Wire grabbing device and method and robot assembly

Abstract

The invention provides a wire grabbing device and method and a robot assembly. The wire rod grabbing device comprises a material storage part, wherein a containing groove used for containing wire rods is defined by the material storage part; the clamping part is arranged on one side of a groove opening of the containing groove, a groove is formed in the side, close to the groove opening of the containing groove, of the clamping part, and the size of the groove is matched with that of the wire rod; the clamping part is movably arranged in the direction close to or away from the groove opening of the containing groove so as to move to the material taking position where the clamping part can make contact with the wire or the first avoiding position where the clamping part can avoid the material storage part. And the material storage part has a movably arranged vibration state and a static state, so that when the clamping part is located at the material taking position, the material storage part is located in the vibration state, and the wire enters the groove. According to the technical scheme, the technical problem that in the prior art, the wire feeding efficiency is low can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire grabbing devices, and in particular to a wire grabbing device, method and robot assembly. Background Art

[0002] At present, in the production process of the screen cover machine, multiple wires need to be accurately fixed and assembled. The wire feeding is mainly done by traditional manual operation, that is, workers manually place the wires in the specified position in the mold.

[0003] However, manual loading not only consumes a lot of manpower and increases production costs, but also poses safety hazards during the operation, such as accidental ejection of wires and the risk of cuts from sharp edges. In addition, manual operation is difficult to match with the automation system in terms of accuracy and speed, especially in production lines that need to frequently change wire models, the adaptability and flexibility of manual loading are greatly limited. Therefore, there is also a method of loading with the assistance of robots in the prior art. However, due to the structural characteristics of the wire itself, it is difficult for the robot clamp to accurately position and stably grasp it during grasping, which makes it easy for the loading to be dissatisfied during the loading process, and the loading efficiency is low, which affects the consistency and efficiency of the robot's grasping. Summary of the invention

[0004] The main purpose of the present invention is to provide a wire grabbing device, method and robot assembly to solve the technical problem of low efficiency of wire feeding in the prior art.

[0005] In order to achieve the above object, according to one aspect of the present invention, a wire grabbing device is provided, comprising:

[0006] A material storage portion, the material storage portion encloses a receiving groove for receiving the wire material;

[0007] The clamping part is arranged on one side of the notch of the receiving groove, and a groove is arranged on the side of the clamping part close to the notch of the receiving groove, and the groove is arranged to match the size of the wire; the clamping part is movably arranged in a direction close to or away from the notch of the receiving groove, so as to move to a material taking position where the clamping part contacts the wire or a first avoidance position where the clamping part avoids the material storage part;

[0008] The material storage part has a movably arranged vibration state and a stationary static state, so that when the clamping part is in the material taking position, the material storage part is in a vibration state, so that the wire material enters the groove.

[0009] Furthermore, the clamping portion has a moving state and a stopped state, and the wire grabbing device further comprises:

[0010] A first detection member, wherein a detection end of the first detection member is disposed on the clamping portion to obtain a distance between the clamping portion and the wire;

[0011] The controller, the first detection member and the clamping part are all connected to the controller so as to control the clamping part to be in a moving state or a stopped state according to the detection result of the first detection member.

[0012] Furthermore, the wire grabbing device further comprises:

[0013] A second detection member, wherein the detection end of the second detection member is arranged in the groove, and the second detection member is used for detecting whether there is a wire in the groove.

[0014] Furthermore, the wire grabbing device further includes a controller; there are a plurality of grooves, and the plurality of grooves are arranged at intervals along a preset direction; there are a plurality of second detection members, and the plurality of second detection members are arranged in one-to-one correspondence with the plurality of grooves;

[0015] Among them, the material storage part and multiple second detection parts are all connected to the controller, and the controller is used to control the material storage part to be in a static state when the multiple second detection parts all detect that there is wire in the corresponding groove; when any one of the multiple second detection parts detects that there is no wire in the corresponding groove, the controller is used to control the material storage part to be in a vibrating state.

[0016] Furthermore, the wire grabbing device further includes a controller; the wire grabbing device further includes:

[0017] A stopper is arranged on the clamping portion, at least a portion of the stopper is located at the notch of the groove, at least one side of the stopper is arranged on one side of the groove, and the other side is used to overlap or connect with the other side of the groove; at least a portion of the stopper is movably arranged;

[0018] Wherein, the second detection member is connected to the controller, and the controller is used to control the limit member to move to a limit position in which at least part of the other side of the limit member overlaps or connects with the other side of the groove when the second detection member detects that there is a wire in the groove; and to control the limit member to move to a second avoidance position in which at least part of the limit member avoids the notch of the groove when the second detection member detects that there is no wire in the groove.

