A nozzle assembly, a gripping device and a position adjustment method

Abstract

This application belongs to the field of workpiece gripping devices, and in particular relates to a nozzle assembly, a gripping device, and a position adjustment method. The nozzle assembly includes a positioning sleeve having a positioning cavity; a fixed nozzle connected to the positioning sleeve and having a first cavity; a movable nozzle having a second cavity, an adsorption end for adsorbing a workpiece, and a connection end for extending into the positioning cavity and connecting with the fixed nozzle to communicate the first cavity and the second cavity; a positioning member disposed in the positioning cavity, and the movable nozzle can move relative to the fixed nozzle and abut against the fixed nozzle under the action of the positioning member. The gripping device includes an adjustment mechanism and the above-mentioned nozzle assembly. The nozzle assembly, the gripping device, and the position adjustment method provided by this application use the adjustment mechanism to adjust the position of the nozzle assembly. At the same time, the movable nozzle in the nozzle assembly can maintain its current state under the action of its own positioning member, effectively preventing contamination or damage to the workpiece caused by direct contact, and improving the yield of the workpiece.

Description

Technical Field

[0001] This application belongs to the field of workpiece gripping devices, and more specifically, relates to a suction nozzle assembly, a gripping device, and a position adjustment method. Background Art

[0002] In industrial production, different workstations can process workpieces through different processes. The movement of workpieces between different workstations often requires the use of gripping devices or moving devices. According to the different gripping structures, gripping devices can generally be divided into types such as suction nozzle types, suction cup types, jaw types, and robotic arms. Among them, suction nozzle type and suction cup type gripping devices have the characteristics of low cost and good reliability, and are widely used in industrial production.

[0003] For existing suction nozzle type gripping devices, when the relative position between the product and the suction nozzle assembly deviates, generally, an adjustment mechanism is required to adjust the product to the correct position. During the process of adjusting the product, the adjustment mechanism usually needs to directly contact the product and directly apply an external force to the product to move the product to a position corresponding to the suction nozzle. However, when such suction nozzle type gripping devices are used to grip film-like products or products that cannot be directly contacted, due to the particularity of such products, manual gripping or contacting the product through the adjustment mechanism is likely to cause irreversible contamination to the product and even damage the product. Therefore, it is difficult for existing suction nozzle type gripping devices to achieve the position adjustment of such products. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a suction nozzle assembly, a gripping device, and a position adjustment method to solve the technical problem that the structure of the suction nozzle assembly in the prior art is difficult to meet the gripping requirements of special products such as film-like products.

[0005] To achieve the above purpose, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, the embodiments of this application provide a suction nozzle assembly, including:

[0007] A positioning sleeve having a positioning cavity;

[0008] A fixed suction nozzle connected to the positioning sleeve and having a first cavity;

[0009] A movable suction nozzle having a second cavity, an adsorption end for adsorbing a workpiece, and a connection end for extending into the positioning cavity and connecting with the fixed suction nozzle to communicate the first cavity and the second cavity; and,

[0010] A positioning member disposed in the positioning cavity, the movable suction nozzle being movable relative to the fixed suction nozzle and being able to abut against the fixed suction nozzle under the action of the positioning member.

[0011] Optionally, the side wall of the positioning cavity protrudes and extends towards the center to form a first protrusion, and the connecting end of the movable suction nozzle protrudes and extends outwards to form a second protrusion.

[0012] Optionally, the positioning member is an elastic member disposed between the first protrusion and the second protrusion. The positioning member is sleeved on the outer periphery of the movable suction nozzle, or the positioning member is disposed between the movable suction nozzle and the side wall of the positioning cavity.

[0013] Optionally, the positioning member includes a first magnetic member disposed on the first protrusion and a second magnetic member disposed on the second protrusion and repelling the first magnetic member so that the connecting end abuts against the fixed suction nozzle.

[0014] Optionally, the positioning member is an electromagnet disposed on the movable suction nozzle and / or the fixed suction nozzle, and the first protrusion and the second protrusion abut against each other when the electromagnet is powered off.

