Grabbing device

Abstract

The present application discloses a gripping device. The gripping device includes a fixed plate, a correction mechanism, and a suction mechanism. The correction mechanism is mounted on the fixed plate and is used to correct a workpiece that has been misaligned. The suction mechanism is mounted on the fixed plate and is used to suck the workpiece corrected by the correction mechanism. The gripping device provided in the present application has a correction function. The gripping device can correct the position of the workpiece before gripping it. On the one hand, it improves the gripping stability. On the other hand, it can ensure that the workpiece is transferred to the subsequent workstation in the correct posture, avoiding the subsequent workstation from correcting the workpiece position, thereby improving production efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece assembly, and in particular to a gripping device. Background Art

[0002] Currently, workpieces need to pass through multiple workstations during the assembly process to complete corresponding actions.

[0003] However, workpieces can shift when transferred from one station to another, requiring position corrections at subsequent stations and reducing production efficiency. Furthermore, for workpieces with concave surfaces, shifting can prevent them from being grasped properly, requiring position corrections at subsequent stations, further reducing production efficiency. Summary of the Invention

[0004] This application provides a gripping device with a deviation correction function. This gripping device can correct the position of a workpiece before gripping it, improving gripping stability and ensuring that the workpiece is transferred to subsequent workstations in the correct posture, avoiding the need for subsequent workstations to correct the workpiece position and improving production efficiency.

[0005] The present application provides a gripping device comprising a fixed plate, a correction mechanism, and a suction mechanism. The correction mechanism is mounted on the fixed plate and is used to correct a workpiece that has been misaligned. The suction mechanism is mounted on the fixed plate and is used to suck the workpiece corrected by the correction mechanism.

[0006] In the above scheme, a gripping device is provided, which can be used to transfer a workpiece from one workstation to another. Among them, the inventor found that in the prior art, there is a problem of workpiece position offset when the workpiece is transferred from one workstation to another. If a workpiece with an inaccurate position is placed in a subsequent workstation, the subsequent workstation needs to correct the position of the workpiece in order to work normally, resulting in a decrease in production efficiency. Therefore, in order to ensure production efficiency, it is necessary to correct the workpiece with position offset before placing the workpiece in the subsequent workstation: the gripping device will correct the workpiece through a correction mechanism before grasping the workpiece. After the workpiece is corrected, the workpiece is stably sucked by the suction mechanism to complete the gripping of the workpiece, so that the workpiece is in the correct position when it is in the subsequent workstation. Since the position of the upstream workstation relative to the gripping device is accurate, the position of the subsequent workstation relative to the gripping device is accurate, the workpiece can be corrected only by the gripping device correcting the workpiece.

[0007] In a possible implementation, the correction mechanism corrects the position of the workpiece by positioning the recessed portion of the workpiece.

[0008] The above solution provides a gripping device for correcting and gripping a workpiece having a recessed surface. The recessed portion of the workpiece is pre-positioned, and the workpiece's position can be corrected by positioning the recessed portion with a correction mechanism. Furthermore, workpieces with recessed surfaces are difficult to securely grip using conventional suction gripping devices. With the gripping device provided in this solution, once the correction mechanism is positioned within the recessed portion, the suction mechanism securely grips the workpiece, completing an accurate and effective gripping operation.

[0009] Optionally, in a possible implementation, the correction mechanism includes a driving device and a plurality of limiting parts, the plurality of limiting parts are distributed around a preset axis, and the driving device is used to drive the plurality of limiting parts to expand outward synchronously to resist the side walls of the recessed portion.

[0010] Optionally, in a possible implementation, a plurality of slide rails are fixed on the fixed plate, and the plurality of slide rails are radially distributed with a preset axis as the center, and each limiting portion can move along the corresponding slide rail.

[0011] Optionally, in a possible implementation, the limiting portion includes a first slider, a second slider, and a limiting piece, and the limiting piece is configured to synchronously expand outwards under the drive of the driving device to abut against the side wall of the recessed portion;

[0012] The first slider is slidably matched with the slide rail, the second slider is adjustably matched with the first slider, and the limiting piece is connected to the second slider.

[0013] The above solution provides a method that can accommodate a variety of workpieces. Since the second slider is adjustable in position to cooperate with the first slider, the operator can adjust the position between the second slider and the first slider to change the outward expansion distance of the limit plate, thereby allowing multiple limit plates to abut against the side walls of recesses of different sizes.

[0014] Optionally, in a possible implementation, the limiting portion further includes a third slider, the third slider is located between the second slider and the limiting piece, the position of the third slider is adjustably matched with the second slider, and the limiting piece is connected to the third slider.

