Gripper device and robot
By designing the gripping device to link the clamping components and the tilting sliding assembly, the problem of materials falling off during the movement of the robotic arm was solved, achieving a more stable gripping effect and avoiding material damage.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN HANS ROBOT CO LTD
- Filing Date
- 2023-01-30
- Publication Date
- 2026-07-24
AI Technical Summary
In existing gripping devices, materials are easily detached from the gripping device during the movement of the robotic arm, leading to damage.
Design a clamping device including two clamping members arranged at intervals in different directions and an inclined sliding component. Through the linkage of the inclined sliding component, a stable clamping of the four sides of the clamping member can be achieved, thereby enhancing the clamping stability.
During the movement of the clamping device, the workpiece to be clamped is less likely to be damaged due to falling off, and the clamping stability and firmness are significantly improved.
Smart Images
Figure CN116175611B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, and in particular to gripping devices and robots. Background Technology
[0002] With the continuous development of robotics technology, many industries are now using robots to replace some simple manual operations. For example, in the semiconductor industry, where the cleanliness requirements of the production environment are high, manual operations are prone to contamination. Therefore, robots are often used to handle tasks such as material handling. Generally, the end effector of a robot's robotic arm is equipped with a gripping device to grasp materials. However, some gripping devices in related technologies do not provide a strong grip on materials. During the movement of the robotic arm with the gripping device, materials can easily fall off and cause damage. Summary of the Invention
[0003] Based on this, the present invention proposes a clamping device that can more firmly clamp the workpiece to be clamped. During the movement of the clamping device with the robotic arm, the workpiece to be clamped is not easy to fall off the clamping device, thus preventing damage.
[0004] A clamping device for clamping a workpiece, comprising:
[0005] Two first clamping members are arranged at a distance along a first direction, and the two first clamping members are restricted to moving relative to each other only along the first direction to move closer or further apart;
[0006] Two second clamping members are arranged at a distance along a second direction, and the two second clamping members are restricted to moving relative to each other only along the second direction to move closer or further apart, wherein the second direction is perpendicular to the first direction; and
[0007] Multiple sets of tilting sliding components, each tilting sliding component including a first sliding member and a second sliding member slidably connected, wherein the first sliding member and the corresponding second sliding member can slide relative to each other along the extension direction of the tilting sliding component, wherein the extension direction is located in the clamping plane formed by the first direction and the second direction, and the extension direction is tilted relative to the first direction;
[0008] The two second clamping members are each provided with the tilting sliding assembly between them and at least one first clamping member. In the same group of tilting sliding assemblies, the first sliding member is fixedly connected to the corresponding first clamping member, and the second sliding member is fixedly connected to the corresponding second clamping member.
[0009] As the two first clamping members move closer to each other along the first direction, a plurality of second sliding members that are fixedly connected to the two second clamping members in a one-to-one correspondence slide relative to their respective first sliding members, thereby driving the two second clamping members to move closer to each other along the second direction.
[0010] In one embodiment, two sets of the tilting sliding components are disposed one-to-one between the two second clamping members and the two first clamping members, and one set of the tilting sliding components is located at one end of one of the second clamping members along the first direction, and the other set of the tilting sliding components is located at the other end of the other second clamping member along the first direction.
[0011] In one embodiment, one end of each of the two second clamping members along the first direction is connected to one of the first clamping members in a one-to-one correspondence via two sets of the inclined sliding components, and the other end of each of the two second clamping members along the first direction is connected to the other first clamping member in a one-to-one correspondence via two sets of the inclined sliding components.
[0012] In one embodiment, the first clamping member includes a main body extending along the second direction and protrusions extending from both ends of the main body along the second direction toward the second clamping member, the protrusions having a first inclined surface, the second clamping member having a second inclined surface parallel to the corresponding first inclined surface, the first inclined surface and the corresponding second inclined surface being connected by the tilting sliding assembly.
[0013] In one embodiment, the gripping device includes a base, a first sliding assembly, and a second sliding assembly;
[0014] Each of the two first clamping members is provided with a first sliding assembly between itself and the base. The first sliding assembly includes a third sliding member and a fourth sliding member that are slidably connected. The third sliding member and the fourth sliding member can slide relative to each other along the first direction. The third sliding member is fixedly connected to the corresponding first clamping member, and the fourth sliding member is connected to the base.
