Grabbing device and grasping method

Abstract

The invention discloses a grasping device, comprising: a driving part, used for connecting an external driving device; a grasping part, connected to the driving part, used for grasping a workpiece to be grasped; a sensing device, used for sensing the relative displacement between the driving part and the grasping part; the grasping device of the invention can reduce the use of a laser rangefinder during grasping; the invention also provides a grasping method.

Description

Technical Field

[0001] The present invention relates to the field of camera module production and assembly, and in particular to a grasping device and a grasping method. Background Art

[0002] In the current camera module production and assembly process, the accuracy of the relative positioning of the lens and the image sensor is increasingly required. In order to ensure the accuracy of the material position during the production process, a suction nozzle is used to pick up camera lens modules, photosensitive chip modules, and finished products during the loading and unloading process. However, when grabbing, the suction distance of the suction nozzle is too far, which will lead to insufficient suction.

[0003] To this end, the prior art proposes a grasping method that uses a laser rangefinder to measure the nozzle height in real time for control. However, the high cost of the laser rangefinder leads to high material costs for the equipment. At the same time, a distance measurement process is required before each picking, which will increase production time and make it difficult to improve equipment production efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a grasping device and a grasping method, which can reduce the use of a laser rangefinder during grasping.

[0005] A gripping device according to one aspect of the present invention comprises: a driving part for connecting to an external driving device; a gripping part connected to the driving part for gripping a workpiece to be gripped; and a sensing device for sensing the relative displacement between the driving part and the gripping part.

[0006] Furthermore, the sensing device comprises a first contact arranged on the driving portion, and a second contact arranged on the grasping portion, and when the driving portion is stationary relative to the grasping portion, the first contact and the second contact abut against each other.

[0007] Furthermore, the gripping portion is slidably connected to the driving portion, and the gripping portion can slide up and down relative to the driving portion.

[0008] Further, a first spring is connected between the driving portion and the grasping portion, and the first spring can make the first contact and the second contact abut against each other.

[0009] Furthermore, the first contact and the second contact are both ball contacts.

[0010] Furthermore, the gripping device includes a movable plate connected to the driving part, an air inlet joint and a suction nozzle are arranged on the movable plate, and the air inlet joint is connected to the suction nozzle and the air extraction device.

[0011] Furthermore, the suction nozzle and the air inlet connector are detachably connected.

[0012] Furthermore, a motor is arranged on the movable plate, the motor drive is connected to a mounting seat, the mounting seat is connected to a suction nozzle, an air inlet joint is connected to the mounting seat, and the air inlet joint is a rotary joint.

[0013] Furthermore, the gripping device also includes a position sensor, and the position sensor is used to measure the rotational position of the mounting seat.

[0014] This embodiment also provides a grasping method, including the following steps: controlling the driving device so that the driving part and the grasping part move downward; when the sensing device senses that the driving part and the grasping part have generated relative displacement, stopping the driving device and recording the height to which the driving part has descended; obtaining the grasping height based on the height to which the driving part has descended, and performing grasping.

[0015] The grasping device of the present invention can be used to control the driving device so that the driving part and the grasping part move downward together. When the sensing device senses that the driving part and the grasping part have a relative displacement, the driving device is stopped and the height of the driving part's descent is recorded, and then this height is used as the grasping height for grasping. When grasping parts of the same batch, it is only necessary to maintain this height for grasping, and there is no need to measure the height of the grasping device in real time, which greatly reduces the use of laser rangefinders.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 A side view of a grabbing device according to an embodiment of the present invention;

[0019] Figure 2 for Figure 1 The enlarged view of point Ⅰ in the middle;

[0020] Figure 3 It is an axonometric diagram of a driving unit in an embodiment of the present invention;

[0021] Figure 4 It is an axonometric diagram of a gripping portion in an embodiment of the present invention;

[0022] The above drawings contain the following reference numerals:

[0023]

[0024] DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 invention.

[0027] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0029] Reference Figure 1-Figure 4 A grasping device includes: a driving part 110, used to connect to an external driving device; a grasping part 200, connected to the driving part 110, used to grasp a workpiece to be grasped; and a sensing device, used to sense the relative displacement between the driving part 110 and the grasping part 200.

[0030] The grasping device of this embodiment can be used to control the driving device so that the driving part 110 and the grasping part 200 move downward together. When the sensing device senses that the driving part 110 and the grasping part 200 have a relative displacement, the driving device is stopped and the height to which the driving part 110 has descended is recorded. This height is then used as the grasping height for grasping. When grasping parts of the same batch, it is only necessary to maintain this height for grasping, and there is no need to measure the height of the grasping device in real time, which greatly reduces the use of laser rangefinders.