[0015] Optionally, in one possible implementation, the driving device is a linear driving device, and a conical portion is provided at the execution end of the linear driving device, and a plurality of limiting portions are distributed around the conical portion and cooperate with the conical portion so that the conical portion can push the plurality of limiting portions to expand outward synchronously when moving linearly.

[0016] Optionally, in a possible implementation, a roller is provided at one end of the limiting portion, and the roller cooperates with the tapered portion.

[0017] Optionally, in a possible implementation, the deviation-correcting mechanism further includes a plurality of elastic reset members, and the elastic reset members are provided between the fixing plate and the limiting portion;

[0018] Each limiting portion retracts under the action of the corresponding elastic reset member.

[0019] The above solution provides a technical solution that enables the position-limiting portion to automatically retract to its initial state after completing a positioning and deviation-correcting action. The elasticity of the elastic return element allows the position-limiting portion to retract, thereby facilitating the next positioning and deviation-correcting action of the gripping device. Furthermore, the low cost of the elastic return element facilitates cost control of the gripping device.

[0020] Optionally, in a possible implementation, the grasping device further includes a manipulator, and the fixing plate is connected to the execution end of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A three-dimensional diagram of the gripping device provided in this embodiment at a first viewing angle;

[0023] Figure 2 A perspective view of the gripping device provided in this embodiment at a second viewing angle;

[0024] Figure 3 A schematic diagram of the structure of the correction mechanism and workpiece provided in this embodiment;

[0025] Figure 4 A schematic structural diagram of the limiting portion provided in this embodiment;

[0026] Figure 5 A cross-sectional view of the correction mechanism provided in this embodiment;

[0027] Figure 6 for Figure 5 Enlarged view of position VII in the middle;

[0028] Figure 7 A schematic structural diagram of a gripping device provided in this embodiment;

[0029] Figure 8 A schematic structural diagram of another gripping device provided in this embodiment.

[0030] Icons: 10-grabbing device; 10a-workpiece; 10b-recessed portion; 11-fixed plate; 11a-support frame; 12-suction mechanism; 12a-vertical plate; 20-correction mechanism; 21-driving device; 22-limiting portion; 22a-limiting plate; 23-elastic reset member; 30-manipulator; 31-lifting linear module; 32-horizontal linear module; 33-traveling linear module; 80-screw hole; 110-slide rail; 111-bolt; 210-conical portion; 210a-cylinder; 211-mounting plate; 221-first slider; 222-second slider; 223-third slider; 223a-long hole; 224-stop plate; 225-roller; 230-spring; 231-pillar. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0034] In the description of the embodiments of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0035] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0036] The technical solution in this application will be described below with reference to the accompanying drawings.

[0037] This embodiment provides a gripping device 10 with a correction function. The gripping device 10 can correct the position of a workpiece before grasping it, improving grasping stability and ensuring that the workpiece is transferred to subsequent workstations in the correct position, avoiding the need for subsequent workstations to correct the workpiece position and improving production efficiency.

[0038] See Figure 1 and Figure 2 , Figure 1 The three-dimensional structure of the gripping device 10 in this embodiment is shown in the first perspective. Figure 2 The three-dimensional structure of the grasping device 10 in this embodiment is shown at a second viewing angle.

[0039] The gripping device 10 includes a fixed plate 11, a correction mechanism 20, and a suction mechanism 12. The correction mechanism 20 and the suction mechanism 12 are mounted on the fixed plate 11. The correction mechanism 20 is used to correct a workpiece that has been misaligned. The suction mechanism 12 is used to absorb the workpiece corrected by the correction mechanism 20.

[0040] The above embodiment provides a gripping device 10 , which can be used to transfer a workpiece from one workstation to another.

[0041] Among them, the inventors found that in the prior art, there is a problem of workpiece position offset when the workpiece is transferred from one workstation to another. If a workpiece with an inaccurate position is placed in a subsequent workstation, the subsequent workstation needs to correct the position of the workpiece in order to work normally, resulting in a decrease in production efficiency. Therefore, in order to ensure production efficiency, it is necessary to correct the workpiece with position offset before placing the workpiece in the subsequent workstation: the grasping device 10 will correct the workpiece through the correction mechanism 20 before grasping the workpiece. After the workpiece is corrected, it will be stably sucked by the suction mechanism 12 to complete the grasping of the workpiece, so that the workpiece is in the correct position when it is in the subsequent workstation. Since the position of the upstream workstation relative to the grasping device 10 is accurate, the position of the subsequent workstation relative to the grasping device 10 is accurate, the workpiece correction can be completed only by the grasping device 10 correcting the workpiece.