[0015] A second sliding assembly is provided between each of the two second clamping members and the base. The second sliding assembly includes a fifth sliding member and a sixth sliding member that are slidably connected. The fifth sliding member and the sixth sliding member can slide relative to each other along the second direction. The fifth sliding member is fixedly connected to the corresponding second clamping member, and the sixth sliding member is fixedly connected to the base.
[0016] In one embodiment, each of the two first clamping members is provided with a positioning hole extending along the first direction, and the two positioning holes are used for the positioning pins at both ends of the member to be clamped along the first direction to be inserted one-to-one.
[0017] In one embodiment, the positioning hole includes a guide region extending along the first direction and located at the entrance of the positioning hole, wherein the diameter of the guide region gradually decreases in the direction in which the positioning pin is inserted into the positioning hole.
[0018] In one embodiment, the clamping device includes a base, a connector, and an elastic member. The first clamping member, the second clamping member, and the tilting sliding assembly are all connected to the connector. The elastic member is connected between the base and the connector and is capable of extending and retracting along a third direction, wherein the third direction is perpendicular to the clamping plane.
[0019] The aforementioned clamping device includes two first clamping members spaced apart along a first direction, two second clamping members spaced apart along a second direction, and multiple sets of inclined sliding assemblies. Each of the two second clamping members is connected to at least one first clamping member by an inclined sliding assembly. The two first clamping members are restricted to moving relative to each other only along the first direction to move closer or further apart. When the two clamping members move closer relative to each other along the first direction, the first sliding member fixedly connected to the corresponding first clamping member moves accordingly, causing the first sliding member and the second sliding member in the same group to slide relative to each other along the extending direction of the inclined sliding assembly. Since the extending direction of the inclined sliding assembly is inclined relative to the first direction, and the two second clamping members are restricted to moving relative to each other only along the second direction, when the multiple second sliding members connected one-to-one with the two second clamping members and their respective first sliding members slide relative to each other, the two second clamping members can be driven to move closer relative to each other along the second direction. Therefore, when clamping the object to be clamped, two first clamping members can be used to abut against both ends of the object along the first direction, and two second clamping members can be used to abut against both ends of the object along the second direction, thereby achieving clamping of all four sides of the object. Compared to the conventional method of clamping only the opposite two sides, the method of clamping all four sides of the object in this application has stronger stability and firmness, and the object to be clamped is less likely to be damaged due to falling off during the movement of the clamping device.
[0020] The present invention also proposes a robot, including the gripping device described above, and a robotic arm, wherein the gripping device is connected to the end of the robotic arm, and the robotic arm is used to drive the gripping device to move.
[0021] In one embodiment, the robot includes a temporary storage platform with an upwardly extending limiting plate. A temporary storage space for temporarily storing the object to be clamped is formed between the limiting plate and the temporary storage platform. The top of the limiting plate has a guide portion that extends obliquely toward a side away from the temporary storage space in an upward direction.
[0022] With the application of the aforementioned gripping device, the robot's mechanical arm drives the gripping device to move, making it less likely for the gripped object to be damaged due to falling off. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the gripping device in one embodiment of this application;
[0024] Figure 2 for Figure 1 A bottom view of the clamping device shown;
[0025] Figure 3 for Figure 1 A schematic diagram of the structure of the first clamping member of the clamping device shown;
[0026] Figure 4 for Figure 1 A schematic diagram of the installation structure of the elastic element in the clamping device shown.
[0027] Figure 5 This is a schematic diagram of the robot structure in one embodiment of this application;
[0028] Figure 6 This is a schematic diagram of the structure of the component to be clamped placed on the temporary storage platform in one embodiment of this application.
