Grabbing device and grasping method thereof

Abstract

The present application provides a grasping device and a grasping method thereof, the grasping device comprises: a base frame and a plurality of clamping and suction combined material-grabbing mechanisms, the clamping and suction combined material-grabbing mechanisms comprising a first lifting mounting seat, a first lifting drive mechanism, a second lifting mounting seat, a second lifting drive mechanism, a third lifting mounting seat, a third lifting drive mechanism, a clamping mechanism and a material-grabbing insert, the first lifting drive mechanism is arranged on the base frame, the first lifting mounting seat is connected to the drive end of the first lifting drive mechanism; the second lifting mounting seat is connected to the drive end of the second lifting drive mechanism, the clamping mechanism is arranged on the second lifting mounting seat, and a clamping area that opens and closes horizontally is formed on the clamping mechanism; the third lifting mounting seat is connected to the drive end of the third lifting drive mechanism; the upper end of the material-grabbing insert is vertically fixed on the third lifting mounting seat, the lower end of the material-grabbing insert is vertically inserted into the clamping area with a gap, and a vacuum guide channel that is vertically penetrated is formed in the material-grabbing insert.

Description

Technical Field

[0001] The present application relates to the technical field of material grabbing, and in particular to a grabbing device and a grabbing method thereof. Background Art

[0002] As we all know, with the continuous development of science and technology, communication products, electronic equipment, medical equipment, heaters, air conditioners and other instruments and equipment have undergone tremendous development. In particular, these instruments and equipment are equipped with miniature cooling fans. Therefore, the demand for cooling fans is getting higher and higher with the development of science and technology.

[0003] Among them, Figure 1 and Figure 2 As shown, in the fan production process, it is necessary to assemble the four assembly parts of the fan, namely, the wear-resistant sheet 202a, the retaining ring 201a, the annular gasket 201b and the bearing 201c, one by one on the middle frame 300 of the fan. In the traditional fan assembly equipment, the assembly process generally needs to be completed one by one in four different assembly stations to assemble the wear-resistant sheet 202a, the retaining ring 201a, the annular gasket 201b and the bearing 201c one by one, that is, the wear-resistant sheet 202a is first transferred to the inner hole 301 of the middle tube of the middle frame 300 at the first assembly station, and then the retaining ring 201a is transferred to the inner hole 301 of the middle tube of the middle frame 300 at the second assembly station. The annular gasket 201b is then transferred and placed into the inner hole 301 of the middle tube of the middle frame 300 at the third assembly station, and finally the bearing 201c is transferred and placed into the inner hole 301 of the middle tube of the middle frame 300 at the fourth assembly station; or the wear-resistant sheet 202a, the retaining ring 201a, the annular gasket 201b and the bearing 201c are repeatedly grabbed and transferred by the robot and placed one by one into the inner hole 301 of the middle tube of the middle frame 300 at the same assembly station, and finally the wear-resistant sheet 202a, the retaining ring 201a, the annular gasket 201b and the bearing 201c are assembled one by one from bottom to top in the inner hole of the middle frame 300 of the fan.

[0004] Therefore, each assembly part needs to be transferred and assembled separately, and multiple transfers and assemblies are required to complete the assembly process of a middle frame 300. The assembly efficiency is extremely low, the production capacity is severely limited, the production cost remains high, and it is difficult to adapt to large-scale production needs.

[0005] Therefore, there is an urgent need for a grasping device and a grasping method thereof to overcome the above-mentioned problems. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a gripping device, which has the advantages of high assembly efficiency, ability to improve production capacity, ability to reduce production costs and ability to adapt to large-scale production needs.

[0007] Another object of an embodiment of the present application is to provide a grasping method for a grasping device, which has the advantages of high assembly efficiency, ability to improve production capacity, ability to reduce production costs and ability to adapt to large-scale production needs.

[0008] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a gripping device, including: a base frame and a plurality of clamping and suction combined material picking mechanisms, the clamping and suction combined material picking mechanisms including: a first lifting mounting seat, a first lifting drive mechanism, a second lifting mounting seat, a second lifting drive mechanism, a third lifting mounting seat, a third lifting drive mechanism, a clamping mechanism and a material picking tube, the first lifting mounting seat vertically moves on the base frame, the first lifting drive mechanism is arranged on the base frame, the first lifting mounting seat is connected to the drive end of the first lifting drive mechanism; the second lifting mounting seat vertically moves on the first lifting mounting seat, the second lifting drive mechanism is arranged on the first lifting mounting seat, the third lifting mounting seat is connected to the drive end of the first lifting drive mechanism; the second lifting mounting seat vertically moves on the first lifting mounting seat, the second lifting drive mechanism is arranged on the first lifting mounting seat, The second lifting mount is connected to the driving end of the second lifting drive mechanism; the clamping mechanism is arranged on the second lifting mount, and a clamping area that opens and closes horizontally is formed on the clamping mechanism; the third lifting mount moves vertically on the first lifting mount, and the third lifting drive mechanism is arranged on the first lifting mount, and the third lifting mount is connected to the driving end of the third lifting drive mechanism; the upper end of the material picking plug is vertically fixed on the third lifting mount, and the lower end of the material picking plug is vertically inserted into the clamping area with a gap, and a vacuum guide channel that is vertically penetrated is formed in the material picking plug, and the upper end of the vacuum guide channel is connected to an external vacuum device.

