Gripping device

Abstract

The application relates to the technical field of mechanical equipment, and discloses a grabbing device which comprises a base, a driving mechanism, a transmission assembly and a grabbing assembly. The base comprises a bottom plate and a side plate, and the side plate and the bottom plate jointly form a containing cavity. The driving mechanism is arranged on the bottom plate. The transmission assembly comprises a guide rail, a supporting plate and a connecting seat, the guide rail extends along the length direction of the bottom plate and is fixedly arranged on the outer side of the side plate, the supporting plate is slidingly arranged on the side face of the guide rail far away from the side plate, and the supporting plate is connected with the driving mechanism through the connecting seat. The grabbing assembly is arranged on the supporting plate and located on one side of the base. The grabbing assembly is arranged on the supporting plate and located on one side of the base, the grabbing assembly is driven to move along the guide rail through the driving mechanism, the moving range of the grabbing assembly is obviously improved, and the grabbing device is flexible to use; other components can be arranged in the containing cavity of the base, and the space utilization rate is improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, specifically to a gripping device. Background Technology

[0002] In mechanical equipment, gripping devices are frequently used to grasp materials in order to move them in space. Currently, the gripping components of gripping devices are generally located in the middle area of ​​the machine, which limits the range of motion for grasping materials, thus restricting the movement of materials and resulting in poor flexibility. Summary of the Invention

[0003] In view of this, the present invention provides a gripping device to solve the problem of poor flexibility in gripping materials.

[0004] This invention provides a gripping device, comprising:

[0005] The base includes a bottom plate and side plates, which together form a receiving cavity;

[0006] The drive mechanism is mounted on the base plate;

[0007] The transmission assembly includes a guide rail, a support plate, and a connecting seat. The guide rail extends along the length of the base plate and is fixedly disposed on the outer side of the side plate. The support plate is slidably disposed on the side of the guide rail away from the side plate and is connected to the drive mechanism through the connecting seat.

[0008] The gripping component is mounted on the support plate and located on one side of the base.

[0009] Beneficial effects: The gripping device of the present invention mounts the gripping component on a support plate, located on one side of the base, and drives the gripping component to move along the guide rail via a drive mechanism, significantly improving the range of motion of the gripping component and making it more flexible in use. Furthermore, other components can be installed within the accommodating cavity of the base, which helps to improve space utilization.

[0010] In one optional embodiment, part of the drive mechanism is located within the receiving cavity and includes a first drive member, a drive wheel, a driven wheel, and a transmission belt. The drive wheel and the driven wheel are respectively located at both ends of the base plate along its length. The transmission belt is sleeved between the drive wheel and the driven wheel. The output shaft of the first drive member passes through the base plate and is connected to the drive wheel. The connecting seat is fixedly connected to the transmission belt.

[0011] Beneficial effects: The first driving component drives the driving wheel and the driven wheel to rotate, which in turn drives the transmission belt to rotate. As the transmission belt rotates, it drives the connecting seat to move, which in turn drives the support plate fixedly connected to the connecting seat to move. This, in turn, drives the gripping component to move, making it easier for the gripping component to move to a suitable position to grip or put down materials.

[0012] In one alternative embodiment, a collision avoidance mechanism is also included, which is disposed between the drive mechanism and the transmission assembly.

[0013] Beneficial effects: The anti-collision mechanism is located between the drive mechanism and the transmission components, and a part of the anti-collision mechanism can be installed in the cavity to improve the utilization rate of the cavity's internal space.

[0014] In one optional embodiment, the anti-collision mechanism includes a first anti-collision block, an elastic element, and a second anti-collision block. The first anti-collision block is fixedly connected to the transmission belt; the elastic element is disposed between the first and second anti-collision blocks; and the second anti-collision block is fixedly connected to the support plate.

[0015] Beneficial effects: The first anti-collision block is fixedly connected to the transmission belt, moving up and down with the belt, and driving the second anti-collision block and the support plate to move up and down as well. When the gripping component is not aligned with the material, the material or the reagent kit cap containing the material will first hit the second anti-collision block. The second anti-collision block compresses the elastic element upward, which reduces the impact and thus prevents the gripping component and the material from being damaged by mutual collision.

[0016] In one optional embodiment, the anti-collision mechanism further includes a first guide shaft and a second guide shaft. One end of the first guide shaft is fixedly mounted on the second anti-collision block, and the other end extends along the length direction of the base plate. The first guide shaft passes through the first anti-collision block and is slidably connected to the first anti-collision block. An elastic element is sleeved on the first guide shaft. One end of the second guide shaft is fixedly mounted on the first anti-collision block, and the other end extends along the length direction of the base plate. The second guide shaft passes through the second anti-collision block and is slidably connected to the second anti-collision block.

[0017] Beneficial effects: By setting the first guide shaft and the second guide shaft, the first and second anti-collision blocks can be guided to move in a straight line, improving the movement stability of the first and second anti-collision blocks, and at the same time, the movement of the elastic element can also be guided.

[0018] In one alternative embodiment, the first anti-collision block, the first guide shaft, the second guide shaft, and the second anti-collision block form a connecting seat.