[0029] Figure label:
[0030] Clamping device 10, first clamping member 100, main body 110, positioning hole 111, guide area 1111, extension 120, first inclined surface 121;
[0031] Second clamping member 200, second inclined surface 210;
[0032] Inclined sliding assembly 300, first slider 310, second slider 320
[0033] Base 410, base plate 411, L-shaped plate 412, connector 420, horizontal plate 421, vertical plate 422, elastic member 430, driving member 460, mounting member 470, connecting frame 480, sleeve part 481, protrusion part 482;
[0034] First sliding component 500, third sliding member 510, fourth sliding member 520;
[0035] Second sliding assembly 600, fifth sliding member 610, sixth sliding member 620;
[0036] Robotic arm 710, chassis 720, housing 730, temporary storage platform 731, limit plate 732, guide part 7321;
[0037] 800 to be clamped, 810 handle, 811 positioning pin;
[0038] Third sliding component 900, seventh sliding member 910, and eighth sliding member 920. Detailed Implementation
[0039] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
[0040] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0042] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0043] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0044] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0045] Figure 1 This is a schematic diagram of the gripping device in one embodiment of this application; Figure 2 for Figure 1 A bottom view of the clamping device shown; Figure 5 This is a schematic diagram of the structure of a robot according to one embodiment of this application. Figure 1 From a perspective, the left and right direction is the first direction, the front and back direction is the second direction, and the up and down direction is the third direction.
[0046] See Figure 1 , Figure 2 and Figure 5An embodiment of the present invention provides a clamping device 10 for clamping a workpiece 800. The clamping device 10 includes two first clamping members 100 spaced apart along a first direction, two second clamping members 200 spaced apart along a second direction, and multiple sets of inclined sliding components 300. The second direction is perpendicular to the first direction. The two first clamping members 100 are restricted to moving relative to each other only along the first direction to move closer or further apart, and the two second clamping members 200 are restricted to moving relative to each other only along the second direction to move closer or further apart. The inclined sliding components 300 include a first sliding member 310 and a second sliding member 320 slidably connected, which are capable of sliding relative to each other along the extending direction of the inclined sliding components 300. The extending direction of the inclined sliding components 300 lies within the clamping plane formed by the first and second directions and is inclined relative to the first direction. Each of the two second clamping members 200 is provided with an inclined sliding assembly 300 between itself and at least one first clamping member 100. Within the same set of inclined sliding assemblies 300, a first sliding member 310 is fixedly connected to its corresponding first clamping member 100, and a second sliding member 320 is fixedly connected to its corresponding second clamping member 200. As the two first clamping members 100 move closer together in a first direction, multiple second sliding members 320, each fixedly connected to one of the two second clamping members 200, slide relative to their respective first sliding members 310, thereby causing the two second clamping members 200 to move closer together in a second direction.
[0047] In the aforementioned clamping device 10, the two first clamping members 100 are restricted to moving relative to each other only along a first direction to approach or move away. As they approach each other along the first direction, the first sliding member 310, fixedly connected to the corresponding first clamping member 100, moves accordingly, causing the first sliding member 310 and the second sliding member 320 in the same group to slide relative to each other along the extension direction of the inclined sliding assembly 300. Since the extension direction of the inclined sliding assembly 300 is inclined relative to the first direction, and the two second clamping members 200 are restricted to moving relative to each other only along a second direction, when the multiple second sliding members 320, which are connected one-to-one with the two second clamping members 200, and their respective first sliding members 310 slide relative to each other, they can drive the two second clamping members 200 to approach each other relative to each other along the second direction. Therefore, when clamping the object to be clamped 800, two first clamping members 100 can be used to abut against the two ends of the object to be clamped 800 along the first direction, and two second clamping members 200 can be used to abut against the two ends of the object to be clamped 800 along the second direction, thereby achieving clamping of the object to be clamped 800 on all four sides. Compared with the conventional method of clamping only the opposite two sides, the method of clamping the object to be clamped 800 on all four sides in this application has stronger stability and firmness, and the object to be clamped 800 is less likely to be damaged due to falling off during the movement of the clamping device 10. In addition, compared with setting two sets of grippers separately for clamping on all four sides, in this application, the two sets of clamping members move in unison, which can achieve clamping at the same time, and the consistency of the clamping action is high.