[0019] Furthermore, there are a plurality of grooves, which are arranged at intervals along a preset direction; there are a plurality of limiters, which are arranged one-to-one correspondingly to the plurality of grooves; and the wire grabbing device further includes:

[0020] The driving member has a driving end which is movably arranged, and a plurality of limit members are all drivingly connected to the driving end.

[0021] Furthermore, the wire grabbing device further comprises:

[0022] The pusher is arranged on the clamping part and located above the groove. The pusher is movably arranged in a direction close to or away from the groove to move to a pushing position where at least part of the pusher extends into the groove or a third avoidance position where the pusher and the groove avoid each other.

[0023] According to another aspect of the present invention, a wire grabbing method is provided, which is applicable to the wire grabbing device provided above, and the wire grabbing method comprises:

[0024] The clamping portion of the wire grabbing device moves toward a direction close to the notch of the receiving slot of the wire grabbing device;

[0025] Determine whether the clamping part moves to the material taking position of the clamping part;

[0026] When the clamping part is in the material picking position, the material storage part of the wire grabbing device is in a vibrating state so that the wire enters the groove of the clamping part; when the clamping part is in the first avoidance position, the material storage part is in a static state.

[0027] Furthermore, the wire grabbing device is the wire grabbing device provided above, and the wire grabbing method further includes:

[0028] Determine whether the clamping part is in a predetermined discharge position;

[0029] When the clamping part is at a predetermined discharge position, the pushing member of the wire grabbing device is at a pushing position of the pushing member;

[0030] When the clamping portion is not at the predetermined material discharge position, the material pusher is placed at the third avoidance position of the material pusher.

[0031] According to yet another aspect of the present invention, there is provided a robot assembly, comprising:

[0032] The wire grabbing device provided above;

[0033] The robot body is connected to the wire grabbing device.

[0034] By applying the technical solution of the present invention, firstly, the grasping accuracy and stability of the wire are improved. By designing the grooves that match the size of the wire, the precise alignment and firm fixation of the wire when being grasped are ensured, the risk of deviation and falling during the transmission process is reduced, and the accuracy and stability of feeding are improved. Secondly, the feeding efficiency is improved. The vibration state design of the material storage part is combined with the position state judgment of the clamping part, so that after the clamping part reaches the material picking position, the material storage part can immediately enter the vibration state, so that the wire in contact with the clamping part can directly enter the groove, reducing the waiting time and the probability of misoperation of the material storage part, thereby speeding up the positioning and grasping speed of the wire and significantly improving the feeding efficiency. Therefore, the technical problem of low efficiency of wire feeding in the prior art can be solved by the technical solution of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0036] Figure 1 It shows a schematic structural diagram of a wire grabbing device provided according to the first embodiment of the present invention;

[0037] Figure 2 It shows a partial structural schematic diagram of a wire grabbing device provided according to the first embodiment of the present invention;

[0038] Figure 3 A partial structural side view of a wire grabbing device provided according to Embodiment 1 of the present invention is shown;

[0039] Figure 4 A partial structural top view of a wire grabbing device provided according to Embodiment 1 of the present invention is shown;

[0040] Figure 5 A schematic diagram of the steps of a wire grabbing method provided according to a second embodiment of the present invention is shown.

[0041] The above drawings include the following reference numerals:

[0042] 1. Wire;

[0043] 10. Material storage department;

[0044] 20. Clamping part;

[0045] 21. Groove;

[0046] 30. First test piece;

[0047] 40. Limiting parts;

[0048] 50. Driving parts;

[0049] 60. Pushing parts;

[0050] 70. Quick-change parts;

[0051] 80. Push drive parts. DETAILED DESCRIPTION

[0052] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0053] like Figures 1 to 4 As shown, the first embodiment of the present invention provides a wire grabbing device, which includes a material storage portion 10 and a clamping portion 20, wherein the material storage portion 10 forms a receiving groove for receiving wires. The clamping portion 20 is arranged on one side of the notch of the receiving groove, and a groove 21 is arranged on the side of the clamping portion 20 close to the notch of the receiving groove, and the groove 21 is arranged to match the size of the wire; the clamping portion 20 is movably arranged in a direction close to or away from the notch of the receiving groove, so as to move to a material taking position where the clamping portion 20 contacts the wire or a first avoidance position where the clamping portion 20 avoids the material storage portion 10. The material storage portion 10 has a vibration state that can be movably arranged and a static state that is in a static state, so that when the clamping portion 20 is in the material taking position, the material storage portion 10 is in a vibration state, so that the wire enters the groove 21.