[0015] Optionally, the positioning member is a magnetic member disposed between the fixed suction nozzle and the movable suction nozzle and used to adsorb the connecting end of the movable suction nozzle to the fixed suction nozzle.

[0016] Optionally, the positioning member is a hydraulic rod and / or a pneumatic rod.

[0017] Optionally, a first trumpet groove is provided at one end of the first cavity close to the movable suction nozzle, and a second trumpet groove facing the first trumpet groove is provided at one end of the second cavity close to the fixed suction nozzle.

[0018] Optionally, the maximum radius of the first trumpet groove is greater than the maximum radius of the second trumpet groove.

[0019] Optionally, the difference between the maximum radii of the first trumpet groove and the second trumpet groove is greater than or equal to the minimum distance between the outer wall of the movable suction nozzle and the inner wall of the positioning cavity.

[0020] Optionally, one end of the fixed suction nozzle extends into the positioning cavity and is threadedly connected to the side wall of the positioning cavity.

[0021] The nozzle assembly provided by the embodiment of the present application has at least the following beneficial effects: Compared with the prior art, the nozzle assembly provided by the embodiment of the present application locates and fixes the nozzle and the movable nozzle through a positioning sleeve, and makes the connecting end of the movable nozzle abut against the fixed nozzle through a positioning member. When the nozzle assembly needs to be adjusted, the relative position or angle of the movable nozzle relative to the fixed nozzle can be adjusted by means of an external adjustment mechanism. After the position of the movable nozzle is adjusted, the external adjustment mechanism can be directly removed. At this time, the movable nozzle can maintain the current position state under the action of the positioning member and perform the workpiece grasping operation, realizing the adjustment of the relative position between the nozzle assembly and the workpiece without directly contacting the workpiece, effectively preventing the pollution or damage of the workpiece caused by direct contact, improving the workpiece yield, and effectively solving the problem that the relative position of products such as films that are not suitable for direct contact cannot be adjusted during the grasping process by the existing nozzle-type grasping devices.

[0022] In a second aspect, the embodiment of the present application further provides a grasping device, including the above-mentioned nozzle assembly and an adjustment mechanism for adjusting the relative position of the movable nozzle relative to the fixed nozzle.

[0023] The grasping device provided by the embodiment of the present application has at least the following beneficial effects: Compared with the prior art, the grasping device provided by the embodiment of the present application uses the above-mentioned nozzle assembly to grasp the workpiece. When the nozzle assembly needs to be adjusted, the adjustment mechanism can achieve the adjustment operation by moving or rotating the nozzle assembly, realizing the adjustment of the relative position between the nozzle assembly and the workpiece without directly contacting the workpiece, effectively preventing the pollution or damage of the workpiece caused by direct contact, improving the workpiece yield, and effectively solving the problem that the relative position of products such as films that are not suitable for direct contact cannot be adjusted during the grasping process by the existing nozzle-type grasping devices. And after the adjustment is completed, the movable nozzle can maintain the current state under the action of the positioning member without the need to rely on the adjustment mechanism, which is beneficial to simplifying the structural design of the nozzle assembly and is also beneficial to the maintenance and transformation of the grasping device.

[0024] In a third aspect, the embodiment of the present application further provides a position adjustment method, using the above-mentioned grasping device, including the following steps:

[0025] The adjustment mechanism acts on the movable nozzle to make the movable nozzle overcome the friction force with the fixed nozzle and move or rotate in a specified direction;

[0026] The adjustment mechanism stops acting on the movable nozzle, and the movable nozzle abuts against the fixed nozzle under the action of the positioning member.