[0009] Optionally, the clamping mechanism includes: a pneumatic finger, a first clamping member and a second clamping member, the pneumatic finger is fixed on the second lifting mounting seat, the first clamping member and the second clamping member are respectively fixed on the two opening and closing driving ends of the pneumatic finger, and the first clamping member and the second clamping member are arranged horizontally for opening and closing.

[0010] Optionally, a first clamping groove vertically extending through the first clamping member is formed, and a second clamping groove vertically extending through the second clamping member is formed, the first clamping groove and the second clamping groove are arranged opposite to each other, and the clamping area is formed between the first clamping groove and the second clamping groove.

[0011] Optionally, the first clamping groove and the second clamping groove are both in an arc surface structure.

[0012] Optionally, a first arc-shaped guide slope is formed at the lower end of the first clamping groove, and the first arc-shaped guide slope is arranged to be inclined from top to bottom in a direction away from the material extraction plug; a second arc-shaped guide slope is formed at the lower end of the second clamping groove, and the second arc-shaped guide slope is arranged to be inclined from top to bottom in a direction away from the material extraction plug.

[0013] Optionally, the lower end of the first clamping groove protrudes toward the material picking tube to form a first arc-shaped load-bearing step, and the first arc-shaped guide slope is located above the first arc-shaped guide slope; the lower end of the second clamping groove protrudes toward the material picking tube to form a second arc-shaped load-bearing step, and the second arc-shaped guide slope is located above the second arc-shaped guide slope; the first arc-shaped load-bearing step is opposite to the second arc-shaped load-bearing step.

[0014] Optionally, the first lifting drive mechanism includes a first linear drive, the first linear drive is vertically fixed on the base frame, and the first lifting mounting seat is fixedly connected to the driving end of the first linear drive.

[0015] Optionally, the second lifting drive mechanism includes a second linear driver, the second linear driver is vertically fixed on the first lifting mounting seat, and the second lifting mounting seat is fixedly connected to the driving end of the second linear driver.

[0016] Optionally, the third lifting drive mechanism includes a third linear driver, the third linear driver is vertically fixed on the first lifting mounting seat, and the third lifting mounting seat is fixedly connected to the driving end of the third linear driver.

[0017] A second aspect of the embodiments of the present application provides a grasping method of the grasping device as described in any one of the above items, which is suitable for grasping a plurality of porous materials and an adsorbable material one by one, wherein the porous material has a through hole for the material taking insert tube to slide through, and the adsorbable material can be vacuum adsorbed by the lower end of the vacuum guide channel; the grasping method specifically comprises the following steps:

[0018] (1) The grabbing device is moved to a position where the material taking insert is located directly above the through hole on the porous material to be grabbed, and the third lifting drive mechanism drives the third lifting mounting seat to drive the material taking insert to move downward until it extends out of the clamping area;

[0019] (2) the first lifting drive mechanism drives the first lifting mounting seat to move downward until the lower end of the material taking insertion tube is inserted into the through hole on the porous material to be grasped, and at the same time, the clamping mechanism is opened to an open state to prevent the porous material to be grasped from entering the clamping area;

[0020] (3) the clamping mechanism is closed to a clamping state to clamp the porous material to be grasped in the clamping area;

[0021] (4) The first lifting drive mechanism drives the first lifting mounting seat to move upward to take away the porous material to be grasped;

[0022] (5) executing the above steps (1) to (4) to grab the next porous material to be grabbed one by one, the grabbed materials are sleeved on the material taking insert tube one by one in a string, and the porous material grabbed later is located below the porous material grabbed earlier, and the clamping mechanism at least clamps the porous material located at the bottom on the material taking insert tube;

[0023] (6) determining whether the number of the porous materials arranged in a string on the material taking insert tube reaches a preset number; if not, executing step (5); if yes, executing step (7);

[0024] (7) The grabbing device is moved until the material taking insert is located directly above the absorbable material to be grabbed, and the third lifting drive mechanism drives the third lifting mounting seat to drive the material taking insert to move downward until it extends out of the clamping area;

[0025] (8) The first lifting drive mechanism drives the first lifting mounting seat to move downward until the lower end of the vacuum guide channel contacts the upper surface of the absorbable material to be grasped;

[0026] (9) The vacuum device connected to the vacuum guide channel starts vacuum extraction, so that the lower end of the vacuum guide channel vacuum absorbs the absorbable material to be grasped;

[0027] (10) The first lifting drive mechanism drives the first lifting mounting seat to move upward to remove the adsorbable material;

[0028] (11) The clamping mechanism is opened to an open state to separate from all the porous materials arranged in a series on the material extraction plug tube, and all the porous materials arranged in a series on the material extraction plug tube fall onto the absorbable material;

[0029] (12) The second lifting drive mechanism drives the second lifting mount to drive the clamping mechanism to move upward until the clamping area moves upward away from all the porous materials that are stringed on the material extraction tube, so that an external CCD camera can take horizontal photos to detect whether the number of the porous materials that are stringed on the material extraction tube is the above-mentioned preset number, and to detect whether the lower end of the vacuum guide channel has adsorbed the adsorbable material.