[0048] See Figure 1 and Figure 2 In the embodiment shown in the accompanying drawings, the first sliding member 310 is a slide rail, and the second sliding member 320 is a slider. Alternatively, in other embodiments, the first sliding member 310 is a slider, and the second sliding member 320 is a slide rail. Alternatively, in other embodiments, a groove and a slider can cooperate, or a guide post and a sleeve can cooperate; any conventional component that can achieve a sliding connection is acceptable.
[0049] See Figure 1 and Figure 2 Specifically, in some embodiments, two sets of tilting sliding components 300 are disposed one-to-one between two second clamping members 200 and two first clamping members 100, and one set of tilting sliding components 300 is located at one end of one of the second clamping members 200 along the first direction, and the other set of tilting sliding components 300 is located at the other end of the other second clamping member 200 along the first direction.
[0050] Specifically, there are two sets of tilting sliding components 300. One set of tilting sliding components 300 is disposed between a second clamping member 200 and a first clamping member 100, and the other set of tilting sliding components 300 is disposed between another second clamping member 200 and another first clamping member 100. Furthermore, the two sets of tilting sliding components 300 are diagonally distributed, and their extension directions are parallel. When the two are diagonally distributed, the weight is more evenly distributed, resulting in higher structural stability and clamping stability.
[0051] exist Figure 2 From the perspective of the two second clamping members 200, one is closer to the front and the other is closer to the rear; among the two first clamping members 100, one is closer to the left and the other is closer to the right.
[0052] In some embodiments, of the two sets of tilting sliding components 300, one set is disposed between the second clamping member 200 near the front and the first clamping member 100 near the left, and the other set is disposed between the second clamping member 200 near the rear and the first clamping member 100 near the right. That is, the two sets of tilting sliding components 300 are positioned at the left front and right rear. When the first clamping member 100 near the left moves to the right, the first sliding member 310 in the tilting sliding component 300 located at the left front slides relative to the second sliding member 320 slidably connected to it. Simultaneously, the second sliding member 320 is pushed, moving rearward together with the second clamping member 200 near the front. Similarly, when the first clamping member 100 near the right moves to the left, the first sliding member 310 in the tilting sliding component 300 located at the right rear slides relative to the second sliding member 320 slidably connected to it. Simultaneously, the second sliding member 320 is pushed, moving forward together with the second clamping member 200 near the rear. In this way, the two first clamping parts 100 can be brought closer to each other, and the two second clamping parts 200 can also be brought closer to each other simultaneously, so as to achieve clamping of the clamping part 800 on all four sides.
[0053] Alternatively, in other embodiments, the two sets of tilting sliding components 300 are positioned at the left rear and right front, respectively.
[0054] See Figure 1 and Figure 2 Preferably, in some embodiments, one end of the two second clamping members 200 along the first direction is connected to one of the first clamping members 100 in a one-to-one correspondence through two sets of inclined sliding components 300, and the other end of the two second clamping members 200 along the first direction is connected to the other first clamping member 100 in a one-to-one correspondence through two sets of inclined sliding components 300.
[0055] Specifically, this embodiment increases the number of tilting sliding components 300 by two sets, resulting in a total of four sets, based on the aforementioned embodiment. From the perspective of the accompanying drawings, the left ends of each of the two second clamping members 200 are connected to the first clamping member 100 near the left side via a set of tilting sliding components 300, and the right ends of each of the two second clamping members 200 are connected to the first clamping member 100 near the right side via a set of tilting sliding components 300. That is, the four sets of tilting sliding components 300 are positioned at the front left, rear left, front right, and rear right, respectively.
[0056] When the first clamping member 100 near the left moves to the right and the first clamping member 100 near the right moves to the left, the two sets of tilting sliding components 300 located at the front left and front right work together to push the second clamping member 200 near the front backward, and the two sets of tilting sliding components 300 located at the rear left and rear right work together to push the second clamping member 200 near the rear forward. In this way, the tilting sliding components 300 on both sides can jointly drive the movement of the same second clamping member 200 located between them, which can make the movement of the second clamping member 200 more powerful, less prone to positional deviation, and more stable in the movement process.
[0057] In the aforementioned embodiments with two or four sets of tilting sliding components 300, at least two sets of tilting sliding components 300 are arranged diagonally. In other embodiments, the positions of the two sets of tilting sliding components 300 may be left rear and left front, respectively. Alternatively, the positions of the two sets of tilting sliding components 300 may be right rear and right front, respectively.
