close to the central axis of the installation body;

the driving mechanism is in transmission connection with each clamping jaw, so that the clamping jaws can drive the lifting part to move to the bottom of the piece to be grabbed so as to grab the piece to be grabbed.

The technical scheme is further described as follows:

in one embodiment, when the clamping jaw drives the lifting part to move to the bottom of the to-be-grabbed piece, the lifting part is in surface contact with the to-be-grabbed piece.

In one embodiment, the side of the clamping jaw near the lifting part is recessed towards the side far away from the lifting part.

In one embodiment, a friction part is arranged on one side of the clamping jaw, which is close to the lifting part; and/or the side, which is used for contacting with the piece to be grabbed, of the lifting part is provided with a protection part.

In one embodiment, the mounting body comprises a mounting shaft and a chassis arranged at one end of the mounting shaft, one end of each clamping jaw is rotationally connected with the chassis, the driving mechanism comprises a driving piece, a sliding piece and a transmission piece, the driving piece is in transmission connection with the sliding piece, the sliding piece is in sliding fit with the mounting shaft along the central axis of the mounting shaft, one end of the transmission piece is rotationally connected with the sliding piece, the other end of the transmission piece is rotationally connected with the clamping jaw, and the clamping jaw can drive the lifting portion to move to the bottom of the piece to be gripped so as to grip the piece to be gripped.

In one embodiment, the transmission piece comprises a transmission shaft, a transmission block and two transmission rods arranged at intervals, two ends of the transmission shaft are respectively and correspondingly connected with one ends of the transmission rods, which are close to the clamping jaws, of the transmission piece, the transmission block is rotationally connected with the transmission shaft, the transmission block is in transmission connection with the clamping jaws, and one ends of the transmission rods, which are close to the sliding pieces, of the transmission rod are correspondingly rotationally connected with the sliding pieces.

In one embodiment, the sliding part is provided with a first through hole, the installation shaft is in corresponding sliding fit with the first through hole, the grabbing device further comprises an elastic part and a pressing part provided with a second through hole, the installation shaft is in corresponding sliding fit with the second through hole, the driving part is in corresponding transmission connection with the pressing part, the pressing part is arranged at intervals on one side, away from the chassis, of the sliding part, two ends of the elastic part are respectively connected with the pressing part and the sliding part, and the elastic part can be elastically deformed along the central axis direction of the installation shaft.

In one embodiment, the number of the elastic pieces is at least two, and each elastic piece is arranged at intervals around the central axis of the mounting shaft.

In a second aspect, a mechanical arm is provided, which is characterized by comprising an arm body and the grabbing device, wherein the installation body is in transmission connection with the arm body.

In a third aspect, a processing system is provided, including cargo platform and the arm, the jack-up groove has been seted up at cargo platform's top, the jack-up groove by cargo platform's lateral wall orientation cargo platform's inboard extends, the clamping jaw can drive lift portion removes to in the jack-up groove is waiting to snatch the piece.

When the grabbing piece needs to be grabbed, the grabbing device, the mechanical arm and the machining system in the embodiment are used for placing the piece to be grabbed on the cargo carrying platform, and the piece to be grabbed is at least partially located above the lifting groove. Then, the wall body drives the grabbing device to move, so that the grabbing device is arranged corresponding to the piece to be grabbed on the cargo platform. Then, each clamping jaw of actuating mechanism drive moves along the direction that is close to waiting to snatch the piece for the clamping jaw can drive the lifting part and insert the jack-up inslot on the cargo platform correspondingly, and the lifting part is located waiting to snatch the below of piece, thereby makes the lifting part to snatch the piece and lift from waiting to snatch the bottom of piece with the clamping jaw cooperation, has improved grabbing device, arm and processing system's convenience and reliability. For traditional grabbing device, the lifting part in this application can with the clamping jaw cooperation with stable, reliable follow wait to snatch the bottom of piece and clip waiting to snatch the piece, avoided grabbing device to drop the condition emergence of piece because of the not good impetus of snatching that leads to waiting to snatch, be convenient for wait to snatch the follow-up processing of piece to processing quality and efficiency of waiting to snatch the piece have been improved. In addition, the lifting part can lift and limit the workpiece to be machined, so that the clamping force between the clamping jaw and the workpiece to be grabbed is reduced, abrasion and scratch caused by the clamping jaw to be grabbed are reduced, and the machining quality of the workpiece to be grabbed is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a gripping device according to an embodiment;

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

FIG. 3 is an enlarged view of a portion A of FIG. 1;

fig. 4 is a schematic structural view of the clamping jaw in fig. 1.