[0027] The position adjustment method provided by the embodiments of the present application has at least the following beneficial effects: Compared with the prior art, the position adjustment method provided by the embodiments of the present application is used to adjust the above-mentioned grasping device. After the adjustment mechanism adjusts and withdraws the moving suction nozzle, the moving suction nozzle can be connected to the fixed suction nozzle under the action of the positioning member, realizing the adjustment of the relative position between the suction nozzle assembly and the workpiece, without directly contacting the workpiece, effectively preventing the pollution or damage of the workpiece caused by direct contact, improving the yield of the workpiece, effectively solving the problem that the relative position of products such as films that are not suitable for direct contact cannot be adjusted during the grasping process by the existing suction nozzle type grasping devices, and there is no need to rely on the adjustment mechanism to maintain the state, which is beneficial to simplifying the structure of the grasping device and operations such as maintenance and transformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 is a three-dimensional structural diagram of the suction nozzle assembly provided by the embodiments of the present application;

[0030] Figure 2 is an exploded structural diagram of the suction nozzle assembly provided by the embodiments of the present application;

[0031] Figure 3 is a front view structural diagram of the suction nozzle assembly provided by the embodiments of the present application;

[0032] Figure 4 is Figure 3 a cross-sectional view taken along the cutting line A-A in

[0033] Among them, each reference numeral in the figure:

[0034] 10, fixed suction nozzle; 101, first cavity; 102, first trumpet groove; 20, positioning sleeve; 201, positioning cavity; 21, first protrusion; 30, positioning member; 40, moving suction nozzle; 401, second cavity; 402, second trumpet groove; 403, connection end; 404, adsorption end; 41, second protrusion. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the orientation or positional relationships indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These 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. Therefore, it should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0038] In the specific embodiments, the various specific technical features and each embodiment described can be combined in any suitable manner without conflict. For example, different embodiments can be formed by combining different specific technical features / embodiments / embodiment modes. To avoid unnecessary repetition, the various possible combination modes of the specific technical features / embodiments / embodiment modes in the present application will not be described separately.

[0039] Please refer to Figure 1 and Figure 2 , the embodiment of the present application provides a nozzle assembly, which can be used on various grasping devices, especially for grasping film products or products that cannot be directly contacted, etc. The nozzle assembly of this embodiment includes a positioning sleeve 20, a fixed nozzle 10, a movable nozzle 40, and a positioning member 30. Among them, the positioning sleeve 20 has a positioning cavity 201, the positioning member 30 is disposed in the positioning cavity 201, the fixed nozzle 10 is connected to the positioning sleeve 20 and has a first cavity 101, the movable nozzle 40 has a second cavity 401, an adsorption end 404, and a connection end 403. The adsorption end 404 of the movable nozzle 40 is used for adsorbing a workpiece, and the connection end 403 extends into the positioning cavity 201 and abuts against the fixed nozzle 10 under the action of the positioning member 30. Please refer to Figure 3 and Figure 4, when the connecting end 403 of the movable nozzle 40 abuts against the fixed nozzle 10, the first cavity 101 of the fixed nozzle 10 can communicate with the second cavity 401 of the movable nozzle 40, so that the adsorption end 404 of the movable nozzle 40 can adsorb the workpiece. In a specific application, when the nozzle assembly of this embodiment is applied to a grasping device, the fixed nozzle 10 of the nozzle assembly can be connected to the vacuum pump of the grasping device, and the vacuum pump is used to generate suction force. The movable nozzle 40 abuts against the fixed nozzle 10 under the action of the positioning member 30, so that the first cavity 101 of the movable nozzle 40 is connected to the second cavity 401 of the fixed nozzle 10, thereby enabling the adsorption end 404 of the movable nozzle 40 to adsorb the workpiece. Further, when the nozzle assembly needs to be adjusted, an external adjustment mechanism of the grasping device can be used to apply a force to the movable nozzle 40, such as pushing the movable nozzle 40 radially or rotating it by a specific angle along the axis of the movable nozzle 40. During this process, the force applied by the adjustment mechanism to the movable nozzle 40 will overcome the friction between the connecting end 403 of the movable nozzle 40 and the fixed nozzle 10, causing the movable nozzle 40 to move in a specified direction or rotate by a specific angle; after the adjustment is completed, the adjustment mechanism of the grasping device can be directly withdrawn, and the movable nozzle 40 will maintain its current state at a new position under the action of the positioning member 30 and can continue to be used to adsorb the workpiece. In this way, through the cooperation of the positioning member 30 and the movable nozzle 40, the nozzle assembly can maintain a stable state after the adjustment mechanism is withdrawn and be used to adsorb the workpiece, realizing the adjustment of the relative position between the nozzle assembly and the workpiece without directly contacting the workpiece, effectively preventing the workpiece from being contaminated or damaged due to direct contact, improving the yield of the workpiece, and effectively solving the problem that the relative position of products such as thin films that are not suitable for direct contact cannot be adjusted during the grasping process by existing nozzle-type grasping devices. Moreover, it can effectively simplify the structural design of the nozzle assembly, reduce the volume of the nozzle assembly, and is conducive to operations such as daily maintenance and upgrade transformation of the nozzle assembly.