[0054] The wire grabbing device provided by the first embodiment of the present invention first improves the grasping accuracy and stability of the wire. The design of the groove 21 that matches the size of the wire ensures that the wire is accurately aligned and firmly fixed when being grasped, reduces the risk of deviation and falling during the transmission process, and improves the accuracy and stability of feeding. Secondly, the feeding efficiency is improved. The vibration state design of the material storage part 10 is combined with the position state judgment of the clamping part 20, so that after the clamping part 20 reaches the material collection position, the material storage part 10 can immediately enter the vibration state, so that the wire in contact with the clamping part 20 can directly enter the groove 21, reducing the waiting time and the probability of misoperation of the material storage part 10, thereby speeding up the positioning and grasping speed of the wire and significantly improving the feeding efficiency. Therefore, the wire grabbing device provided by this embodiment can solve the technical problem of low efficiency of wire feeding in the prior art.

[0055] Specifically, there are multiple grooves 21, and the multiple grooves 21 are arranged at intervals along the extension direction of the clamping portion 20. There are multiple wires in the accommodating groove. The multiple wires are stacked and laid along the extension direction of the clamping portion 20. With such a structural arrangement, multiple wires are stacked and laid along the extension direction of the clamping portion 20, so that multiple wires can be grasped at one time, the number of loading times is reduced, and the loading efficiency and the beat speed of the production line are significantly improved.

[0056] Specifically, the clamping part 20 is a plate-like structure. With such a structural setting, the plate-like clamping part 20 provides a larger contact area, which facilitates the wire to quickly enter the groove 21 under the vibration of the material storage part 10 and the extrusion of the wire and the plate-like structure, thereby further improving the feeding efficiency.

[0057] It should be noted that “the groove 21 is configured to match the size of the wire” means that the space enclosed by the groove 21 matches the size of a single wire, that is, the groove 21 can only accommodate a single wire.

[0058] Specifically, the clamping part 20 has a moving state and a stopped state, and the wire grabbing device further includes a first detection member 30 and a controller. The detection end of the first detection member 30 is arranged on the clamping part 20 to obtain the distance between the clamping part 20 and the wire. The first detection member 30 and the clamping part 20 are both connected to the controller to control the clamping part 20 to be in a moving state or a stopped state according to the detection result of the first detection member 30. With such a structural setting, the distance information between the clamping part 20 and the wire is obtained by the first detection member 30, and the controller can accurately control the motion state of the clamping part 20 according to the real-time detection result to ensure that the clamping part 20 accurately reaches the material picking position. The linkage between the first detection member 30 and the controller realizes the intelligent operation of the wire grabbing device, can automatically adjust the grabbing strategy under different working conditions, improves the accuracy and adaptability of the robot operation, and reduces production failures caused by improper operation. In addition, through real-time monitoring and intelligent control, it can also effectively avoid collisions between structures, enhance the safety and reliability of the entire operation process, and reduce potential risks in production.

[0059] It should be noted that when the clamping portion 20 is in a moving state, the clamping portion 20 moves in a direction approaching or moving away from the notch of the accommodating groove; when the clamping portion 20 is in a stopped state, the clamping portion 20 remains stationary.

[0060] Specifically, the detection end of the first detection member 30 is located on one side of the notch of the clamping portion 20 close to the receiving groove. In this way, it is ensured that the first detection member 30 can directly and quickly detect the slight distance change between the clamping portion 20 and the wire, improve the detection accuracy and response speed, so that the action of the clamping portion 20 can be more accurately controlled. And because the detection end is close to the working point, the position of the wire can be identified more timely, reducing the malfunction of the clamping portion 20 caused by detection delay or false alarm, and ensuring the stability and reliability of the device operation.

[0061] Specifically, when the distance between the clamping part 20 and the wire is greater than the preset distance, the clamping part 20 is in motion; when the distance between the clamping part 20 and the wire is less than or equal to the preset distance, the clamping part 20 is in a stopped state. Specifically, the preset distance is 0 mm. With such a structural setting, the controller can intelligently determine when to stop the movement of the clamping part 20, ensuring that the grip is performed in the state closest to the wire, thereby improving the accuracy of the grip. When the distance between the clamping part 20 and the wire is less than or equal to the preset distance, the clamping part 20 will stop automatically, effectively avoiding damage to the wire or damage to the clamp due to excessive proximity or collision, and enhancing the safety of the operation.