[0042] Alternatively, in a possible implementation, as Figure 3 , Figure 3 The specific structures of the correction mechanism 20 and the workpiece 10a are shown.

[0043] The deviation correcting mechanism 20 corrects the position of the workpiece 10 a by positioning the recessed portion 10 b of the workpiece 10 a .

[0044] The above embodiment provides a correction method, that is, a grasping device 10 for correcting and grasping a workpiece 10a having a recessed portion 10b on its surface. It should be noted that the recessed portion 10b of the workpiece 10a is pre-positioned (for example, in the field of battery manufacturing, aluminum film is used, and the aluminum film is punched in a punching station before entering the blanking station, at which time a recess is punched on the surface of the aluminum film). The position of the workpiece 10a can be corrected by positioning the recessed portion 10b through the correction mechanism 20.

[0045] A workpiece 10a with a recessed portion 10b on its surface may deviate during transfer between workstations, and the presence of the recessed portion can make it difficult to securely hold the workpiece 10 with a conventional suction gripping device 10. With the gripping device 10 provided in this embodiment, once the deviation correction mechanism 20 is positioned within the recessed portion 10b, the suction mechanism 12 can accurately attach to the surface of the workpiece 10a, thereby securely holding the workpiece 10a and achieving an accurate and effective gripping operation.

[0046] Optionally, in one possible implementation, the correction mechanism 20 includes a driving device 21 and a plurality of limiting portions 22, wherein the plurality of limiting portions 22 are distributed around a preset axis, and the driving device 21 is used to drive the plurality of limiting portions 22 to expand outward synchronously to resist the side wall of the recessed portion 10b.

[0047] It should be noted that the number of the limiting portions 22 is adjusted by the shape of the recessed portion 10b on the surface of the workpiece 10a. Figure 3 Taking the workpiece 10a in FIG. 1 as an example, the recessed portion 10b on the surface of the workpiece 10a is a quadrilateral, and the number of the limiting portions 22 is four. In other specific embodiments, the number of the limiting portions 22 is not limited, as long as the limiting portions 22 can abut against the sidewalls of the recessed portion 10b and achieve the positioning and deviation correction effect.

[0048] It should be noted that the preset axis means that when the multiple limiting portions 22 are synchronously expanded outward along the preset axis, each limiting portion 22 can abut against the side wall of the recessed portion 10b. Taking the recessed portion 10b as a quadrilateral as an example, the preset axis can vertically pass through the midpoint of the recessed portion 10b.

[0049] See Figure 4 、 Figure 5 as well as Figure 6 and combined Figure 3 , Figure 4 The specific structure of the limiting portion 22 in this embodiment is shown. Figure 5 shows a cross-sectional view of the correction mechanism 20, Figure 6 for Figure 5 Enlarged view of point VII in the middle.

[0050] Optionally, in a possible implementation, a plurality of slide rails 110 are fixed on the fixed plate 11 , and the plurality of slide rails 110 are radially distributed with a preset axis as the center, and each limiting portion 22 can move along the corresponding slide rail 110 .

[0051] See also Figure 3 and Figure 4 Four slide rails 110 are fixed on the fixed plate 11 , and the four limiting portions 22 correspond to and slide with the four slide rails 110 . The slide rails 110 are fixed to the fixed plate 11 by bolts 111 .

[0052] When the driving device 21 is working, it can drive the limiting portion 22 to slide relative to the corresponding slide rail 110, thereby completing the outward expansion action.

[0053] Optionally, in one possible implementation, in order to improve the adaptability of the correction mechanism 20 and adapt to different workpieces 10a (different workpieces 10a correspond to recessed portions 10b of different sizes): the limiting portion 22 includes a first slider 221, a second slider 222 and a limiting plate 22a, and the limiting plate 22a is used to synchronously expand outward under the drive of the driving device 21 to resist the side wall of the recessed portion 10b.

[0054] The first slider 221 is slidably engaged with the slide rail 110 , the second slider 222 is positionally adjustable and engaged with the first slider 221 , and the limiting piece 22 a is connected to the second slider 222 .

[0055] In the above scheme, since the position of the second slider 222 is adjustable to cooperate with the first slider 221, the operator can adjust the position between the second slider 222 and the first slider 221 to change the maximum outward expansion distance of the limiting plate 22a, so that multiple limiting plates 22a can be pressed against the side walls of the recessed portions 10b of different sizes.