[0040] As an optional implementation manner of this embodiment, please refer to Figure 2 and Figure 4 , the side wall of the positioning cavity 201 can protrude and extend towards the center to form a first protrusion 21, and the connecting end 403 of the movable nozzle 40 can protrude and extend outwards to form a second protrusion 41.

[0041] In specific applications, the positions of the first protrusion 21 and the second protrusion 41 can be selected according to the actual situation of the positioning member 30. Exemplarily, the first protrusion 21 can be located at the bottom of the positioning cavity 201 (i.e., the end away from the fixed suction nozzle 10), the second protrusion 41 can be located at the end face position of the connecting end 403 of the movable suction nozzle 40, and the second protrusion 41 can be flush with the end face of the connecting end 403. Specifically, the fixed suction nozzle 10 and the movable suction nozzle 40 can be in a cylindrical structure, the positioning cavity 201 can be a cylindrical cavity, the first protrusion 21 can be in an annular structure and can be integrally formed and connected with the positioning sleeve 20, and the second protrusion 41 can also be in an annular structure and can be integrally formed and connected with the movable suction nozzle 40.

[0042] Specifically, as an optional implementation manner of the positioning member 30 in this embodiment, the positioning member 30 can be an elastic member. One end of the elastic member can be connected to the first protrusion 21, and the other end of the elastic member can be connected to the second protrusion 41. The elastic member can be in a compressed state and apply a pre-pressure to the movable suction nozzle 40, so that the connecting end 403 of the movable suction nozzle 40 can abut against the fixed suction nozzle 10 under the action of the pre-pressure. In specific applications, the elastic member can be a spring, a rubber member, or other components with better elasticity.

[0043] Exemplarily, please refer to Figure 4 , the positioning member 30 can preferably be a spring. The positioning member 30 can be sleeved on the outer periphery of the position where the movable suction nozzle 40 extends into the positioning cavity 201. In this way, on the one hand, the positioning member 30 can apply a pre-pressure to the movable suction nozzle 40, and on the other hand, the positioning member 30 can be stable under the constraint of the movable suction nozzle 40, improving the reliability of the suction nozzle assembly. Alternatively, in other implementation manners, the positioning member 30 can also be selected to be arranged between the movable suction nozzle 40 and the side wall of the positioning cavity 201. And in order to increase the pre-pressure of the positioning member 30, more than two positioning members 30 can be arranged simultaneously, so that the abutment between the movable suction nozzle 40 and the fixed suction nozzle 10 is more firm.

[0044] In specific applications, the pre-pressure applied by the positioning member 30 to the moving nozzle 40 can, on the one hand, increase the friction force between the moving nozzle 40 and the fixed nozzle 10, preventing the influence caused by equipment shaking. And during the process of the adjustment mechanism adjusting the moving nozzle 40, the external force applied by the adjustment mechanism can overcome the increased friction force caused by the pre-pressure to achieve the displacement adjustment of the moving nozzle 40. After the adjustment structure withdraws, the pre-pressure applied by the positioning member 30 can keep the moving nozzle 40 stable. On the other hand, the moving nozzle 40 can rely on the pre-pressure applied by the positioning member 30 to overcome the gravity brought by adsorbing the workpiece. Generally speaking, a suitable positioning member 30 can be selected according to the type of the workpiece adsorbed by the nozzle assembly. The heavier the workpiece, the greater the pre-pressure applied by the positioning member 30. Therefore, the nozzle assembly in this embodiment and its implementation manner is particularly suitable for film-like products or products that are not suitable for rigid contact.