[0030] The clamping and suction combined material-retrieving mechanism of the grabbing device of the present application includes: a first lifting mounting seat, a first lifting drive mechanism, a second lifting mounting seat, a second lifting drive mechanism, a third lifting mounting seat, a third lifting drive mechanism, a clamping mechanism and a material-retrieving insert, the first lifting mounting seat is vertically moved on the base frame, the first lifting drive mechanism is arranged on the base frame, and the first lifting mounting seat is connected to the driving end of the first lifting drive mechanism; the second lifting mounting seat is vertically moved on the first lifting mounting seat, the second lifting drive mechanism is arranged on the first lifting mounting seat, and the second lifting mounting seat is connected to the driving end of the second lifting drive mechanism. The driving end of the driving mechanism; the clamping mechanism is arranged on the second lifting mounting seat, and a clamping area that opens and closes horizontally is formed on the clamping mechanism; the third lifting mounting seat moves vertically on the first lifting mounting seat, the third lifting driving mechanism is arranged on the first lifting mounting seat, and the third lifting mounting seat is connected to the driving end of the third lifting driving mechanism; the upper end of the material taking plug is vertically fixed on the third lifting mounting seat, and the lower end of the material taking plug is vertically inserted into the clamping area with a gap, and a vacuum guide channel arranged vertically through is formed in the material taking plug, and the upper end of the vacuum guide channel is connected to an external vacuum device. Then, the grasping device of the present application is moved to the point where the material taking plug is located directly above the through hole on the porous material to be grasped, and the third lifting driving mechanism drives the third lifting mounting seat to drive the material taking plug to move downward until it extends out of the clamping area. Then, the first lifting drive mechanism drives the first lifting mount to move downward until the lower end of the material taking plug is inserted into the through hole on the above-mentioned porous material to be grabbed, and at the same time, the clamping mechanism is opened to an open state to avoid the above-mentioned porous material to be grabbed from entering the clamping area. Then, the clamping mechanism is closed to a clamping state to clamp the above-mentioned porous material to be grabbed in the clamping area. Then, the first lifting drive mechanism drives the first lifting mount to move upward to take away the above-mentioned porous material to be grabbed. Then, the above steps are repeated to grab the next porous material to be grabbed one by one, and the grabbed materials are sleeved on the material taking plug one by one in a series, and the porous material grabbed later is located below the porous material grabbed earlier, and the clamping mechanism at least clamps the porous material located at the bottom of the material taking plug; until the number of porous materials sleeved on the material taking plug in a series reaches a preset number. Then, the grabbing device of the present application is moved to the point where the material taking plug is located directly above the adsorbable material to be grabbed, and the third lifting drive mechanism drives the third lifting mount to drive the material taking plug to move downward until it extends out of the clamping area. Next, the first lifting drive mechanism drives the first lifting mount to move downward until the lower end of the vacuum guide channel contacts the upper surface of the adsorbable material to be grabbed, and then the vacuum device connected to the vacuum guide channel starts vacuum extraction, so that the lower end of the vacuum guide channel vacuum adsorbs the adsorbable material to be grabbed. Then, the first lifting drive mechanism drives the first lifting mount to move upward to remove the adsorbable material.Next, the clamping mechanism is opened to an open state to separate from all the porous materials that are arranged in a string on the material taking plug tube, and all the porous materials that are arranged in a string on the material taking plug tube fall onto the absorbable material. Then, the second lifting drive mechanism drives the second lifting mounting seat to drive the clamping mechanism to move upward until the clamping area moves upward away from all the porous materials that are arranged in a string on the material taking plug tube, so that the external CCD camera can shoot horizontally to detect whether the number of porous materials arranged in a string on the material taking plug tube is the above-mentioned preset number, and whether the lower end of the vacuum guide channel is adsorbed with absorbable materials, so as to prevent accidental omission of grabbing. Thus, it is possible to grab a number of porous materials and an absorbable material that need to be assembled in a string at one time, and then transfer them to the required assembly station at one time, which can be completed at one time without the need to grab and transfer them in multiple times, so that the assembly efficiency is greatly improved, the production capacity is also greatly improved, the production cost is reduced, and it can better meet the needs of mass production. Correspondingly, the grasping method of the grasping device of the present application has the advantages of high assembly efficiency, ability to improve production capacity, ability to reduce production costs and ability to adapt to large-scale production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The present invention is a combined three-dimensional schematic diagram of a wear-resistant sheet, a retaining ring, an annular gasket, a bearing and a middle frame of a fan in the prior art.

[0032] Figure 2 for Figure 1 Schematic diagram of the decomposition.

[0033] Figure 3 It is a combined three-dimensional schematic diagram of the grasping device in the embodiment of the present application.

[0034] Figure 4 It is a combined three-dimensional schematic diagram of the clamping and suction combined material-retrieving mechanism of the gripping device in the embodiment of the present application when it is unloaded.

[0035] Figure 5 for Figure 4 Left view of .

[0036] Figure 6 It is a combined three-dimensional schematic diagram of the clamping and suction combined material-grabbing mechanism of the grabbing device in the embodiment of the present application grabbing a plurality of porous materials and an adsorbable material.

[0037] Figure 7 for Figure 6 A schematic diagram of the combination when the clamping area moves upward and away from all the porous materials that are arranged in a string on the material extraction plug tube.