[0031] Among them, the driving part 110 and the grasping part 200 can be connected in various ways, such as fixed connection by means of screws, welding, etc., or sliding connection by means of guide rails and guide grooves, etc. When fixedly connected, the grasping part 200 is hit during the descent process and can produce a small displacement between it and the driving part 110. At this time, the sensing device can sense the small displacement, thereby stopping the movement of the driving part 110 and recording the descent height.

[0032] Furthermore, the sensing device only needs to sense the displacement between the driving part 110 and the glue dispensing part, and does not need to directly measure the distance between the glue dispensing parts. Therefore, it has low requirements on the on-site environment and high reliability.

[0033] like Figure 1 As shown, in this embodiment, lifting and lowering refers to movement along the z-axis direction in the figure.

[0034] Among them, the sensing device can also sense the relative displacement between the driving part 110 and the grasping part 200 in a variety of ways, for example, through contacts respectively arranged on the driving part 110 and the grasping part 200 and abutting against each other, when a relative displacement occurs between the driving part 110 and the grasping part 200, the two contacts separate and generate a signal; or through a Hall sensor arranged on the driving part 110 or the grasping part 200, when a relative displacement occurs between the driving part 110 and the grasping part 200, the Hall sensor can generate a signal; and the relative displacement between the two can also be detected by arranging eddy current displacement sensors on the driving part 110 and the grasping part 200.

[0035] It should be understood that the grasping device referred to in this embodiment can grasp the workpiece in a variety of ways, such as through a suction nozzle 280 connected to the driving unit 110 or a grasping robot. When using the suction nozzle 280, maintaining the same height of grasping can ensure that the grasping performance of the same batch of parts is maintained at a good effect. When using a gripper, the grasping effect can also be guaranteed by setting the motion trajectory of the gripper to avoid repeated distance measurement when grasping the same batch of parts.

[0036] like Figure 2 As shown, the sensing device includes a first contact 120 arranged on the driving part 110, and a second contact 230 arranged on the grasping part 200. When the grasping part 200 is stationary relative to the driving part 110, the first contact 120 and the second contact 230 abut against each other. At this time, the grasping part 200 can rely on its own gravity to make the first contact 120 and the second contact 230 stably abut against each other when the driving part 110 and the grasping part 200 are relatively stationary, thereby reducing the generation of false signals.

[0037] Furthermore, in order to reduce the influence of the rigidity of the connection part on the sensing result during the fixed connection, the gripping part 200 is slidably connected to the driving part 110, and the gripping part 200 can slide up and down relative to the driving part 110; Figure 3 , Figure 4 As shown, upper and lower colored slide rails 140 may be provided on the driving portion 110 , and a slider 240 slidably matched with the slide rail 140 may be provided on the grabbing portion 200 .

[0038] like Figure 1 As shown, in order to prevent the first contact 120 and the second contact 230 from being easily separated due to insufficient abutment force between them, thus transmitting a false signal, a first spring 130 is connected between the driving portion 110 and the grasping portion 200, and the first spring 130 can make the first contact 120 and the second contact 230 abut against each other; wherein the first spring 130 is preferably a compression spring.

[0039] In order to ensure the measurement accuracy of the first contact 120 and the second contact 230, and to ensure that relative displacement between the grasping part 200 and the driving part 110 can be detected in time, the first contact 120 and the second contact 230 can be set as spherical contacts, so that the first contact 120 and the second contact 230 are in point contact when they abut, thereby increasing the detection accuracy.

[0040] like Figure 1 , Figure 4 As shown, the grasping device includes a movable plate 210 connected to the driving part 110, and an air inlet connector 250 and a suction nozzle 280 are provided on the movable plate 210, and the air inlet connector 250 connects the suction nozzle 280 and the air extraction device; when grasping, the air extraction device can be controlled to extract air through the air inlet connector 250 and the suction nozzle 280, so that the suction nozzle 280 grasps the workpiece to be grasped.

[0041] like Figure 2 As shown, a connection block 220 is connected above the movable plate 210 , and a second contact 230 is disposed on the connection block 220 .