[0045] As one optional implementation manner of the positioning member 30 in this embodiment, the positioning member 30 includes a first magnetic member and a second magnetic member. Among them, the first magnetic member can be arranged on the first protrusion 21, and the second magnetic member can be arranged on the second protrusion 41. The first magnetic member and the second magnetic member can repel each other, generating a repulsive force between the first protrusion 21 and the second protrusion 41. This repulsive force can become the pre-pressure for the moving nozzle 40 to abut against the fixed nozzle 10, enabling the moving nozzle 40 to abut against the fixed nozzle 10.

[0046] As one optional implementation manner of the positioning member 30 in this embodiment, the positioning member 30 can be a magnetic member, and this magnetic member can be arranged between the fixed nozzle 10 and the moving nozzle 40, using the adsorption force of the magnetic member to adsorb the moving nozzle 40 on the fixed nozzle 10. In specific applications, two magnetic members can be arranged. One is located on the fixed nozzle 10, and the other is located on the moving nozzle 40, and the adsorption is achieved through the adsorption force of the two magnetic members. Or, one magnetic member can also be arranged on the moving nozzle 40, and the fixed nozzle 10 can be made of a ferromagnetic material, so that the magnetic member on the moving nozzle 40 can be adsorbed on the fixed nozzle 10, and the above technical effects can also be achieved in this way.

[0047] In specific applications, the friction force between the moving nozzle 40 and the fixed nozzle 10 is also affected by the friction coefficient of their contact surfaces. Therefore, in the application of this embodiment and its implementation manner, the friction coefficient of the contact surface can be adjusted by selecting suitable materials, adjusting the roughness of the contact surface, and setting lubricants, etc., to prevent the problem of jamming of the moving nozzle 40 caused by excessive friction force.

[0048] As an alternative implementation of the positioning member 30 in this embodiment, the positioning member 30 can be an electromagnet, which can be arranged on the moving nozzle 40 or the fixed nozzle 10, or on both the moving nozzle 40 and the fixed nozzle 10 simultaneously. In a specific application, when the electromagnet is energized and generates a magnetic force, the moving nozzle 40 can be adsorbed on the fixed nozzle 10. When it is necessary to adjust the position of the moving nozzle 40, the electromagnet can be de-energized to eliminate the magnetic force, so that the moving nozzle 40 and the fixed nozzle 10 are relatively separated. At the same time, the second protrusion 41 of the moving nozzle 40 can abut against the first protrusion 41 of the positioning sleeve 20 to prevent the moving nozzle 40 from sliding axially. Moreover, in order to reduce the axial movement distance of the moving nozzle 40 when the electromagnet is de-energized, the distance between the first protrusion 21 and the fixed nozzle 10 can be appropriately reduced, so that the axial positions of the moving nozzle 40 and the second protrusion 41 can remain relatively unchanged when the electromagnet is energized and de-energized.

[0049] As an alternative implementation of the positioning member 30 in this embodiment, the positioning member 30 can be a hydraulic rod or a pneumatic rod, or both a hydraulic rod and a pneumatic rod can be arranged simultaneously. Specifically, taking the hydraulic rod as an example, one end of the hydraulic rod can be connected to the first protrusion 21, and the other end of the hydraulic rod can abut against the second protrusion 41. By raising and lowering the hydraulic rod, the abutment and separation of the moving nozzle 40 and the fixed nozzle 10 can be realized. In this way, the same technical effect as the above-mentioned embodiment can also be achieved.

[0050] As an alternative implementation of this embodiment, please refer to Figure 4 , a first horn groove 102 can be provided at one end of the first cavity 101 close to the moving nozzle 40, and a second horn groove 402 can be provided at one end of the second cavity 401 close to the fixed nozzle 10. The first horn groove 102 corresponds to the second horn groove 402. The first horn groove 102 faces the moving nozzle 40, and the second horn groove 402 faces the fixed nozzle 10. With such a design, the opening structures of the first horn groove 102 and the second horn groove 402 can be utilized to make the communication between the first cavity 101 and the second cavity 401 smoother, and improve the adsorption capacity of the nozzle assembly.