[0038] Figure 8 It is a schematic diagram of the three-dimensional structure of the material taking insertion tube of the grabbing device in the embodiment of the present application.

[0039] Fig. 9 It is a schematic diagram of the three-dimensional structure of the first clamping member of the gripping device in the embodiment of the present application.

[0040] Fig.10 It is a schematic diagram of the three-dimensional structure of the second clamping member of the gripping device in the embodiment of the present application.

[0041] Fig.11 It is a flowchart of the grasping method of the grasping device in the embodiment of the present application. DETAILED DESCRIPTION

[0042] The present application is further described below in conjunction with the accompanying drawings and preferred embodiments, but the implementation methods of the present application are not limited thereto.

[0043] See also Figures 3 to 8The gripping device 100 of the present application includes: a base frame 10 and a plurality of clamping and suction combined material-retrieving mechanisms 20. The clamping and suction combined material-retrieving mechanisms 20 include: a first lifting mounting seat 21, a first lifting drive mechanism (not marked in the figure), a second lifting mounting seat 23, a second lifting drive mechanism (not marked in the figure), a third lifting mounting seat 25, a third lifting drive mechanism (not marked in the figure), a clamping mechanism 27 and a material-retrieving insert 28. The first lifting mounting seat 21 moves vertically on the base frame 10. The first lifting drive mechanism is arranged on the base frame 10. The first lifting mounting seat 21 is connected to the driving end of the first lifting drive mechanism so as to drive the first lifting mounting seat 21 to move vertically up and down through the first lifting drive mechanism. The second lifting mounting seat 23 moves vertically on the first lifting mounting seat 21. The second lifting drive mechanism is arranged on the first lifting mounting seat 21. The second lifting mounting seat 23 is connected to the driving end of the second lifting drive mechanism so as to drive the second lifting mounting seat 23 to move vertically up and down through the second lifting drive mechanism. The clamping mechanism 27 is arranged on the second lifting mount 23, and a clamping area 271 is formed on the clamping mechanism 27 and is opened and closed horizontally. The third lifting mount 25 moves vertically on the first lifting mount 21, and the third lifting drive mechanism is arranged on the first lifting mount 21. The third lifting mount 25 is connected to the drive end of the third lifting drive mechanism, so that the third lifting mount 25 is driven to move vertically up and down by the third lifting drive mechanism. The upper end of the material taking insertion tube 28 is vertically fixed on the third lifting mount 25, and the lower end of the material taking insertion tube 28 is vertically inserted into the clamping area 271 with a gap, and a vacuum guide channel 281 is formed in the material taking insertion tube 28 and is arranged vertically through, and the upper end of the vacuum guide channel 281 is connected to an external vacuum device. The grabbing device 100 of the present application is suitable for grabbing a plurality of porous materials 201 and an absorbable material 202 one by one. The porous material 201 has a through hole for the material taking insert 28 to slide through, and the absorbable material 202 can be vacuum-absorbed by the lower end of the vacuum guide channel 281. Then, the grabbing device 100 of the present application is moved to the point where the material taking insert 28 is located directly above the through hole on the porous material 201 to be grabbed, and the third lifting drive mechanism drives the third lifting mounting seat 25 to drive the material taking insert 28 to move downward to the point where it extends out of the clamping area 271 (such as Figure 4 and Figure 5Then, the first lifting drive mechanism drives the first lifting mount 21 to move downward until the lower end of the material taking insertion tube 28 is inserted into the through hole on the porous material 201 to be grasped, and at the same time, the clamping mechanism 27 is opened to an open state to prevent the porous material 201 to be grasped from entering the clamping area 271. Then, the clamping mechanism 27 is closed to a clamping state to clamp the porous material 201 to be grasped in the clamping area 271. Then, the first lifting drive mechanism drives the first lifting mount 21 to move upward to take away the porous material 201 to be grasped. Then, the above steps are repeated to grab the next porous material 201 to be grabbed one by one, and the grabbed materials are sleeved on the material taking plug 28 in a string one by one, and the porous material 201 grabbed later is located below the porous material 201 grabbed earlier, and the clamping mechanism 27 at least clamps the porous material 201 located at the bottom of the material taking plug 28; until the number of porous materials 201 sleeved on the material taking plug 28 in a string reaches a preset number. Then, the grabbing device 100 of the present application is moved to the point where the material taking plug 28 is located directly above the absorbable material 202 to be grabbed, and the third lifting drive mechanism drives the third lifting mounting seat 25 to drive the material taking plug 28 to move downward until it extends out of the clamping area 271. Next, the first lifting drive mechanism drives the first lifting mounting seat 21 to move downward until the lower end of the vacuum guide channel 281 contacts the upper surface of the adsorbable material 202 to be grasped, and then the vacuum device connected to the vacuum guide channel 281 starts vacuum extraction, so that the lower end of the vacuum guide channel 281 vacuum absorbs the adsorbable material 202 to be grasped (such as Figure 6 Then, the first lifting drive mechanism drives the first lifting mount 21 to move upward to remove the adsorbable material 202. Next, the clamping mechanism 27 is opened to an open state to separate from all the porous materials 201 that are stringed through the material taking insert 28, and all the porous materials 201 that are stringed through the material taking insert 28 fall down to be supported on the adsorbable material 202. Then, the second lifting drive mechanism drives the second lifting mount 23 to drive the clamping mechanism 27 to move upward until the clamping area 271 moves upward away from all the porous materials 201 that are stringed through the material taking insert 28 (as shown in FIG. 1 ). Figure 7As shown), an external CCD camera can shoot horizontally to detect whether the number of porous materials 201 inserted in a string on the material taking tube 28 is the above-mentioned preset number, and whether the lower end of the vacuum guide channel 281 is adsorbed with adsorbable material 202, so as to prevent accidental omission of grabbing. Thus, it is possible to grab a number of porous materials 201 and an adsorbable material 202 required for assembly in a one-time manner, and then transfer them to the required assembly station at one time, which can be completed in one time without the need to grab and transfer them in multiple times, which greatly improves the assembly efficiency and production capacity, reduces production costs, and can better meet the needs of large-scale production. Specifically, as follows:

[0044] See also Figure 4 and Figure 5 The clamping mechanism 27 includes: a pneumatic finger 272, a first clamping member 273 and a second clamping member 274. The pneumatic finger 272 is fixed on the second lifting mounting seat 23. The first clamping member 273 and the second clamping member 274 are respectively fixed on the two opening and closing driving ends of the pneumatic finger 272, and the first clamping member 273 and the second clamping member 274 are arranged to open and close horizontally. Therefore, the pneumatic finger 272 drives the first clamping member 273 and the second clamping member 274 to open and close horizontally, thereby realizing the loosening or clamping operation of the porous material 201, and the structure is simple and reasonable.

[0045] See also Figure 4 , Fig. 9 and Fig.10 The first clamping member 273 is formed with a first clamping groove 2731 which is vertically penetrated, and the second clamping member 274 is formed with a second clamping groove 2741 which is vertically penetrated. The first clamping groove 2731 and the second clamping groove 2741 are arranged opposite to each other, and the clamping area 271 is formed between the first clamping groove 2731 and the second clamping groove 2741. The porous material 201 is more stably and reliably clamped between the first clamping groove 2731 and the second clamping groove 2741 to prevent the porous material 201 from accidentally escaping from the clamping area 271. Optionally, the first clamping groove 2731 and the second clamping groove 2741 are both in an arc structure, so as to better closely contact and cooperate with the side of the porous material 201, and the structure is more reasonable.

[0046] Furthermore, a first arc-shaped guiding slope 2732 is formed at the lower end of the first clamping groove 2731, and the first arc-shaped guiding slope 2732 is arranged to be inclined from top to bottom away from the material taking insertion tube 28; a second arc-shaped guiding slope 2742 is formed at the lower end of the second clamping groove 2741, and the second arc-shaped guiding slope 2742 is arranged to be inclined from top to bottom away from the material taking insertion tube 28. Through the guiding effect of the first arc-shaped guiding slope 2732 and the second arc-shaped guiding slope 2742, the porous material 201 can enter the clamping area 271 more smoothly and conveniently.

[0047] Furthermore, the lower end of the first clamping groove 2731 protrudes toward the material taking insertion tube 28 to form a first arc-shaped bearing step 2733, and the first arc-shaped guiding slope 2732 is located above the first arc-shaped guiding slope 2732; the lower end of the second clamping groove 2741 protrudes toward the material taking insertion tube 28 to form a second arc-shaped bearing step 2743, and the second arc-shaped guiding slope 2743 is located above the second arc-shaped guiding slope 2742; the first arc-shaped bearing step 2733 is opposite to the second arc-shaped bearing step 2743. Through the bearing effect of the first arc-shaped bearing step 2733 and the second arc-shaped bearing step 2743, the porous material 201 at the bottom can be prevented from accidentally falling downward, so that the porous material 201 can be clamped in the clamping area 271 more stably and securely, and the structure is more reasonable.

[0048] See also Figure 4 and Figure 5 In this embodiment, the first lifting drive mechanism includes a first linear driver 221. The first linear driver 221 can be selected as a cylinder, but is not limited to this. The first linear driver 221 is vertically fixed on the base frame 10, and the first lifting mount 21 is fixedly connected to the driving end of the first linear driver 221, so that the first lifting mount 21 can be driven to move vertically up and down by the first linear driver 221, and the structure is simple and reasonable.

[0049] Furthermore, in this embodiment, the second lifting drive mechanism includes a second linear driver 241, and the second linear driver 241 can be selected as a cylinder, but is not limited to this. The second linear driver 241 is vertically fixed on the first lifting mounting seat 21, and the second lifting mounting seat 23 is fixedly connected to the driving end of the second linear driver 241, so that the second lifting mounting seat 23 can be driven to move vertically up and down by the second linear driver 241, and the structure is simple and reasonable.

[0050] Furthermore, in this embodiment, the third lifting drive mechanism includes a third linear driver 261, and the third linear driver 261 can be selected as a cylinder, but is not limited to this. The third linear driver 261 is vertically fixed on the first lifting mounting seat 21, and the third lifting mounting seat 25 is fixedly connected to the driving end of the third linear driver 261, so that the second lifting mounting seat 23 can be driven to move vertically up and down through the third linear driver 261, and the structure is simple and reasonable.