Reference numerals illustrate:

10. a gripping device; 100. a mounting body; 110. a mounting shaft; 120. a chassis; 200. a clamping jaw; 210. a lifting part; 220. a friction part; 230. a protective part; 300. a driving mechanism; 310. a driving member; 320. a slider; 330. a transmission member; 331. a transmission shaft; 332. a transmission block; 333. a transmission rod; 340. an elastic member; 350. a pressing member; 400. a cargo platform; 410. and a lifting groove.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

As shown in fig. 1 and 2, in one embodiment, a processing system is provided, including a cargo platform 400 and a mechanical arm, a lifting groove 410 is formed at the top of the cargo platform 400, the lifting groove 410 extends from a side wall of the cargo platform 400 towards the inner side of the cargo platform 400, and the clamping jaw 200 can drive the lifting part 210 to move into the lifting groove 410 to grab a piece to be grabbed. So, when needs snatch wait to snatch the piece, will wait to snatch the piece and place on cargo platform 400, and wait to snatch the piece and be located the top of jack-up groove 410 at least partially after, the arm work, clamping jaw 200 drives lifting portion 210 and is along being close to the direction removal of waiting to snatch the piece for lifting portion 210 can correspond to insert jack-up groove 410 and be located the bottom of waiting to snatch the piece, thereby make lifting portion 210 can with clamping jaw 200 cooperation from waiting to snatch the bottom of piece and snatch the piece and lift, guarantee that processing system can be stable, reliable snatch wait to snatch the piece in order to follow-up processing, processing system's convenience and reliability have been improved.

Wherein, the number of the lifting slots 410 can be flexibly adjusted according to the actual use requirement. For example, the number of lifting slots 410 is two, three, four, etc. Specifically, in the present embodiment, the number of lifting grooves 410 is greater than or equal to the number of lifting portions 210.

In particular, in this embodiment, the depth of the lifting groove 410 is greater than or equal to one third of the width of the cargo platform 400 along the depth of the lifting groove 410. In this way, workpieces to be machined with different sizes can be clamped and lifted from the bottom by the lifting part 210, and the applicability of the machining system is improved.

In one embodiment, a robotic arm is provided that includes an arm body and a gripping device 10, with a mounting body 100 drivingly coupled to the arm body. So, when needs snatch wait to snatch the piece, the arm body can drive grabbing device 10 and remove in order to adjust grabbing device 10 for waiting to snatch the position of piece, guarantees that grabbing device 10 can correspond to snatch wait to snatch the piece, has improved the flexibility and the suitability of arm.

As shown in fig. 1 and 2, in one embodiment, a grasping device 10 is provided that includes a mounting body 100, at least two jaws 200, and a drive mechanism 300. Each of the clamping jaws 200 is disposed around the central axis of the mounting body 100 at intervals, one end of each of the clamping jaws 200 is rotatably connected with the mounting body 100, and the other end of each of the clamping jaws 200 is provided with a lifting portion 210 extending in a direction approaching the central axis of the mounting body 100. The driving mechanism 300 is in transmission connection with each clamping jaw 200, so that the clamping jaws 200 can drive the lifting portion 210 to move to the bottom of the workpiece to be gripped so as to grip the workpiece to be gripped.

When the gripping device 10 in the above embodiment is required to grip a workpiece, first, the workpiece is placed on the cargo platform 400, and the workpiece is at least partially located above the lifting groove 410. Then, the wall body drives the grabbing device 10 to move, so that the grabbing device 10 is correspondingly arranged with the to-be-grabbed piece on the cargo platform 400. Then, the driving mechanism 300 drives each clamping jaw 200 to move along the direction close to the to-be-grabbed piece, so that the clamping jaws 200 can drive the lifting part 210 to be correspondingly inserted into the lifting groove 410 on the cargo platform 400, and the lifting part 210 is located below the to-be-grabbed piece, so that the lifting part 210 can be matched with the clamping jaws 200 to clamp and lift the to-be-grabbed piece from the bottom of the to-be-grabbed piece, and convenience and reliability of the grabbing device 10 are improved. For traditional grabbing device 10, lifting portion 210 in this application can with clamping jaw 200 cooperation with stable, reliable follow wait to snatch the bottom of piece and clip waiting to snatch the piece, avoided grabbing device 10 because of the not good circumstances emergence that leads to waiting to snatch the piece to drop of impetus of snatching, be convenient for wait to snatch the follow-up processing of piece to processing quality and efficiency of waiting to snatch the piece have been improved. In addition, the lifting portion 210 can lift and limit the workpiece to be machined, so that the clamping force between the clamping jaw 200 and the workpiece to be grabbed is reduced, abrasion and scratch caused by the clamping jaw 200 to be grabbed are reduced, and the machining quality of the workpiece to be grabbed is improved.