[0051] Specifically, as an alternative implementation of this embodiment, please refer to Figure 2 and Figure 4, the first cavity 101 and the second cavity 401 can be cylindrical cavities, the cross-sections of the first horn groove 102 and the second horn groove 402 can be circular, and the maximum radius of the first horn groove 102 can be greater than the maximum radius of the second horn groove 402. In this way, the size of the first horn groove 102 of the first cavity 101 is relatively large. When the moving nozzle 40 moves in the radial direction, the second horn groove 402 of the moving nozzle 40 can be within the range of the first horn groove 102 of the fixed nozzle 10 as much as possible, ensuring the communication between the second cavity 401 of the moving nozzle 40 and the first cavity 101 of the fixed nozzle 10, and further improving the adsorption reliability of the nozzle assembly.

[0052] Specifically, as an optional implementation manner of this embodiment, please continue to refer to Figure 4 , the difference between the maximum radii of the first horn groove 102 and the second horn groove 402 (i.e., Figure 4 L1 in Figure 4 ) can be greater than or equal to the minimum distance between the outer wall of the moving nozzle 40 and the inner wall of the positioning cavity 201 (i.e., Figure 4 L2 and L3 in Figure 4 ). Please refer to Figure 4 Figure 4 As shown, when the fixed nozzle 10 and the moving nozzle 40 are coaxially arranged, L1 is the difference between the maximum radii of the first horn groove 102 and the second horn groove 402, L2 is the distance between the first protrusion 41 and the inner wall of the positioning cavity 201, and L3 is the distance between the second protrusion 21 and the outer wall of the moving nozzle 40. The minimum distance between the outer wall of the moving nozzle 40 and the inner wall of the positioning cavity 201 mentioned above refers to the maximum distance that the moving nozzle 40 can move in the positioning cavity 201, that is, Figure 4 the relatively smaller value of L2 and L3 in Figure 4 (of course, if the positioning member 30 is a spring sleeved on the moving nozzle 40, the distance between the spring and the inner wall of the positioning cavity 201 also needs to be considered).

[0053] In specific applications, the minimum distance between the outer wall of the moving nozzle 40 and the inner wall of the positioning cavity 201 is the maximum range of the radial movement of the moving nozzle 40. When the moving nozzle 40 moves radially to contact the inner wall of the positioning cavity 201 (i.e., reaches the radial movement threshold), the second horn groove 402 of the moving nozzle 40 can still be within the range of the first horn groove 102. In this way, the communication between the first cavity 101 of the fixed nozzle 10 and the second cavity 401 of the moving nozzle 40 can be ensured, and the reliability of the nozzle assembly can be improved.

[0054] As an optional implementation manner of this embodiment, please refer to Figure 4, one end of the fixed nozzle 10 can extend into the positioning cavity 201, and this end of the fixed nozzle 10 can be threadedly connected to the side wall of the positioning cavity 201. Such a design is beneficial for the disassembly, installation and maintenance of the fixed nozzle 10 on the one hand. On the other hand, the fixed nozzle 10 can adjust the length of the fixed nozzle 10 extending into the positioning cavity 201 through the threaded connection with the inner wall of the positioning cavity 201. The longer the length of the fixed nozzle 10 extending into the positioning cavity 201, correspondingly, the shorter the length of the moving nozzle 40 located in the positioning cavity 201, the smaller the distance between the first protrusion 21 and the second protrusion 41, and the greater the compression degree of the positioning member 30 (or the smaller the distance between the first magnetic member and the second magnetic member), so that the pre-pressure generated by the positioning member 30 is greater, thus realizing the effect of adjusting the pre-pressure of the positioning member 30, and at the same time, it can also play a role in adjusting the height of the nozzle assembly to facilitate adaptation to different workpieces.