[0051] See also Figure 3Optionally, in this embodiment, three clamping and suction combined material-retrieving mechanisms 20 are provided on the base frame 10, and the three clamping and suction combined material-retrieving mechanisms 20 are evenly distributed on the base frame 10 around a circumferential direction. The three clamping and suction combined material-retrieving mechanisms 20 can perform the grasping operation synchronously, which greatly improves the operation efficiency. Of course, the number of the clamping and suction combined material-retrieving mechanisms 20 provided on the base frame 10 is not limited thereto. In other embodiments, those skilled in the art can flexibly select according to actual use requirements, which are all within the protection scope of this application, so they will not be described one by one here.

[0052] See also Fig.11 The grabbing method 100' of the grabbing device of the present application uses the grabbing device 100 to complete the grabbing operation of grabbing a plurality of porous materials 201 and an adsorbable material 202 one by one, which specifically includes the following steps:

[0053] ( S001 ) The grabbing device 100 is moved to a position where the material taking insertion tube 28 is located directly above the through hole on the porous material 201 to be grabbed, and the third lifting drive mechanism drives the material taking insertion tube 28 to move downward until it extends out of the clamping area 271 .

[0054] (S002) The first lifting drive mechanism drives the first lifting mounting seat 21 to move downward until the lower end of the material picking tube 28 is inserted into the through hole on the porous material 201 to be grasped. At the same time, the clamping mechanism 27 is opened to an open state to prevent the porous material 201 to be grasped from entering the clamping area 271.

[0055] ( S003 ) The clamping mechanism 27 is closed to a clamping state to clamp the porous material 201 to be grasped in the clamping area 271 .

[0056] (S004) The first lifting drive mechanism drives the first lifting mounting seat 21 to move upward to take away the porous material 201 to be grasped.

[0057] (S005) Execute the above steps (S001) to (S004) to grab the next porous material 201 to be grabbed one by one, and the grabbed materials are sleeved on the material picking tube 28 in a string one by one, and the porous material 201 grabbed later is located below the porous material 201 grabbed earlier, and the clamping mechanism 27 at least clamps the porous material 201 located at the bottom on the material picking tube 28.

[0058] (S006) Determine whether the number of the porous materials 201 arranged in a string on the material taking insert tube 28 reaches a preset number. If not, execute step (S005); if yes, execute step (S007).

[0059] ( S007 ) The grabbing device 100 is moved until the material taking insertion tube 28 is located directly above the absorbable material 202 to be grabbed, and the third lifting drive mechanism drives the material taking insertion tube 28 to move downward until it extends out of the clamping area 271 .

[0060] ( S008 ) The first lifting drive mechanism drives the first lifting mounting seat 21 to move downward until the lower end of the vacuum guide channel 281 contacts the upper surface of the absorbable material 202 to be grasped.

[0061] ( S009 ) The vacuum device connected to the vacuum guide channel 281 starts vacuum extraction, so that the lower end of the vacuum guide channel 281 vacuum absorbs the absorbable material 202 to be grasped.

[0062] ( S010 ) The first lifting drive mechanism drives the first lifting mounting seat 21 to move upward to remove the adsorbable material 202 .

[0063] (S011) The clamping mechanism 27 is opened to an open state to separate from all the porous materials 201 that are stringed through the material taking insertion tube 28, and all the porous materials 201 that are stringed through the material taking insertion tube 28 fall down to be carried on the adsorbable material 202.

[0064] (S012) The second lifting drive mechanism drives the second lifting mount 23 to drive the clamping mechanism 27 to move upward until the clamping area 271 moves upward away from all the porous materials 201 that are stringed through the material taking tube 28, so that the external CCD camera can take horizontal photos to detect whether the number of porous materials 201 that are stringed through the material taking tube 28 is the above-mentioned preset number, and to detect whether the lower end of the vacuum guide channel 281 is adsorbed with adsorbable material 202.

[0065] See also Figure 1 and Figure 2 For example, in this embodiment, the porous materials 201 captured one by one by this application can be selected as: the bearing 201c, the annular gasket 201b and the snap ring 201a stacked and assembled from top to bottom in the middle tube inner hole 301 of the fan middle frame 300, and the adsorbable material 202 is correspondingly selected as the wear-resistant sheet 202a that can be vacuum adsorbed and assembled in the middle tube inner hole 301 of the fan middle frame 300 and located below the snap ring 201a. It should be noted that the preset number of porous materials 201 that are stringed and inserted on the material extraction plug 28 can be flexibly selected according to the actual assembly requirements, and this application does not limit this, and is not limited to the above examples, so it will not be repeated here one by one.