[0062] In this embodiment, the wire grabbing device further includes a second detection member, the detection end of the second detection member is arranged in the groove 21, and the second detection member is used to detect whether there is a wire in the groove 21. With such a structural setting, the setting of the second detection member can monitor in real time whether there is a wire in the groove 21. If the wire is detected, this will ensure the reliability of the grabbing process, prevent empty grabbing or unsuccessful grabbing, and improve the grabbing success rate and production efficiency of the device. And through such a setting, once it is detected that the wire has successfully entered the groove 21, the controller will stop further grabbing actions, avoiding unnecessary repeated operations, saving time and energy, and further improving the degree of automation.

[0063] Specifically, there are multiple grooves 21, and multiple grooves 21 are arranged at intervals along a preset direction; there are multiple second detection members, and multiple second detection members are arranged in a one-to-one correspondence with multiple grooves 21. Among them, the material storage part 10 and the multiple second detection members are connected to the controller, and the controller is used to control the material storage part 10 to be in a vibrating state or a static state according to the detection results of the multiple second detection members. With such a structural setting, by setting multiple grooves 21 distributed at intervals along a preset direction on the clamping part 20, the wire grabbing device can grab multiple wires at the same time, greatly improving the feeding efficiency and the production capacity of the production line. The second detection member is arranged in a one-to-one correspondence with the groove 21, and can accurately monitor the grabbing situation of each groove 21, ensuring that there is wire in each groove 21, avoiding production deviations caused by uneven grabbing. In addition, the controller intelligently controls the vibration state of the material storage part 10 according to the detection results of the second detection member. When there are wires in all grooves 21, the material storage part 10 automatically switches to a static state, saving energy, avoiding unnecessary vibration, and thus extending the service life of the equipment.

[0064] Specifically, the controller is used to control the material storage section 10 to be in a stationary state when multiple second detection members all detect that there is wire in the corresponding groove 21; and to control the material storage section 10 to be in a vibrating state when any one of the multiple second detection members detects that there is no wire in the corresponding groove 21.

[0065] Specifically, the preset direction is the extending direction of the clamping portion 20 .

[0066] Specifically, the wire grabbing device further includes a stopper 40, which is arranged on the clamping portion 20, at least part of which is located at the notch of the groove 21, at least one side of the stopper 40 is arranged on one side of the groove 21, and the other side is used to overlap or connect with the other side of the groove 21; at least part of the stopper 40 is movably arranged. The second detection member is connected to the controller, and the controller is used to control the stopper 40 to move to a stop position in which at least part of the other side of the stopper 40 overlaps or connects with the other side of the groove 21 or a second avoidance position in which at least part of the stopper 40 avoids the notch of the groove 21 according to the detection result of the second detection member. With such a structural arrangement, after the wire enters the groove 21, the stopper 40 can be overlapped or connected to further fix the wire, prevent the wire from being offset during transmission or vibration, and enhance the stability and reliability of the grabbing. And the controller intelligently controls the movement of the limit member 40 according to the detection result of the second detection member, ensuring that the limit member 40 is accurately in place when necessary and quickly avoids when not needed. This intelligent control mechanism not only simplifies the operation process, but also improves the safety and response speed of the device.

[0067] Specifically, the controller is used to control the limit member 40 to move to a limit position in which at least part of the other side of the limit member 40 overlaps or connects with the other side of the groove 21 when the second detection member detects that there is a wire in the groove 21; and to control the limit member 40 to move to a second avoidance position in which at least part of the limit member 40 avoids the notch of the groove 21 when the second detection member detects that there is no wire in the groove 21.

[0068] Specifically, at least part of the stopper 40 is a hook-shaped structure. With such a structural setting, the design of the hook-shaped structure can more firmly grasp the wire, preventing the wire from slipping out of the groove 21 due to external factors (such as vibration, airflow, etc.) during the grasping or transmission process, thereby improving the grasping stability and reliability. The corresponding design of the hook-shaped stopper 40 and the groove 21 allows the wire to be automatically captured and fixed by the hook-shaped stopper 40 after entering the groove 21, reducing the complex movements during grasping and improving the operating efficiency.

[0069] Specifically, there are multiple grooves 21, and the multiple grooves 21 are arranged at intervals along a preset direction; there are multiple limiters 40, and the multiple limiters 40 are arranged one-to-one with the multiple grooves 21; the wire grabbing device also includes a driving member 50, the driving end of the driving member 50 is movably arranged, and the multiple limiters 40 are all drivingly connected to the driving end. In this way, the driving end of the driving member 50 is driven and connected to the multiple limiters 40, so that the unified control of the multiple limiters 40 is achieved, the control logic is simplified, and the consistency of operation and the response speed of the device are improved.