[0056] In this embodiment, the second slider 222 can be slidably matched with the first slider 221, and the second slider 222 is provided with a plurality of screw holes 80, and the first slider 221 is also provided with a plurality of screw holes. The bolt passes through the second slider 222 and selectively matches with a screw hole 80 of the first slider 221, so that the relative position of the first slider 221 and the second slider 222 can be adjusted, thereby being able to change the maximum outward expansion distance of the limit plate 22a to adapt to different workpieces 10a.

[0057] Optionally, in one possible implementation, the limiting portion 22 further includes a third slider 223, which is located between the second slider 222 and the limiting plate 22a. The third slider 223 is positionally adjustable to cooperate with the second slider 222, and the limiting plate 22a is connected to the third slider 223.

[0058] Similarly, in order to adapt to more types of workpieces 10a, this embodiment is also designed with a third slider 223, the position of the third slider 223 is adjustable to cooperate with the second slider 222, and the limiting piece 22a is connected to the third slider 223. Figure 3 As can be seen, the upper surface of the third slider 223 is groove-shaped, and the second slider 222 is slidably embedded in the groove structure. An elongated hole 223a is defined in the side wall of the third slider 223, and a plurality of screw holes 80 are defined in the side wall of the second slider 222. When the relative position of the third slider 223 and the second slider 222 is adjusted to the appropriate position, bolts passing through the elongated hole 223a engage with the screw holes 80 in the side wall of the second slider 222 to complete the relative fixation between the third slider 223 and the second slider 222.

[0059] It should be noted that the limiting piece 22a is fixed to the third sliding block 223 by bolts.

[0060] It should be noted that a stopper 224 ( Figure 2 As shown), the stop piece 224 is used to limit the maximum outward expansion distance of the limiting portion 22.

[0061] Optionally, in one possible implementation, the driving device 21 is a linear driving device, and the execution end of the linear driving device is provided with a conical portion 210, and multiple limiting portions 22 are distributed around the conical portion 210 and cooperate with the conical portion 210, so that the conical portion 210 can push the multiple limiting portions 22 to expand outward synchronously when it moves linearly.

[0062] It should be noted that the linear drive device in this embodiment is a linear drive cylinder, and the cylinder body of the linear drive cylinder is fixed to the fixed plate 11 through the mounting plate 211. In other specific embodiments, the linear drive device can be other devices capable of outputting linear motion, such as a screw linear module.

[0063] See also Figure 5 The conical portion 210 has an inverted conical structure, and a cylinder 210a is formed at the end of the conical portion 210. When the linear drive device outputs downward, the conical portion 210 moves downward, and the inclined surface of the conical portion 210 pushes the limiting portion 22 to expand outward. When the limiting portion 22 acts on the cylinder 210a at the end of the conical portion 210, the conical portion 210 no longer expands outward.

[0064] In other specific embodiments, the tapered portion 210 may also be a forward tapered structure. When the linear drive device outputs upward, the tapered portion 210 moves upward, and the inclined surface of the tapered portion 210 pushes the limiting portion 22 to expand outward.

[0065] It should be noted that, in other specific embodiments, the execution end of the linear drive device may also be provided with other components that can push the limiting portion 22 to move. For example, an oblique prism is provided at the execution end of the linear drive device, and each limiting portion 22 corresponds to an inclined surface, so as to enable the limiting portion 22 to move when the linear drive device is raised or lowered.

[0066] Please see again Figure 5 A roller 225 is provided at one end of the limiting portion 22 , and the roller 225 cooperates with the tapered portion 210 .

[0067] The roller 225 is disposed on the end surface of the second slider 222. The roller 225 comprises a rotating shaft and a wheel. The rotating shaft is disposed on the second slider 222, and the wheel is rotatably mounted on the rotating shaft. When the tapered portion 210 pushes the wheel, the wheel rotates, causing the second slider 222 to move, thereby expanding the limiting piece 22a to correct the deviation. It should be noted that in this embodiment, the presence of the roller 225 reduces wear between the tapered portion 210 and the limiting portion 22, effectively extending the service life of the gripping device 10.

[0068] In other specific embodiments, the roller 225 may be eliminated, and an inclined surface or an arc surface may be used to cooperate with the tapered portion 210 .

[0069] See Figure 4 The deviation-correcting mechanism 20 further includes a plurality of elastic reset members 23 , which are disposed between the fixing plate 11 and the limiting portion 22 .

[0070] Each limiting portion 22 retracts under the action of the corresponding elastic reset member 23 .

[0071] The above embodiment provides a technical solution that enables the position-limiting portion 22 to automatically retract to its initial state after completing a positioning and deviation-correcting action. The elasticity of the elastic return member 23 allows the position-limiting portion 22 to retract, thereby facilitating the next positioning and deviation-correcting action of the gripping device 10. Furthermore, the low cost of the elastic return member 23 facilitates cost control of the gripping device 10.