[0058] See Figure 1 and Figure 2 In some embodiments, the first clamping member 100 includes a main body portion 110 extending along a second direction, and protrusion portions 120 extending from both ends of the main body portion 110 along the second direction toward the second clamping member 200. The protrusion portions 120 have a first inclined surface 121, and the second clamping member 200 has a second inclined surface 210 parallel to the corresponding first inclined surface 121. The first inclined surface 121 and the corresponding second inclined surface 210 are connected by an inclined sliding assembly 300.
[0059] In this embodiment, by configuring the first clamping member 100 with the above-described structure, its connection and cooperation with the two second clamping members 200 can be achieved. Specifically, the two first clamping members 100 are symmetrically arranged, and the two protrusions 120 in the same first clamping member 100 are symmetrically arranged. The extending directions of the first inclined surface 121 and the second inclined surface 210 are the extending directions of the inclined sliding assembly 300 fixed between them. Taking the inclined sliding assembly 300 located on the left front as an example, the first sliding member 310 is fixedly connected to the first inclined surface 121 on the front protrusion 120 of the first clamping member 100 on the left side, and the second sliding member 320 is fixedly connected to the second inclined surface 210 on the left side of the second clamping member 200.
[0060] Figure 3 for Figure 1 A schematic diagram of the structure of the first clamping member of the clamping device shown.
[0061] See Figures 1 to 3 In some embodiments, the gripping device 10 includes a base 410, a first sliding assembly 500, and a second sliding assembly 600. A first sliding assembly 500 is disposed between each of the two first gripping members 100 and the base 410. Each first sliding assembly 500 includes a third sliding member 510 and a fourth sliding member 520 slidably connected. The third sliding member 510 and the fourth sliding member 520 are capable of sliding relative to each other along a first direction. The third sliding member 510 is fixedly connected to the corresponding first gripping member 100, and the fourth sliding member 520 is connected to the base 410. A second sliding assembly 600 is disposed between each of the two second gripping members 200 and the base 410. Each second sliding assembly 600 includes a fifth sliding member 610 and a sixth sliding member 620 slidably connected. The fifth sliding member 610 and the sixth sliding member 620 are capable of sliding relative to each other along a second direction. The fifth sliding member 610 is fixedly connected to the corresponding second gripping member 200, and the sixth sliding member 620 is connected to the base 410.
[0062] By setting the first sliding component 500 and the second sliding component 600, the movement trajectories of the first clamping member 100 and the second clamping member 200 can be restricted, so that the first clamping member 100 can only move in the first direction and the second clamping member 200 can only move in the second direction. The first sliding component 500 and the second sliding component 600 are similar to the tilting sliding component 300, both of which are structures in which a slider and a slide rail cooperate.
[0063] Specifically, a drive member 460 is mounted below the base 410. The drive member 460 is used to drive the two first clamping members 100 to move closer or further apart relative to each other in a first direction. For example, the drive member 460 can be a double-headed cylinder. The connecting frame 480 includes a sleeve portion 481 that is sleeved and fixed to the outside of the drive member 460, and a protrusion 482 that extends downward from the sleeve portion 481. A sixth sliding member 620 is fixed to the protrusion 482 to achieve indirect connection with the base 410. A mounting member 470 is fixedly connected to the drive member 460, and a fourth sliding member 520 is fixed to the mounting member 470 to achieve indirect connection with the base 410.
[0064] Preferably, multiple sets of second sliding components 600 arranged at intervals along the first direction can be installed between the same second clamping member 200 and the protrusion 482 to improve the stability of the second clamping member 200 when it moves along the second direction.
[0065] Figure 6 This is a schematic diagram of the structure of the component to be clamped placed on the temporary storage platform in one embodiment of this application.
[0066] See Figure 1 , Figure 3 and Figure 6 In some embodiments, both first clamping members 100 are provided with positioning holes 111 extending along the first direction. The two positioning holes 111 are used for the positioning pins 811 at both ends of the clamping member 800 along the first direction to be inserted one by one.