[0070] Specifically, in order to improve the structural strength, at least a portion of the limiting member 40 is made of aluminum alloy.

[0071] Specifically, in order to ensure the limiting stability of the wire, there are at least five limiting members 40, at least five limiting members 40 form a limiting member group, there are multiple limiting member groups, and the multiple limiting member groups are arranged one by one corresponding to the multiple grooves 21. At least five limiting members 40 are arranged at intervals along the extension direction of the corresponding grooves 21.

[0072] In this embodiment, the wire grabbing device further includes a pusher 60, which is disposed on the clamping portion 20 and is located above the groove 21. The pusher 60 is movably disposed in a direction close to or away from the groove 21, so as to move to a pushing position where at least a portion of the pusher 60 extends into the groove 21 or to a third avoidance position where the pusher 60 and the groove 21 avoid each other. With such a structural arrangement, the pusher 60 moves to the pushing position, which can ensure that the wire is pushed out of the groove 21, thereby improving the convenience of the discharge operation. The third avoidance position design of the pusher 60 allows the pusher 60 to automatically avoid when not in operation, effectively avoiding misoperation that causes the wire to be pushed down at an incorrect time, thereby improving the safety and ease of use of the device.

[0073] Specifically, at least part of the pusher 60 is a rod-shaped structure. With such a structural setting, the rod-shaped structure design can easily push the wire out of the groove 21, simplifying the discharge process, avoiding complex mechanical actions, and improving the discharge efficiency.

[0074] Specifically, the pusher 60 includes a pusher body and a pusher body connected to each other, and there are multiple pusher bodies, which are arranged one by one corresponding to the multiple grooves 21, and the pusher body forms at least a part of the pusher 60. In this way, it is ensured that the wires in each groove 21 can be accurately pushed to the target position at the same time, avoiding the positioning deviation that may be generated by a single pusher 60 when operating multiple wires, and improving the efficiency and accuracy of pushing.

[0075] Specifically, the wire grabbing device further includes a material pusher drive member 80, which is disposed on the clamping portion 20, and a driving end of the material pusher drive member 80 is movably disposed, and the driving end of the material pusher drive member 80 is drivingly connected to the material pusher member 60. With such a structural arrangement, the arrangement of the material pusher drive member 80 avoids the complexity of requiring each material pusher body to be driven separately, simplifies the device structure, reduces the energy consumption and maintenance cost of the equipment, and improves the overall driving efficiency and reliability.

[0076] In the present embodiment, the wire grabbing device further includes a quick-change component 70, which is detachably connected to the clamping portion 20. The quick-change component 70 is used to connect to the structure to be installed. The structure to be installed may be a structure such as a robot arm. With such a structural arrangement, the quick-change component 70 and the clamping portion 20 are detachably connected, so that the wire grabbing device can quickly replace different types of clamping portions 20 to accommodate wires of different sizes and shapes, greatly improving the adaptability of the device and the flexibility of the production line. The design of the quick-change component 70 also facilitates the rapid connection and separation with the robot arm waiting for installation structure, simplifies the replacement operation of the robot arm, and improves the rapid response capability and operating efficiency of the production line.

[0077] Specifically, there are multiple clamping parts 20, and the grooves 21 of each clamping part 20 are respectively adapted to wires of different sizes. In this way, the wire grabbing device can handle wires of different types, meeting the diversified and personalized needs of manufacturing production lines. By quickly replacing clamping parts 20 of different sizes, the production line can be prevented from being shut down for a long time due to changing the wire type, thereby improving production efficiency, while reducing the additional costs caused by frequent equipment replacement, and achieving effective cost control.

[0078] Specifically, the quick-change part 70 includes a first connection part, which is used to be installed on the robot arm, and the first connection part includes key components such as a locking mechanism, an electrical interface, and a gas-liquid channel. The quick-change part 70 also includes a second connection part, which is used to connect with the clamping part 20. The second connection part is also equipped with a locking mechanism and an electrical interface to dock with the first connection part, and the second connection part is seamlessly connected to the first connection part through a standardized quick-change interface. The locking mechanism is specially designed with a steel ball lock to ensure the stability and reliability of the connection, and can complete the locking and unlocking process of the tool in a very short time. The electrical interface is used to realize the connection of electrical signals from the robot arm to the clamping part 20, support the automatic control of multiple actions, and improve the efficiency of replacement. The quick-change part 70 also includes sensors, control systems, etc., to ensure the accuracy and safety of the replacement process. The quick-change part 70 adopts a modular design and is easy to integrate and maintain. The working principle of the quick-change part 70 includes: when the clamping part 20 needs to be replaced, the locking mechanism of the quick-change part 70 is unlocked to separate the first connection part from the second connection part. Next, the robot moves the new clamping part 20 to the position of the quick-change part 70, aligns it with the electrical interface, and activates the locking mechanism of the quick-change part 70 again to firmly fix the new clamping part 20 on the robot arm. During the replacement process, the quick-change part 70 can ensure the continuous transmission of media such as electrical signals, gas, and liquid. Through advanced sensors and control systems, the quick-change part 70 can ensure that each replacement is accurately aligned to avoid production delays or quality problems caused by errors. The entire replacement process can be completed in a few seconds, greatly reducing downtime.