The clamping jaw 200 can be a mechanical clamping jaw, a pneumatic clamping jaw, a hydraulic clamping jaw or other clamping jaw structure. The lifting portion 210 may be a lifting plate, a lifting sheet, or other lifting structure. The lifting portion 210 may be provided at the other end of the clamping jaw 200 in a fitting manner, or may be provided at the other end of the clamping jaw 200 in an integral molding manner with the clamping jaw 200.

Wherein, the quantity of the clamping jaws 200 can be flexibly adjusted according to the actual use requirement. For example, the number of jaws 200 may be two, three, four, or the like. In particular, in the present embodiment, the number of the clamping jaws 200 is four, and the four clamping jaws 200 are disposed at uniform intervals along the axial direction of the mounting body 100.

As shown in fig. 1, 2 and 3, when the clamping jaw 200 drives the lifting portion 210 to move to the bottom of the workpiece to be gripped, the lifting portion 210 is in surface contact with the workpiece to be gripped. In this way, when the gripping device 10 grips the workpiece to be gripped, the contact area between the lifting portion 210 and the workpiece to be gripped increases, and the reliability of the gripping device 10 is improved.

As shown in fig. 1, 2 and 3, alternatively, a side of the clamping jaw 200 near the lifting portion 210 is recessed toward a side far from the lifting portion 210. In this way, at least two clamping jaws 200 can cooperate to grip different shapes of the workpiece to be gripped, improving the applicability of the gripping device 10. In particular, in the present embodiment, the holding jaw 200 is provided in an L-shape. In this way, at least two clamping jaws 200 can cooperate with the partially profiled object to be gripped.

As shown in fig. 2 and 3, optionally, a friction portion 220 is disposed on a side of the clamping jaw 200 near the lifting portion 210. In this way, the friction part 220 can increase the friction force between the clamping jaw 200 and the to-be-grabbed piece, so that the to-be-grabbed piece is prevented from falling off in the grabbing process, and the reliability of the grabbing device 10 is improved.

The friction portion 220 may be a friction protrusion, a rough surface, or other friction structure. In particular, in the present embodiment, the friction portion 220 is provided as at least two bar-shaped patterns extending in the horizontal direction, and the respective bar-shaped patterns are spaced apart from each other along the extending direction of the clamping jaw 200.

As shown in fig. 3, optionally, a side of the lifting part 210 for contacting with the member to be gripped is provided with a guard part 230. Thus, the protection part 230 is disposed between the workpiece to be gripped and the lifting part 210, so that the workpiece to be gripped and the lifting part 210 are disposed at intervals, abrasion of the workpiece to be gripped due to friction between the workpiece to be gripped and the lifting part 210 in the subsequent processing process of the workpiece to be gripped is avoided, and the processing quality of the workpiece to be gripped is improved.

As shown in fig. 1 and 2, in one embodiment, the mounting body 100 includes a mounting shaft 110 and a chassis 120 disposed at one end of the mounting shaft 110, one end of each clamping jaw 200 is rotationally connected with the chassis 120, the driving mechanism 300 includes a driving member 310, a sliding member 320 and a transmission member 330, the driving member 310 is in transmission connection with the sliding member 320, the sliding member 320 is in sliding fit with the mounting shaft 110 along the central axis of the mounting shaft 110, one end of the transmission member 330 is rotationally connected with the sliding member 320, and the other end of the transmission member 330 is rotationally connected with the clamping jaw 200, so that the clamping jaw 200 can drive the lifting portion 210 to move to the bottom of the piece to be gripped so as to grip the piece to be gripped. Thus, when the workpiece to be gripped needs to be gripped, the pre-driving element 310 drives the sliding element 320 to move along the central axis of the mounting shaft 110 and near one side of the chassis 120, so that the sliding element 320 drives the driving element 330 to press towards one side near the chassis 120, and the driving element 330 can drive the clamping jaw 200 to rotate and open relative to the chassis 120, thereby opening the gripping device 10 to facilitate gripping the workpiece to be gripped. Then, the driving piece 310 drives the sliding piece 320 to move along the central axis of the mounting shaft 110 and away from one side of the chassis 120, so that the sliding piece 320 drives the transmission piece 330 to reset, and then the transmission piece 330 can drive the clamping jaw 200 to rotate and tighten relative to the chassis 120, so that the clamping jaw 200 can drive the lifting part 210 to correspondingly insert into the lifting groove 410, and the lifting part 210 is positioned at the bottom of the piece to be gripped, so that the gripping device 10 can grip the piece to be gripped from the bottom of the piece to be gripped and lift the piece to be gripped, and the reliability of the clamping jaw 200 device is improved.