[0067] Specifically, the clamped part 800 has a handle 810, with a protruding positioning pin 811 at each end along a first direction. Each first clamping part 100 has a positioning hole 111 extending along the first direction on its main body 110. The two positioning pins 811 on the handle 810 can be inserted one-to-one into the positioning holes 111 on the main bodies 110 of the two first clamping parts 100 to enhance the limiting effect and prevent the clamped part 800 from shaking, shifting, or falling off after being clamped. Preferably, the clearance between the positioning pin 811 and the positioning hole 111 is 0.05 mm.
[0068] See Figure 6 Preferably, in some embodiments, the positioning hole 111 includes a guide region 1111 extending along a first direction and located at the entrance of the positioning hole 111, wherein the diameter of the guide region 1111 gradually decreases in the direction in which the positioning pin 811 is inserted into the positioning hole 111.
[0069] Specifically, the inner wall of the guide area 1111 is conical, with the largest diameter at the end near the entrance of the positioning hole 111 and the smallest diameter at the end away from the entrance of the positioning hole 111. By setting the entrance of the positioning hole 111 with the above structure, the positioning pin 811 can be guided when entering the corresponding positioning hole 111, making it easier for the positioning pin 811 to be inserted into the corresponding positioning hole 111.
[0070] Figure 4 for Figure 1 A schematic diagram of the installation structure of the elastic element in the clamping device shown.
[0071] See Figure 1 , Figure 2 and Figure 4 In some embodiments, the clamping device 10 includes a base 410, a connector 420, and an elastic member 430. The first clamping member 100, the second clamping member 200, and the tilting sliding assembly 300 are all connected to the connector 420. The elastic member 430 is connected between the base 410 and the connector 420. The elastic member 430 is capable of extending and retracting along a third direction, wherein the third direction is perpendicular to the aforementioned clamping plane.
[0072] Specifically, the connector 420 includes a horizontal plate 421 and a vertical plate 422 extending downward from both ends of the horizontal plate 421 along a first direction. The driving member 460 is fixedly connected to the vertical plate 422. The base 410 includes a base plate 411 arranged parallel to the horizontal plate 421 and an L-shaped plate 412 extending downward from both ends of the base plate 411 along a first direction. The horizontal plate 421 is located between the horizontal portion of the base plate 411 and the horizontal portion of the L-shaped plate 412, and the horizontal portion of the L-shaped plate 412 restricts the lower limit position of the horizontal plate 421 when it floats downward. One end of the elastic member 430 abuts against the horizontal plate 421, and the other end abuts against the base plate 411. When the clamping device 10 clamps the part 800 to be clamped, the elastic member 430 buffers the clamping action to prevent damage caused by hard contact with the part 800 to be clamped. When the clamping device 10 places the clamped part 800 onto the surface to be placed, if the bottom surface of the clamped part 800 is not at the same height as the surface, the elastic element 430 allows the clamped part 800 to have a certain amount of floating space, thus enabling it to be placed smoothly onto the surface and improving the compatibility of the device. For example, if the bottom surface of the clamped part 800 is lower than the surface, the elastic element 430 allows the clamped part 800 to have a certain amount of upward floating space when it is pressed against the surface, thus enabling it to be placed smoothly onto the surface.
[0073] See Figure 4 Preferably, in some embodiments, elastic elements 430 are provided in the four corner areas of the horizontal plate 421 to further enhance the cushioning.
[0074] See Figure 4 Preferably, in some embodiments, the clamping device further includes a third sliding assembly 900, which includes a seventh sliding member 910 and an eighth sliding member 920 extending in a third direction and slidably connected. The seventh sliding member 910 is fixedly connected to the vertical portion of the L-shaped plate 412 of the base 410, and the eighth sliding member 920 is fixedly connected to the horizontal plate 421 and the vertical plate 422 of the connecting member 420. Specifically, one of the seventh sliding member 910 and the eighth sliding member 920 is a slide rail, and the other is a sliding block that cooperates with it. In this embodiment, by providing the third sliding assembly 900, the vertical floating of the first clamping member 100 and the second clamping member 200 can be made more stable.