[0079] Specifically, the working process of the wire grabbing device includes: 1. Due to the process requirements that the wires grabbed each time may be inconsistent, the robot will use the quick-change part 70 to replace the corresponding clamping part 20 before grabbing the wire; 2. When the robot runs to the material picking point with the clamping part 20, the clamping part 20 slowly and vertically enters the material trough (equivalent to the material storage part 10), and when the proximity sensor (equivalent to the first detection part 30) detects the material (that is, it has contacted the wire), the robot stops the downward movement; 3. The clamping part 20 reaches the material picking position point (equivalent to the material picking position), and the side with the groove 21 contacts and squeezes the wire material, so that the wire enters the groove 21. The sensors in each groove 21 (equivalent to the second detection member) are all tested to detect whether the wire is grabbed in place. When the sensors in each groove 21 send out a material signal, the wire clamping claw (equivalent to the limit member 40) moves to tighten the wire to prevent it from falling during operation; 4. Wire discharge process: ① The wire clamping claw is released ② The return rod (equivalent to the pushing member 60) is pressed down to the discharge point to complete the discharge; 5. During the feeding process, the sensors in each groove 21 detect the current feeding situation in real time. After each reciprocating action is completed, if the sensor does not detect a full material signal, it executes a jump instruction to return to the previous step of rubbing the material (equivalent to the vibration state of the storage part 10) until the feeding is completed. When the sensor feeds back a full material signal, it jumps out of the cycle, and the robot clamps the wire clamping claw to prevent the material from being shaken off during the feeding operation.

[0080] Specifically, in order to facilitate the wire to quickly enter the groove 21, there is an adsorption member for adsorbing the wire in the groove 21. Specifically, the adsorption member is a magnet.

[0081] like Figure 5 As shown, embodiment 2 of the present invention provides a wire grabbing method, which is applicable to the wire grabbing device provided in embodiment 1, and the wire grabbing method includes: moving the clamping portion 20 of the wire grabbing device toward the direction of the notch of the receiving slot of the wire grabbing device; judging whether the clamping portion 20 moves to the material picking position of the clamping portion 20; when the clamping portion 20 is in the material picking position, placing the material storage portion 10 of the wire grabbing device in a vibrating state of the material storage portion 10, so that the wire enters the groove 21 of the clamping portion 20; when the clamping portion 20 is in the first avoidance position, placing the material storage portion 10 in a stationary state of the material storage portion 10.

[0082] The wire grabbing method provided by the second embodiment of the present invention ensures the accuracy and efficiency of wire grabbing by moving the clamping part 20 toward the direction close to the notch of the receiving groove and accurately judging whether it moves to the material picking position. This process reduces the position deviation when grabbing the wire, avoids the failure of grabbing or the damage of the wire due to inaccurate position, and thus improves the efficiency and quality control level of the production line. When the clamping part 20 is in the material picking position, activating the vibration state of the material storage part 10 can effectively promote the smooth entry of the wire into the groove 21 of the clamping part 20. The effect of vibration not only accelerates the positioning of the wire and reduces the grabbing time, but also avoids manual intervention, reduces labor intensity, and improves the continuity and stability of the automated production line. When the clamping part 20 is located in the first avoidance position, the material storage part 10 automatically enters a static state. This mechanism ensures that the material storage part 10 does not generate unnecessary vibration in the state of not grabbing the wire, saves energy, reduces the wear rate of the equipment, and avoids interference with the grabbing operation, thereby improving production safety and the service life of the equipment. The entire wire grabbing method forms a complete set of automated control processes through precise positioning, vibration to promote the wire to enter the groove 21, intelligent avoidance and static control. This method not only reduces the reliance on manual operation and reduces production costs, but also significantly improves the speed and accuracy of wire grabbing through precise control and efficient execution, providing a more optimized operation mode for automated production in the manufacturing industry. Therefore, the wire grabbing method provided in this embodiment can solve the technical problem of low efficiency of wire feeding in the prior art.