[0055] The nozzle assembly provided by the embodiment of the present application has at least the following beneficial effects: Compared with the prior art, the nozzle assembly provided by the embodiment of the present application positions the fixed nozzle 10 and the moving nozzle 40 through the positioning sleeve 20, and makes the connecting end 403 of the moving nozzle 40 abut against the fixed nozzle 10 through the positioning member 30. When the nozzle assembly needs to be adjusted, the position or angle of the moving nozzle 40 relative to the fixed nozzle 10 can be adjusted by means of an external adjustment mechanism. After the position of the moving nozzle 40 is adjusted, the external adjustment mechanism can be directly removed. At this time, the moving nozzle 40 can maintain the current position state under the action of the positioning member 30 and perform the grasping operation of the workpiece, realizing the adjustment of the relative position between the nozzle assembly and the workpiece without directly contacting the workpiece, effectively preventing the pollution or damage of the workpiece caused by direct contact, improving the yield of the workpiece, and effectively solving the problem that the relative position of products such as films that are not suitable for direct contact cannot be adjusted during the grasping process by the existing nozzle-type grasping devices. In this way, after the nozzle assembly adjusts its state, it does not need to rely on an external adjustment mechanism to maintain the state, effectively simplifying the structural design of the nozzle assembly, reducing the space occupied by the nozzle assembly, and at the same time, it is also beneficial to the maintenance and transformation of the nozzle assembly and other operations.

[0056] The embodiment of the present application also provides a grasping device, including the above-mentioned nozzle assembly and an adjustment mechanism. The adjustment mechanism can be used to adjust the position of the moving nozzle 40 relative to the fixed nozzle 10, and this position includes parameters such as radial movement and axial angle.

[0057] In specific applications, the adjustment mechanism of the grasping device can be set relatively independently of the nozzle assembly, that is, the adjustment mechanism is external to the nozzle assembly, so that the structure of the nozzle assembly can be simpler and its volume can be correspondingly reduced. The various components of the nozzle assembly can be replaced according to the type of the workpiece, improving the practicability of the grasping device.

[0058] The grasping device provided by the embodiment of the present application has at least the following beneficial effects: Compared with the prior art, the grasping device provided by the embodiment of the present application uses the above-mentioned nozzle assembly to grasp the workpiece. When it is necessary to adjust the nozzle assembly, the adjustment mechanism can achieve the adjustment operation by moving or rotating the nozzle assembly, realizing the adjustment of the relative position between the nozzle assembly and the workpiece, without directly contacting the workpiece, effectively preventing the pollution or damage of the workpiece caused by direct contact, improving the yield of the workpiece, and effectively solving the problem that the relative position of products such as films that are not suitable for direct contact cannot be adjusted during the grasping process by the existing nozzle-type grasping devices. And after the adjustment is completed, the moving nozzle 40 can maintain its current state under the action of the positioning member 30 without relying on the adjustment mechanism, which is beneficial to simplifying the structural design of the nozzle assembly and also beneficial to operations such as the maintenance and transformation of the grasping device.

[0059] The embodiment of the present application also provides a position adjustment method, which uses the above-mentioned grasping device and includes the following steps:

[0060] The adjustment mechanism acts on the moving nozzle 40 to make the moving nozzle 40 overcome the friction force between it and the fixed nozzle 10 and move or rotate in a specified direction;

[0061] The adjustment mechanism stops acting on the moving nozzle 40, and the moving nozzle 40 abuts against the fixed nozzle 10 under the action of the positioning member 30.

[0062] In specific applications, when it is necessary to adjust the nozzle assembly, the adjustment mechanism can apply a force to the moving nozzle 40, and this force can overcome the friction force between the moving nozzle 40 and the fixed nozzle 10 generated by the pre-pressure, so that the moving nozzle 40 moves or rotates towards a specific position. After the moving nozzle 40 reaches a specific position or orientation, the adjustment mechanism can remove the external force. At this time, the moving nozzle 40 maintains the adjusted state under the action of the positioning member 30 and is used to adsorb the workpiece.

[0063] The position adjustment method provided by the embodiment of the present application has at least the following beneficial effects: Compared with the prior art, the position adjustment method provided by the embodiment of the present application is used to adjust the above-mentioned grasping device. After the adjustment mechanism adjusts the moving nozzle 40 and withdraws, the moving nozzle 40 can be connected to the fixed nozzle 10 under the action of the positioning member 30, realizing the adjustment of the relative position between the nozzle assembly and the workpiece, without directly contacting the workpiece, effectively preventing the pollution or damage of the workpiece caused by direct contact, improving the yield of the workpiece, effectively solving the problem that the relative position of products such as films that are not suitable for direct contact cannot be adjusted during the grasping process by the existing nozzle-type grasping devices, and without relying on the adjustment mechanism to maintain the state, which is beneficial to simplifying the structure of the grasping device and operations such as maintenance and transformation.