[0072] It should be noted that, in this embodiment, the elastic return member 23 includes a spring 230 and two pillars 231 , wherein one pillar 231 is mounted on the second slider 222 , and the other pillar 231 is mounted on the fixed plate 11 , and the spring 230 is disposed between the two pillars 231 .

[0073] In other specific embodiments, the specific structure of the elastic return member 23 is not limited, and it only needs to be elastic enough to retract the limit portion 22. In other specific embodiments, the elastic return member 23 can be omitted, and the limit portion 22 can be manually adjusted to the state before expansion, or one end of the limit portion 22 can be hinged to the drive device 21, so that the drive device 21 can simultaneously expand the limit portion 22 and retract it.

[0074] It should be noted that, in this embodiment, the suction mechanism 12 is a suction cup, which is connected to the fixed plate 11 via the vertical plate 12 a to avoid the limiting portion 22 , so that the limiting portion 22 can work normally.

[0075] See Figure 7 , Figure 7 Another schematic structural view of the gripping device 10 is shown.

[0076] The grasping device 10 further includes a manipulator 30 , and the fixing plate 11 is connected to an execution end of the manipulator 30 .

[0077] exist Figure 7 In the figure, the manipulator 30 includes a lifting linear module 31 and a transverse linear module 32. The fixed plate 11 is connected to the execution end of the lifting linear module 31 through the support frame 11a. Under the drive of the lifting linear module 31, the fixed plate 11 can move up and down in the vertical direction. The lifting linear module 31 is connected to the execution end of the transverse linear module 32. Under the drive of the transverse linear module 32, the lifting linear module 31 can move laterally. It should be noted that both the lifting linear module 31 and the transverse linear module 32 are screw linear drive structures. In other specific embodiments, the specific structures of the lifting linear module 31 and the transverse linear module 32 are not limited.

[0078] See Figure 8 , Figure 8 FIG. 2 shows another structural diagram of the gripping device 10 in this embodiment.

[0079] The robot 30 also includes a linear travel module 33, wherein a transverse linear module 32 is connected to the actuator end of the linear travel module 33, and the transverse linear module 32 is driven by the linear travel module 33 to travel. It should be noted that the movement directions of the lifting linear module 31, the transverse linear module 32, and the linear travel module 33 are perpendicular to each other, so that the grasping device 10 can transfer the workpiece 10a from one workstation to another and correct the workpiece 10a.

[0080] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A gripping device, characterized in that: include: Fixed plate; A deviation correction mechanism, mounted on the fixed plate, for correcting a workpiece that has been misaligned; as well as a suction mechanism, mounted on the fixed plate, for sucking the workpiece corrected by the correction mechanism; The correcting mechanism corrects the position of the workpiece by positioning the recessed portion of the workpiece. The correcting mechanism includes a driving device and a plurality of limiting portions, wherein the plurality of limiting portions are distributed around a preset axis. The driving device is used to drive the plurality of limiting portions to synchronously expand outward to abut against the side walls of the recessed portion. The grasping device further includes a manipulator, and the fixing plate is connected to the execution end of the manipulator.

2. The gripping device according to claim 1, characterized in that A plurality of slide rails are fixed on the fixed plate. The plurality of slide rails are radially distributed with the preset axis as the center. Each limiting portion can move along the corresponding slide rail.

3. The gripping device according to claim 2, characterized in that The limiting portion includes a first slider, a second slider and a limiting piece, and the limiting piece is used to synchronously expand outward under the drive of the driving device to abut against the side wall of the recessed portion; The first slider is slidably matched with the slide rail, the second slider is positionally adjustable and matched with the first slider, and the limiting piece is connected to the second slider.

4. The gripping device according to claim 3, characterized in that The limiting portion further includes a third slider, which is located between the second slider and the limiting piece. The position of the third slider is adjustable and matched with the second slider, and the limiting piece is connected to the third slider.

5. The gripping device according to claim 1, characterized in that The driving device is a linear driving device, and the execution end of the linear driving device is provided with a tapered portion. The multiple limiting portions are distributed around the tapered portion and cooperate with the tapered portion so that the tapered portion can push the multiple limiting portions to expand synchronously when moving linearly.

6. The gripping device according to claim 5, characterized in that A roller is provided at one end of the limiting portion, and the roller cooperates with the tapered portion.

7. The gripping device according to claim 1, characterized in that The deviation-correcting mechanism further includes a plurality of elastic reset members, which are arranged between the fixing plate and the limiting portion; Each of the limiting portions retracts under the action of the corresponding elastic reset member.

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