[0083] Specifically, after the material storage part 10 of the wire grabbing device is in a vibrating state of the material storage part 10, the wire grabbing method further includes: obtaining the state of the wires in the plurality of grooves 21; when there are wires in the plurality of grooves 21, the material storage part 10 is in a stationary state; when there is no wire in any of the plurality of grooves 21, the material storage part 10 is in a vibrating state. In this way, by obtaining the state of the wires in the plurality of grooves 21, it is monitored in real time whether each groove 21 has successfully grabbed the wires. This mechanism can ensure the integrity of the wire grabbing and avoid production delays caused by incomplete grabbing. When it is detected that there are wires in all the grooves 21, the material storage part 10 automatically switches to a stationary state to prevent excessive vibration from causing unnecessary damage to the wires or the device, while saving energy and improving the economy and safety of the production process. When there is no wire in any groove 21, the material storage part 10 re-enters the vibrating state, prompting the wire to smoothly enter the vacant groove 21, ensuring the continuous and stable material supply of the production line and avoiding the shutdown due to insufficient materials.

[0084] Specifically, after the material storage part 10 of the wire grabbing device is in the vibration state of the material storage part 10, the wire grabbing method further includes: obtaining the wire state in multiple grooves 21; when there are wires in multiple grooves 21, at least part of the limiter 40 of the wire grabbing device is in the limit position of the limiter 40; when there is no wire in any of the multiple grooves 21, at least part of the limiter 40 is in the second avoidance position of the limiter 40. With such a setting, when there are wires in multiple grooves 21, the limiter 40 automatically moves to the limit position, restricting the movement or falling of the wire in subsequent operations, improving the position accuracy when the wire is released, and reducing the production error caused by the displacement of the wire. If there is no wire in any groove 21, the limiter 40 moves to the second avoidance position, avoiding useless restrictions on the empty groove 21 and avoiding affecting the wire entering the empty groove 21, simplifying the operation process, and improving the response speed and work efficiency of the device in the process of wire grabbing.

[0085] Specifically, the wire grabbing method further includes: judging whether the clamping part 20 is in a predetermined discharge position; when the clamping part 20 is in the predetermined discharge position, placing the pusher 60 of the wire grabbing device in the pusher position of the pusher 60; when the clamping part 20 is not in the predetermined discharge position, placing the pusher 60 in the third avoidance position of the pusher 60. With such a setting, by judging whether the clamping part 20 is in the predetermined discharge position, the pusher 60 enters the pusher position only when it is in the correct position, thereby ensuring that the wire can be accurately placed in the target position and improving production accuracy. When the clamping part 20 is not in the predetermined discharge position, the pusher 60 remains in the third avoidance position, thereby avoiding failure of wire release or damage to other components on the production line due to position errors, thereby enhancing the safety and controllability of the production process.

[0086] A third embodiment of the present invention provides a robot assembly, which includes the wire grabbing device provided in the first embodiment and a robot body, wherein the robot body is connected to the wire grabbing device.

[0087] The robot assembly provided by the third embodiment of the present invention first improves the grasping accuracy and stability of the wire. The design of the groove 21 adapted to the size of the wire ensures the precise alignment and firm fixation of the wire when being grasped, reduces the risk of deviation and falling during the transmission process, and improves the accuracy and stability of feeding. Secondly, the feeding efficiency is improved. The vibration state design of the material storage part 10 is combined with the position state judgment of the clamping part 20, so that after the clamping part 20 reaches the material picking position, the material storage part 10 can immediately enter the vibration state, so that the wire in contact with the clamping part 20 can directly enter the groove 21, reducing the waiting time and the probability of misoperation of the material storage part 10, thereby speeding up the positioning and grasping speed of the wire and significantly improving the feeding efficiency. Therefore, the robot assembly provided by this embodiment can solve the technical problem of low efficiency of wire feeding in the prior art.

[0088] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: effectively improve the rate of wire feeding, and can completely replace manual feeding; different types of wires can be grabbed at the same time, saving processes and improving work efficiency.

[0089] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0090] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0091] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0092] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0093] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wire grabbing device, characterized in that: include: A material storage portion (10), wherein the material storage portion (10) forms a receiving groove for receiving the wire material; A clamping portion (20) is arranged on one side of the notch of the containing groove, and a groove (21) is arranged on the side of the clamping portion (20) close to the notch of the containing groove, and the groove (21) is arranged to match the size of the wire; the clamping portion (20) is movably arranged in a direction close to or away from the notch of the containing groove, so as to move to a material taking position where the clamping portion (20) contacts the wire or a first avoidance position where the clamping portion (20) avoids the material storage portion (10); The material storage portion (10) has a movably arranged vibration state and a stationary static state, so that when the clamping portion (20) is in the material taking position, the material storage portion (10) is in the vibration state, so that the wire material enters the groove (21).