[0066] Since the clamping and suction combined material-retrieving mechanism 20 of the gripping device 100 of the present application includes: a first lifting mounting seat 21, a first lifting drive mechanism, a second lifting mounting seat 23, a second lifting drive mechanism, a third lifting mounting seat 25, a third lifting drive mechanism, a clamping mechanism 27 and a material-retrieving insert 28, the first lifting mounting seat 21 is vertically moved on the base frame 10, the first lifting drive mechanism is arranged on the base frame 10, and the first lifting mounting seat 21 is connected to the driving end of the first lifting drive mechanism; the second lifting mounting seat 23 is vertically moved on the first lifting mounting seat 21, the second lifting drive mechanism is arranged on the first lifting mounting seat 21, and the second lifting mounting seat 23 is connected to the driving end of the second lifting drive mechanism. The clamping mechanism 27 is arranged on the second lifting mounting seat 23, and a clamping area 271 is formed on the clamping mechanism 27, which is opened and closed horizontally. The third lifting mounting seat 25 is vertically moved on the first lifting mounting seat 21, and the third lifting driving mechanism is arranged on the first lifting mounting seat 21. The third lifting mounting seat 25 is connected to the driving end of the third lifting driving mechanism. The upper end of the material taking plug 28 is vertically fixed on the third lifting mounting seat 25, and the lower end of the material taking plug 28 is vertically inserted into the clamping area 271 with a gap, and a vacuum guide channel 281 is formed in the material taking plug 28, and the upper end of the vacuum guide channel 281 is connected to an external vacuum device. Then, the grasping device 100 of the present application is moved to the point where the material taking plug 28 is located directly above the through hole on the porous material 201 to be grasped, and the third lifting driving mechanism drives the third lifting mounting seat 25 to drive the material taking plug 28 to move downward to extend out of the clamping area 271. Then, the first lifting drive mechanism drives the first lifting mount 21 to move downward until the lower end of the material taking insertion tube 28 is inserted into the through hole on the porous material 201 to be grasped, and at the same time, the clamping mechanism 27 is opened to an open state to prevent the porous material 201 to be grasped from entering the clamping area 271. Then, the clamping mechanism 27 is closed to a clamping state to clamp the porous material 201 to be grasped in the clamping area 271. Then, the first lifting drive mechanism drives the first lifting mount 21 to move upward to take away the porous material 201 to be grasped. Then, the above steps are repeated to grab the next porous material 201 to be grabbed one by one, and the grabbed materials are sleeved on the material taking plug 28 in a string one by one, and the porous material 201 grabbed later is located below the porous material 201 grabbed earlier, and the clamping mechanism 27 at least clamps the porous material 201 located at the bottom of the material taking plug 28; until the number of porous materials 201 sleeved on the material taking plug 28 in a string reaches a preset number. Then, the grabbing device 100 of the present application is moved to the point where the material taking plug 28 is located directly above the absorbable material 202 to be grabbed, and the third lifting drive mechanism drives the third lifting mounting seat 25 to drive the material taking plug 28 to move downward until it extends out of the clamping area 271.Next, the first lifting drive mechanism drives the first lifting mount 21 to move downward until the lower end of the vacuum guide channel 281 contacts the upper surface of the adsorbable material 202 to be grasped, and then the vacuum device connected to the vacuum guide channel 281 starts vacuum extraction, so that the lower end of the vacuum guide channel 281 vacuum-adsorbs the adsorbable material 202 to be grasped. Then, the first lifting drive mechanism drives the first lifting mount 21 to move upward to remove the adsorbable material 202. Next, the clamping mechanism 27 is opened to an open state to detach all the porous materials 201 that are stringed on the material taking insert 28, and all the porous materials 201 that are stringed on the material taking insert 28 fall down to be carried on the adsorbable material 202. Then, the second lifting drive mechanism drives the second lifting mounting seat 23 to drive the clamping mechanism 27 to move upward until the clamping area 271 moves upward away from all the porous materials 201 that are arranged in a string on the material taking insert 28, so that the external CCD camera can shoot horizontally to detect whether the number of porous materials 201 arranged in a string on the material taking insert 28 is the above-mentioned preset number, and whether the lower end of the vacuum guide channel 281 is adsorbed with adsorbable materials 202, so as to prevent accidental omission of grabbing. Thereby, it is possible to grab a plurality of porous materials 201 and an adsorbable material 202 that need to be assembled in a one-time manner, and then transfer them to the required assembly station at one time, which can be completed at one time without the need to grab and transfer them in multiple times, so that the assembly efficiency is greatly improved, the production capacity is also greatly improved, the production cost is reduced, and it can better adapt to the production needs of large quantities. Correspondingly, the grabbing method 100' of the grabbing device of the present application has the advantages of high assembly efficiency, ability to improve production capacity, ability to reduce production costs and ability to adapt to the production needs of large quantities.

[0067] The present application is described above in conjunction with the embodiments, but the present application is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations based on the essence of the present application.