The driving member 310 may be a pneumatic cylinder, a hydraulic cylinder, an electric telescopic rod, or other driving structure. The slider 320 may be a sliding plate, a sliding block, or other sliding structure. The transmission 330 may be a transmission rod 333, a transmission shaft 331, or other transmission structure.

The number of the driving members 330 can be flexibly adjusted according to the actual use requirement. In particular, in the present embodiment, the number of the driving members 330 is the same as the number of the clamping jaws 200.

In this embodiment, the chassis 120 is square, and the four sides of the chassis 120 are respectively provided with a first groove, and one end of the clamping jaw 200 is rotationally connected with the inner wall of the first groove through a first rotating shaft. In this way, one end of the clamping jaw 200 can be hidden in the first groove, so that interference between one end of the clamping jaw 200 and the outside is avoided, and reliability of the grabbing device 10 is improved.

In this embodiment, the outer wall of the slider is provided with four second grooves, which are uniformly spaced around the central axis of the mounting shaft 110, and one end of the transmission member 330, which is close to the slider 320, is rotatably connected with the inner wall of the second grooves. In this way, the end of the transmission member 330 close to the sliding member 320 can be hidden in the second groove, so that the interference between the end of the transmission member 330 close to the sliding member 320 and the outside is avoided, and the reliability of the grabbing device 10 is improved.

As shown in fig. 1, 2 and 4, optionally, the transmission member 330 includes a transmission shaft 331, a transmission block 332 and two transmission rods 333 disposed at intervals, two ends of the transmission shaft 331 are respectively and correspondingly connected with one ends of the two transmission rods 333, which are close to the clamping jaw 200, the transmission block 332 is rotationally connected with the transmission shaft 331, the transmission block 332 is in transmission connection with the clamping jaw 200, and one ends of the two transmission rods 333, which are close to the sliding member 320, are respectively and correspondingly rotationally connected with the sliding member 320. In this way, the convenience of assembling the grasping apparatus 10 is improved. In this embodiment, the transmission block 332 is fixedly connected to the side of the clamping jaw 200 away from the lifting portion 210. In this way, the transmission rod 333 is prevented from interfering with the clamping jaw 200 in the transmission process, and the reliability of the grabbing device 10 is improved.

The driving block 332 is in driving connection with the clamping jaw 200, and may be clamped, inserted, screwed, welded or other driving connection manners.

As shown in fig. 1 and 2, further, the sliding member 320 is provided with a first through hole, the mounting shaft 110 is correspondingly slidably matched with the first through hole, the gripping device 10 further comprises an elastic member 340 and a pressing member 350 provided with a second through hole, the mounting shaft 110 is correspondingly slidably matched with the second through hole, the driving member 310 is correspondingly in transmission connection with the pressing member 350, the pressing member 350 is arranged at a side, far away from the chassis 120, of the sliding member 320 at intervals, two ends of the elastic member 340 are respectively connected with the pressing member 350 and the sliding member 320, and the elastic member 340 can be elastically deformed along the central axis direction of the mounting shaft 110. In this way, the driving member 310 can drive the slider 320 to reciprocate along the central axis direction of the mounting shaft 110 by the pressing member 350 and the elastic member 340, thereby improving the reliability of the grasping apparatus 10. In addition, the elastic member 340 can buffer the driving force of the driving member 310, so that the clamping jaw 200 can clamp the workpiece to be gripped, and the clamping jaw 200 cannot damage the workpiece to be gripped due to overlarge clamping force, and the processing quality of the workpiece to be gripped is improved.

Wherein the elastic member 340 may be an elastic block, a spring or other elastic structure. The pressing member 350 may be a pressing plate, a pressing sheet, or other pressing structure.