[0042] As shown in Figure 4, in order to better grasp different workpieces, the suction nozzle 280 and the air inlet connector 250 are detachably connected; when it is necessary to adapt to different workpieces, the suction nozzle 280 only needs to be disassembled and replaced with a different type of suction nozzle 280, wherein the suction nozzle 280 can be detachably connected to the air inlet connector 250 in a variety of ways, such as by setting a pipe thread connection between the suction nozzle 280 and the air inlet connector 250, or by setting a magnet and a sealing ring on the suction nozzle 280, fixing the suction nozzle 280 on the air inlet connector 250 by magnetic force, etc.

[0043] like Figure 4As shown, a motor 260 is provided on the movable plate 210, and the motor 260 drives and is connected to a mounting seat 270, and the mounting seat 270 is connected to a suction nozzle 280, and the air inlet connector 250 is connected to the mounting seat 270, and the air inlet connector 250 is a rotary joint; wherein, the rotating shaft of the motor 260 is a hollow shaft, which is used to connect the air inlet connector 250 and the mounting seat 270, and when the suction nozzle 280 sucks the workpiece, the motor 260 can be controlled to rotate so that the workpiece is rotated to a suitable position, so as to facilitate the use of the next process; wherein, the rotary joint can adopt the rotary joint known in the prior art.

[0044] In order to identify the rotational position of the suction nozzle 280, the gripping device may further include a position sensor 310, which is used to measure the rotational position of the mounting base 270; wherein, the position sensor 310 may use a variety of means to detect the rotational position of the suction nozzle 280, such as by providing a notched baffle on the rotating part of the rotary joint and a photoelectric switch provided on one side of the baffle, and by triggering the photoelectric switch, determining the notch position and further determining the position of the suction nozzle 280; it may also be achieved by providing an encoder on the rotating part.

[0045] This embodiment also provides a grasping method, including the following steps: controlling the driving device so that the driving part 110 and the grasping part 200 move downward; when the sensing device senses that the driving part 110 and the grasping part 200 have a relative displacement, stopping the driving device and recording the height to which the driving part 110 has descended; obtaining the grasping height by the height to which the driving part 110 has descended, and grasping is performed.

[0046] The grabbing height may be directly equal to the height to which the driving unit 110 descends, or the distance may be appropriately corrected according to the descending height to ensure that the suction nozzle 280 does not hinder the transportation of the workpiece when sucking the workpiece.

[0047] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A gripping device, characterized in that: include: A driving unit (110), used for connecting to an external driving device; A gripping portion (200), connected to the driving portion (110), and used for gripping a workpiece to be gripped; A sensing device, used for sensing the relative displacement between the driving portion (110) and the grasping portion (200); The sensing device comprises a first contact (120) arranged on the driving portion (110), and a second contact (230) arranged on the grasping portion (200); when the driving portion (110) is stationary relative to the grasping portion (200), the first contact (120) and the second contact (230) are in abutment with each other; The gripping portion (200) is slidably connected to the driving portion (110), and the gripping portion (200) is capable of sliding up and down relative to the driving portion (110); A first spring (130) is connected between the driving portion (110) and the grabbing portion (200), and the first spring (130) can cause the first contact (120) and the second contact (230) to abut against each other.

2. The gripping device according to claim 1, characterized in that: The first contact (120) and the second contact (230) are both ball-type contacts.

3. The gripping device according to claim 1, characterized in that: The grasping device comprises a movable plate (210) connected to the driving part (110), an air intake joint (250) and a suction nozzle (280) being provided on the movable plate (210), and the air intake joint (250) is connected to the suction nozzle (280) and an air extraction device.

4. The gripping device according to claim 3, characterized in that: The suction nozzle (280) and the air inlet connector (250) are detachably connected.

5. The gripping device according to claim 3, characterized in that: The movable plate (210) is provided with a motor (260), the motor (260) is driven and connected to a mounting seat (270), the mounting seat (270) is connected to the suction nozzle (280), the air intake joint (250) is connected to the mounting seat (270), and the air intake joint (250) is a rotary joint.

6. The gripping device according to claim 5, characterized in that: Also included is a position sensor (310), wherein the position sensor (310) is used to measure the rotational position of the mounting seat (270).

7. A grasping method, using the grasping device according to any one of claims 1 to 6, characterized in that: The steps include: Controlling the driving device so that the driving portion (110) and the grasping portion (200) move downward; When the sensing device senses that the driving portion (110) and the grasping portion (200) have generated a relative displacement, the driving device is stopped, and the height to which the driving portion (110) has descended is recorded; The grasping height is obtained by the descending height of the driving part (110), and grasping is performed.

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