[0064] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A nozzle assembly, which is used on various grasping devices, and is characterized in that, Comprising: A positioning sleeve having a positioning cavity; A fixed nozzle connected to the positioning sleeve and having a first cavity; A movable nozzle having a second cavity, an adsorption end for adsorbing a workpiece, and a connection end for extending into the positioning cavity and connecting with the fixed nozzle to communicate the first cavity and the second cavity; And, A positioning member disposed in the positioning cavity, the movable nozzle being capable of moving relative to the fixed nozzle and abutting against the fixed nozzle under the action of the positioning member; Wherein a first trumpet groove is provided at one end of the first cavity close to the movable nozzle, and a second trumpet groove facing the first trumpet groove is provided at one end of the second cavity close to the fixed nozzle, the maximum radius of the first trumpet groove being greater than the maximum radius of the second trumpet groove; the difference between the maximum radii of the first trumpet groove and the second trumpet groove is greater than or equal to the minimum distance between the outer wall of the movable nozzle and the inner wall of the positioning cavity; When the nozzle assembly needs to be adjusted, an adjusting mechanism external to the gripping device can be used to apply a force to the movable nozzle, pushing the movable nozzle radially towards the movable nozzle or rotating it by a specific angle along the axis of the movable nozzle. During this process, the force applied by the adjusting mechanism to the movable nozzle will overcome the frictional force between the connection end of the movable nozzle and the fixed nozzle, causing the movable nozzle to move or rotate by a specific angle in the specified direction; after the adjustment is completed, the adjusting mechanism of the gripping device is directly withdrawn, and the movable nozzle will maintain its current state at a new position under the action of the positioning member and continue to be used for adsorbing the workpiece.

2. The nozzle assembly according to claim 1, wherein The side wall of the positioning cavity protrudes and extends towards the center to form a first protrusion, and the connection end of the movable nozzle protrudes and extends outwards to form a second protrusion.

3. The nozzle assembly according to claim 2, wherein The positioning member is an elastic member disposed between the first protrusion and the second protrusion, the positioning sleeve being sleeved on the outer periphery of the movable nozzle, or the positioning member being disposed between the movable nozzle and the side wall of the positioning cavity.

4. The nozzle assembly according to claim 2, wherein The positioning member includes a first magnetic member disposed on the first protrusion and a second magnetic member disposed on the second protrusion and repelling the first magnetic member to make the connection end abut against the fixed nozzle.

5. The nozzle assembly according to claim 2, wherein The positioning member is an electromagnet disposed on the movable nozzle and / or the fixed nozzle, and the first protrusion and the second protrusion abut against each other when the electromagnet is powered off.

6. The nozzle assembly according to claim 1, characterized in that, The positioning member is a magnetic member disposed between the fixed nozzle and the movable nozzle and used to adsorb the connection end of the movable nozzle to the fixed nozzle.

7. The nozzle assembly according to claim 1, wherein, The positioning member is a hydraulic rod and / or a pneumatic rod.

8. The nozzle assembly according to any one of claims 1 to 7, characterized in that, One end of the fixed nozzle extends into the positioning cavity and is threadedly connected to the side wall of the positioning cavity.

9. A grasping device, characterized in that, Comprising a nozzle assembly according to any one of claims 1 to 8, and an adjusting mechanism for adjusting the position of the movable nozzle relative to the fixed nozzle.

10. A position adjustment method, characterized in that, Using the gripping device according to claim 9, comprising the following steps: The adjusting mechanism acts on the movable nozzle to cause the movable nozzle to overcome the frictional force with the fixed nozzle and move or rotate in a specified direction; The adjustment mechanism stops acting on the movable suction nozzle, and the movable suction nozzle abuts against the fixed suction nozzle under the action of the positioning member.

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