Claims

1. A gripping device, characterized in that: include: A base frame and a plurality of clamping and sucking combined material-retrieving mechanisms, wherein the clamping and sucking combined material-retrieving mechanisms include: a first lifting mounting seat, a first lifting driving mechanism, a second lifting mounting seat, a second lifting driving mechanism, a third lifting mounting seat, a third lifting driving mechanism, a clamping mechanism and a material-retrieving insert, wherein the first lifting mounting seat vertically moves on the base frame, the first lifting driving mechanism is arranged on the base frame, the first lifting mounting seat is connected to the driving end of the first lifting driving mechanism; the second lifting mounting seat vertically moves on the first lifting mounting seat, the second lifting driving mechanism is arranged on the first lifting mounting seat, the second lifting mounting seat is connected to the driving end of the second lifting driving mechanism The third lifting mount is vertically moved on the first lifting mount, the third lifting drive mechanism is arranged on the first lifting mount, and the third lifting mount is connected to the drive end of the third lifting drive mechanism; the upper end of the material taking insertion tube is vertically fixed on the third lifting mount, the lower end of the material taking insertion tube is vertically inserted into the clamping area with a gap, a vacuum guide channel vertically penetratingly arranged is formed in the material taking insertion tube, and the upper end of the vacuum guide channel is connected to an external vacuum device; The clamping mechanism comprises: a pneumatic finger, a first clamping member and a second clamping member, the pneumatic finger is fixed on the second lifting mounting seat, the first clamping member and the second clamping member are respectively fixed on two opening and closing driving ends of the pneumatic finger, and the first clamping member and the second clamping member are arranged to open and close horizontally; The first clamping member is formed with a first clamping groove which is vertically penetrated, and the second clamping member is formed with a second clamping groove which is vertically penetrated, the first clamping groove and the second clamping groove are arranged opposite to each other, and the clamping area is formed between the first clamping groove and the second clamping groove; The first clamping groove and the second clamping groove both have an arc surface structure; A first arc-shaped guide slope is formed at the lower end of the first clamping groove, and the first arc-shaped guide slope is arranged to be inclined from top to bottom in a direction away from the material extraction insert tube; a second arc-shaped guide slope is formed at the lower end of the second clamping groove, and the second arc-shaped guide slope is arranged to be inclined from top to bottom in a direction away from the material extraction insert tube.

2. The gripping device according to claim 1, characterized in that The lower end of the first clamping groove protrudes toward the material extraction tube to form a first arc-shaped load-bearing step, and the first arc-shaped guide slope is located above the first arc-shaped guide slope; the lower end of the second clamping groove protrudes toward the material extraction tube to form a second arc-shaped load-bearing step, and the second arc-shaped guide slope is located above the second arc-shaped guide slope; the first arc-shaped load-bearing step is directly opposite to the second arc-shaped load-bearing step.

3. The gripping device according to claim 1, characterized in that: The first lifting drive mechanism includes a first linear driver, the first linear driver is vertically fixed on the base frame, and the first lifting mounting seat is fixedly connected to the driving end of the first linear driver.

4. The gripping device according to claim 1, characterized in that: The second lifting drive mechanism includes a second linear driver, the second linear driver is vertically fixed on the first lifting mounting seat, and the second lifting mounting seat is fixedly connected to the driving end of the second linear driver.

5. The gripping device according to claim 1, characterized in that: The third lifting drive mechanism includes a third linear driver, the third linear driver is vertically fixed on the first lifting mounting seat, and the third lifting mounting seat is fixedly connected to the driving end of the third linear driver.

6. A method for grasping a grasping device according to any one of claims 1 to 5, suitable for grasping a plurality of porous materials and an adsorbable material one by one, characterized in that: The porous material has a through hole for the material taking tube to slide through, and the absorbable material can be vacuum absorbed by the lower end of the vacuum guide channel; the grabbing method specifically includes the following steps: (1) The grabbing device is moved to a position where the material taking insert is located directly above the through hole on the porous material to be grabbed, and the third lifting drive mechanism drives the third lifting mounting seat to drive the material taking insert to move downward until it extends out of the clamping area; (2) The first lifting drive mechanism drives the first lifting mounting seat to move downward until the lower end of the material taking insertion tube is inserted into the through hole on the porous material to be grasped, and at the same time, the clamping mechanism is opened to an open state to prevent the porous material to be grasped from entering the clamping area; (3) The clamping mechanism is closed to a clamping state to clamp the porous material to be grasped in the clamping area; (4) The first lifting drive mechanism drives the first lifting mounting seat to move upward to take away the porous material to be grasped; (5) Execute the above steps (1) to (4) to grab the next porous material to be grabbed one by one, and the grabbed materials are sleeved on the material taking insert tube one by one in a string, and the porous material grabbed later is located below the porous material grabbed earlier, and the clamping mechanism at least clamps the porous material located at the bottom on the material taking insert tube; (6) Determine whether the number of the porous materials arranged in a string on the material extraction insert reaches a preset number; if not, execute step (5); if yes, execute step (7); (7) The grabbing device is moved until the material taking insert is located directly above the absorbable material to be grabbed, and the third lifting drive mechanism drives the third lifting mounting seat to drive the material taking insert to move downward until it extends out of the clamping area; (8) The first lifting drive mechanism drives the first lifting mounting seat to move downward until the lower end of the vacuum guide channel contacts the upper surface of the adsorbable material to be grasped; (9) The vacuum device connected to the vacuum guide channel starts vacuum extraction, so that the lower end of the vacuum guide channel vacuum absorbs the absorbable material to be grasped; (10) The first lifting drive mechanism drives the first lifting mounting seat to move upward to remove the adsorbable material; (11) The clamping mechanism is opened to an open state to separate from all the porous materials arranged in a string on the material extraction plug tube, and all the porous materials arranged in a string on the material extraction plug tube fall onto the absorbable material; (12) The second lifting drive mechanism drives the second lifting mount to drive the clamping mechanism to move upward until the clamping area moves upward away from all the porous materials that are stringed on the material extraction plug, so that an external CCD camera can take horizontal photos to detect whether the number of the porous materials that are stringed on the material extraction plug is the above-mentioned preset number, and to detect whether the lower end of the vacuum guide channel has adsorbed the adsorbable material.

Images