2. The wire grabbing device according to claim 1, characterized in that: The clamping portion (20) has a moving state and a stopped state, and the wire grabbing device further comprises: A first detection member (30), wherein a detection end of the first detection member (30) is arranged on the clamping portion (20) to obtain a distance between the clamping portion (20) and the wire; A controller, wherein the first detection member (30) and the clamping portion (20) are both connected to the controller so as to control the clamping portion (20) to be in the moving state or the stopping state according to the detection result of the first detection member (30).

3. The wire grabbing device according to claim 1, characterized in that: The wire grabbing device also includes: A second detection member, wherein a detection end of the second detection member is arranged in the groove (21), and the second detection member is used to detect whether there is a wire in the groove (21).

4. The wire grabbing device according to claim 3, characterized in that: The wire grabbing device further comprises a controller; there are a plurality of the grooves (21), and the plurality of the grooves (21) are arranged at intervals along a preset direction; there are a plurality of the second detection members, and the plurality of the second detection members are arranged in a one-to-one correspondence with the plurality of the grooves (21); The material storage section (10) and the plurality of second detection members are connected to the controller, and the controller is used to control the material storage section (10) to be in the static state when the plurality of second detection members detect that there is a wire in the corresponding groove (21); and to control the material storage section (10) to be in the vibrating state when any one of the plurality of second detection members detects that there is no wire in the corresponding groove (21).

5. The wire grabbing device according to claim 3, characterized in that: The wire grabbing device also includes a controller; The wire grabbing device also includes: A limiting member (40) is arranged on the clamping portion (20), at least a portion of the limiting member (40) is located at the notch of the groove (21), at least one side of the limiting member (40) is arranged on one side of the groove (21), and the other side is used to overlap or connect with the other side of the groove (21); at least a portion of the limiting member (40) is movably arranged; Wherein, the second detection member is connected to the controller, and the controller is used to control the limit member (40) to move to a limit position in which at least part of the other side of the limit member (40) overlaps or connects with the other side of the groove (21) when the second detection member detects that there is a wire in the groove (21); and to control the limit member (40) to move to a second avoidance position in which at least part of the limit member (40) avoids the notch of the groove (21) when the second detection member detects that there is no wire in the groove (21).

6. The wire grabbing device according to claim 5, characterized in that: There are a plurality of grooves (21), and the plurality of grooves (21) are arranged at intervals along a preset direction; there are a plurality of limit members (40), and the plurality of limit members (40) are arranged in a one-to-one correspondence with the plurality of grooves (21); the wire grabbing device further comprises: A driving member (50), wherein the driving end of the driving member (50) is movably arranged, and the plurality of limiting members (40) are all drivingly connected to the driving end.

7. The wire grabbing device according to claim 1, characterized in that: The wire grabbing device also includes: A pushing member (60) is arranged on the clamping portion (20) and located above the groove (21). The pushing member (60) is movably arranged in a direction approaching or moving away from the groove (21) so as to move to a pushing position in which at least a portion of the pushing member (60) extends into the groove (21) or to a third avoiding position in which the pushing member (60) and the groove (21) avoid each other.

8. A wire grabbing method, characterized in that: The wire grabbing device according to any one of claims 1 to 7, wherein the wire grabbing method comprises: Move the clamping portion of the wire grabbing device toward a direction close to a notch of the receiving slot of the wire grabbing device; Determining whether the clamping portion moves to a material picking position of the clamping portion; When the clamping part is in the material picking position, the material storage part of the wire grabbing device is in a vibrating state of the material storage part so that the wire enters the groove of the clamping part; when the clamping part is in the first avoidance position, the material storage part is in a static state of the material storage part.

9. The wire grabbing method according to claim 8, characterized in that: The wire grabbing device is the wire grabbing device in claim 7, and the wire grabbing method further comprises: Determining whether the clamping portion is in a predetermined discharge position; When the clamping portion is at the predetermined discharge position, the pushing member of the wire grabbing device is at the pushing position of the pushing member; When the clamping portion is not at the predetermined discharge position, the pushing member is placed at a third avoidance position of the pushing member.

10. A robot assembly, characterized in that: include: The wire grabbing device according to any one of claims 1 to 7; The robot body is connected to the wire grabbing device.

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