As shown in fig. 1 and 2, alternatively, at least two elastic members 340 are provided, and each elastic member 340 is disposed at intervals around the central axis of the mounting shaft 110. In this way, the driving member 310 can uniformly transmit the driving force to the sliding member 320 through the pressing member 350 and each elastic member 340, so that the sliding member 320 can synchronously drive each driving member 330 for transmission, and the reliability of the gripping device 10 is improved.

The number of the elastic members 340 can be flexibly adjusted according to the actual use requirement. For example, the number of elastic members 340 may be two, four, six, or the like.

Alternatively, the driving member 310 is provided as a hydraulic cylinder provided with a push rod in driving connection with the pressing member 350 such that the pressing member 350 can reciprocate along the central axis of the mounting shaft 110. In this way, the reliability of the gripping device 10 is improved.

The driving member 310 may be mounted on the mounting shaft 110 or on the arm body. The number of the driving members 310 can be flexibly adjusted according to the actual use requirement. For example, the number of drivers 310 may be two, four, six, or the like. In particular, in the present embodiment, the number of the driving members 310 is six, and the six driving members 310 are disposed around the central axis of the mounting shaft 110 at uniform intervals. In this way, the reliability of the gripping device 10 is improved.

In the description of the present utility model, it should 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", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. The term "and/or" as used in this utility model includes any and all combinations of one or more of the associated listed items.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

It will be further understood that when interpreting the connection or positional relationship of elements, although not explicitly described, the connection and positional relationship are to be interpreted as including the range of errors that should be within an acceptable range of deviations from the particular values as determined by those skilled in the art. For example, "about," "approximately," or "substantially" may mean within one or more standard deviations, and is not limited herein.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims

1. A grasping device, comprising:

a mounting body;

2. The gripping device according to claim 1, wherein the lifting portion is in surface contact with the member to be gripped when the gripping jaw drives the lifting portion to move to the bottom of the member to be gripped.

3. The gripping device of claim 1, wherein a side of the jaws proximate to the lift is recessed toward a side distal from the lift.

4. The grabbing device as claimed in claim 1, wherein a friction portion is provided on a side of the clamping jaw adjacent to the lifting portion; and/or the side, which is used for contacting with the piece to be grabbed, of the lifting part is provided with a protection part.

5. The gripping device according to any one of claims 1 to 4, wherein the mounting body comprises a mounting shaft and a chassis provided at one end of the mounting shaft, one end of each gripping jaw is rotatably connected with the chassis, the driving mechanism comprises a driving member, a sliding member and a transmission member, the driving member is in transmission connection with the sliding member, the sliding member is in sliding fit with the mounting shaft along a central axis of the mounting shaft, one end of the transmission member is rotatably connected with the sliding member, and the other end of the transmission member is rotatably connected with the gripping jaw, so that the gripping jaw can drive the lifting portion to move to the bottom of the member to be gripped so as to grip the member to be gripped.

6. The grabbing device according to claim 5, wherein the transmission member comprises a transmission shaft, a transmission block and two transmission rods arranged at intervals, two ends of the transmission shaft are respectively and correspondingly connected with one ends of the two transmission rods, which are close to the clamping jaws, the transmission block is rotationally connected with the transmission shaft, the transmission block is in transmission connection with the clamping jaws, and one ends of the two transmission rods, which are close to the sliding members, are correspondingly rotationally connected with the sliding members.

7. The grabbing device as claimed in claim 5, wherein the sliding member is provided with a first through hole, the mounting shaft is correspondingly slidably matched with the first through hole, the grabbing device further comprises an elastic member and a pressing member provided with a second through hole, the mounting shaft is correspondingly slidably matched with the second through hole, the driving member is correspondingly in transmission connection with the pressing member, the pressing member is arranged at a side, far away from the chassis, of the sliding member at intervals, two ends of the elastic member are respectively connected with the pressing member and the sliding member, and the elastic member can be elastically deformed along the central axis direction of the mounting shaft.

8. The gripping device of claim 7 wherein there are at least two of said resilient members, each of said resilient members being spaced about a central axis of said mounting shaft.

9. A robotic arm comprising an arm body and a gripping device according to any one of claims 1 to 8, said mounting body being in driving connection with said arm body.

10. A processing system, characterized in that, including cargo platform and the arm of claim 9, the jack-up groove has been seted up at cargo platform's top, the jack-up groove by cargo platform's lateral wall is towards cargo platform's inboard extends, the clamping jaw can drive lift portion removes to in the jack-up groove is in order to snatch waiting to snatch the piece.