[0075] See Figure 5 In some embodiments, the robot includes the gripping device 10 in any of the above embodiments, and also includes a robotic arm 710. The gripping device 10 is connected to the end of the robotic arm 710, and the robotic arm 710 is used to drive the gripping device 10 to move.
[0076] Specifically, the robot includes a robotic arm 710, a chassis 720, and a housing 730. The housing 730 is detachably mounted on top of the chassis 720 and has a cavity inside for temporarily storing the workpiece 800 to be clamped. The robotic arm 710 is mounted on top of the housing 730, and a gripping device 10 is connected to the end of the robotic arm 710. The chassis 720 is an AGV (Automated Guided Vehicle) that can drive the robotic arm 710 and the housing 730 to move between various workstations. The robotic arm 710 can drive the gripping device 10 to perform 360° movements to grip the workpiece 800 to be clamped at one workstation and temporarily store it in the housing 730. When it reaches another workstation, it grips the workpiece 800 temporarily stored in the housing 730 and places it at that workstation to complete the transportation.
[0077] In the robot described above, by using the gripping device 10, the mechanical arm 710 drives the gripping device 10 to move, and the gripped part 800 is not easily damaged due to falling off.
[0078] See Figure 5 and Figure 6 In some embodiments, the robot includes a temporary storage platform 731, on which an upwardly extending limiting plate 732 is provided. A temporary storage space for temporarily storing a clamping part 800 is formed between the temporary storage platform 731 and the limiting plate 732. The top of the limiting plate 732 has a guide portion 7321, which extends obliquely toward the side away from the temporary storage space in an upward direction.
[0079] Specifically, the temporary storage platform 731 is located inside the housing 730, and the clamping device 10 can temporarily store the clamped part 800 on the temporary storage platform 731. The limiting plate 732 is matched and set according to the shape and size of the clamped part 800. After the clamped part 800 is placed on the temporary storage platform 731, the limiting plate 732 can block the end of the clamped part 800, suppressing the clamped part 800 from shaking significantly during transportation. Preferably, the limiting plate 732 is provided on at least three sides of the clamped part 800 to reduce the shaking amplitude of the clamped part 800 to a large extent. Since the guide portion 7321 at the top of the limiting plate 732 is inclined, it can play a guiding role when the clamped part 800 is placed, making it easier for the clamped part 800 to be placed on the temporary storage platform 731.
[0080] Preferably, in some embodiments, the bottom plate of the clamping part 800 is provided with a notch, and the temporary storage platform 731 is provided with a protrusion at the corresponding position. By the cooperation of the notch and the protrusion, the placement of the clamping part 800 can be prevented from being mistaken. If the clamping direction is wrong, the clamping part 800 cannot be successfully placed here, thereby ensuring the accuracy of the placement position.
[0081] In some embodiments, a plurality of clamping components 800 may be placed on the temporary storage platform 731, and the shapes and sizes of the plurality of clamping components 800 may be different. Preferably, the top plates of the clamping components 800 with different shapes and sizes are all provided with the aforementioned handles 810, and the size and shape of the handles 810 are exactly the same, so as to improve the versatility of the clamping device 10 when clamping them.
[0082] See Figure 5 Preferably, in some embodiments, the end of the robotic arm 710 is also equipped with a CCD for positioning to improve the accuracy of gripping and placing.
[0083] See Figure 5 Preferably, in some embodiments, the housing of the chassis 720 includes a plurality of sheet metal parts that can be disassembled to facilitate the repair and replacement of components inside the chassis 720.
[0084] See Figure 5 Preferably, in some embodiments, the wheels at the bottom of the chassis 720 are omnidirectional wheels to increase the flexibility of movement. Furthermore, the omnidirectional wheels are shock-absorbing omnidirectional wheels to reduce vibration during movement and improve stability.
[0085] See Figure 5 Preferably, in some embodiments, the chassis 720 is manufactured using a combination of machining and welding processes to improve its manufacturing precision.
[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0087] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A clamping device for clamping a workpiece, characterized in that, include: Two first clamping members are arranged at a distance along a first direction, and the two first clamping members are restricted to moving relative to each other only along the first direction to move closer or further apart; Two second clamping members are arranged at a distance along a second direction, and the two second clamping members are restricted to moving relative to each other only along the second direction to move closer or further apart, wherein the second direction is perpendicular to the first direction; and Multiple sets of tilting sliding components, each tilting sliding component including a first sliding member and a second sliding member slidably connected, wherein the first sliding member and the corresponding second sliding member can slide relative to each other along the extension direction of the tilting sliding component, wherein the extension direction is located in the clamping plane formed by the first direction and the second direction, and the extension direction is tilted relative to the first direction; The two second clamping members are each provided with the tilting sliding assembly between them and at least one first clamping member. In the same group of tilting sliding assemblies, the first sliding member is fixedly connected to the corresponding first clamping member, and the second sliding member is fixedly connected to the corresponding second clamping member. As the two first clamping members move closer to each other along the first direction, a plurality of second sliding members that are fixedly connected to the two second clamping members in a one-to-one correspondence slide relative to their respective first sliding members, thereby driving the two second clamping members to move closer to each other along the second direction. The clamping device further includes a base, a connector, and an elastic element. The first clamping element, the second clamping element, and the tilting sliding assembly are all connected to the connector. The elastic element is connected between the base and the connector. The elastic element is capable of extending and retracting along a third direction, wherein the third direction is perpendicular to the clamping plane. The connector includes a horizontal plate, the base includes a base plate arranged parallel to the horizontal plate, and one end of the elastic member abuts against the horizontal plate and the other end abuts against the base plate; Elastic elements are provided at the four corners of the horizontal plate; Both of the first clamping members are provided with positioning holes extending along the first direction. The two positioning holes are used for the positioning pins at both ends of the clamping member along the first direction to be inserted one by one. The positioning hole includes a guide area extending along the first direction and located at the entrance of the positioning hole, wherein the diameter of the guide area gradually decreases in the direction in which the positioning pin is inserted into the positioning hole.
2. The clamping device according to claim 1, characterized in that, Two sets of tilting sliding components are disposed one-to-one between the two second clamping members and the two first clamping members, and one set of tilting sliding components is located at one end of one of the second clamping members along the first direction, and the other set of tilting sliding components is located at the other end of the other second clamping member along the first direction.
3. The clamping device according to claim 2, characterized in that, One end of each of the two second clamping members along the first direction is connected to one of the first clamping members through two sets of the inclined sliding components, and the other end of each of the two second clamping members along the first direction is connected to the other first clamping member through two sets of the inclined sliding components.
4. The clamping device according to claim 3, characterized in that, The first clamping member includes a main body extending along the second direction, and protrusions extending from both ends of the main body along the second direction toward the second clamping member. The protrusions have a first inclined surface, and the second clamping member has a second inclined surface parallel to the corresponding first inclined surface. The first inclined surface and the corresponding second inclined surface are connected by the tilting sliding assembly.
5. The clamping device according to any one of claims 1 to 4, characterized in that, The clamping device includes a base, a first sliding component, and a second sliding component; Each of the two first clamping members is provided with a first sliding assembly between itself and the base. The first sliding assembly includes a third sliding member and a fourth sliding member that are slidably connected. The third sliding member and the fourth sliding member can slide relative to each other along the first direction. The third sliding member is fixedly connected to the corresponding first clamping member, and the fourth sliding member is connected to the base. A second sliding assembly is provided between each of the two second clamping members and the base. The second sliding assembly includes a fifth sliding member and a sixth sliding member that are slidably connected. The fifth sliding member and the sixth sliding member can slide relative to each other along the second direction. The fifth sliding member is fixedly connected to the corresponding second clamping member, and the sixth sliding member is fixedly connected to the base.
6. A robot, characterized in that, The gripping device according to any one of claims 1 to 5 further includes a robotic arm, the gripping device being connected to the end of the robotic arm, the robotic arm being used to drive the gripping device to move.
7. The robot according to claim 6, characterized in that, The robot includes a temporary storage platform with an upwardly extending limiting plate. A temporary storage space for temporarily storing the workpiece to be clamped is formed between the limiting plate and the temporary storage platform. The top of the limiting plate has a guide portion that extends obliquely away from the temporary storage space in an upward direction.