[0019] Beneficial effects: The first anti-collision block, the first guide shaft, the second guide shaft, and the second anti-collision block form a connecting seat, which has a simple structure and is easy to use.

[0020] In one alternative embodiment, the anti-collision mechanism further includes an anti-collision optical coupler and an anti-collision optical coupler baffle, wherein the anti-collision optical coupler is connected to one of the first anti-collision block and the second anti-collision block; and one end of the anti-collision optical coupler baffle is connected to the other of the first anti-collision block and the second anti-collision block.

[0021] Beneficial effect: When the gripping component is not aligned with the material, causing the material or the reagent kit cap containing the material to hit the second anti-collision block, the second anti-collision block moves upward, the anti-collision optocoupler baffle interacts with the anti-collision optocoupler, and the anti-collision optocoupler output signal is fed back to trigger the anti-collision mechanism to remind the operator that the gripping component is not aligned with the material.

[0022] In one optional embodiment, a mounting groove is provided on one side of the first anti-collision block along the moving direction of the drive mechanism; the anti-collision mechanism further includes a fixing plate, which is detachably connected to the side of the first anti-collision block with the mounting groove, and clamps part of the transmission belt in the mounting groove.

[0023] Beneficial effects: By setting a fixing clamp to clamp part of the transmission belt into the mounting groove of the first anti-collision block, the connection between the transmission belt and the first anti-collision block can be improved. In addition, the fixing clamp can be detachably connected to the side of the first anti-collision block with the mounting groove, which facilitates the adjustment of the fixing position of the first anti-collision block and the transmission belt, and facilitates maintenance.

[0024] In one optional embodiment, the gripping assembly includes a connecting plate, a second drive member, a cam, and a gripping mechanism. The connecting plate is fixedly connected to the side of the support plate away from the side plate. The second drive member is fixedly disposed on the connecting plate, and the output shaft of the second drive member passes through the connecting plate and is connected to the cam. The second drive member drives the cam to rotate so that the gripping mechanism opens and closes to grip the material.

[0025] Beneficial effects: The connecting plate and the support plate are fixedly connected on the side away from the side plate, so that the entire gripping assembly is located on one side of the base, thereby expanding the range of motion of the gripping mechanism and improving its flexibility. The cam is driven to rotate by the second drive component, so that the gripping mechanism opens and closes to grip the material.

[0026] In one optional embodiment, the gripping mechanism includes a connector, a first gripper, a second gripper, and a spring. The connector is fixedly connected to a connecting plate. The first gripper and the second gripper are slidably connected to the connector. The two ends of the spring are connected to the first gripper and the second gripper, respectively. A cam is located between the first gripper and the second gripper. A second drive unit drives the cam to rotate and, under the action of the spring, switches the first gripper and the second gripper between an open state and a closed state.

[0027] Beneficial effects: The second drive unit drives the cam to rotate, and the first and second grippers are pressed apart by the cam to switch to the open state. At this time, the material cannot be gripped, and the spring is stretched. Afterward, the second drive unit drives the cam to continue rotating, and the cam no longer presses against the first and second grippers. The spring rebounds to switch to the closed state, thereby clamping the material. The gripping process is stable and reliable, and convenient to use. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a gripping device according to an embodiment of the present invention;

[0030] Figure 2 for Figure 1 Another structural diagram from a different perspective;

[0031] Figure 3 This is a partial structural schematic diagram of a gripping device according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of a gripping component of a gripping device according to an embodiment of the present invention;

[0033] Figure 5 for Figure 4 A structural diagram from another perspective.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Base; 101. Base plate; 102. Side plate; 103. Detection optocoupler; 2. Drive mechanism; 201. First drive component; 202. Drive wheel; 203. Driven wheel; 204. Transmission belt; 3. Transmission assembly; 301. Guide rail; 302. Support plate; 4. Gripping assembly; 401. Connecting plate; 402. Second drive component; 403. Cam; 404. Gripping mechanism; 4041. Connecting component; 4042. First gripper; 4043. 4044. Second gripper; 4045. Spring; 4046. First slide rail; 4047. Second slide rail; 405. Gripping optical coupler; 406. Gripping optical coupler baffle; 407. Calibration optical coupler; 408. Calibration optical coupler baffle; 5. Anti-collision mechanism; 501. First anti-collision block; 502. First guide shaft; 503. Elastic element; 504. Second anti-collision block; 505. Second guide shaft; 506. Anti-collision optical coupler; 507. Anti-collision optical coupler baffle; 508. Fixed clamping plate. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Existing gripping devices typically have their gripping components located in the middle of the machine, limiting their range of motion and resulting in poor flexibility. In this embodiment of the invention, the gripping component is mounted on a support plate on one side of the machine and moved along a guide rail by a drive mechanism, significantly improving its range of motion and making it more flexible to use.

[0038] The following is combined Figures 1 to 5 The following describes embodiments of the present invention.

[0039] According to embodiments of the present invention, such as Figure 1 and Figure 2 As shown, a gripping device is provided, mainly including: a base 1, a drive mechanism 2, a transmission assembly 3, and a gripping assembly 4. The base 1 includes a bottom plate 101 and side plates 102 surrounding the bottom plate 101, the side plates 102 and the bottom plate 101 together forming a receiving cavity. The drive mechanism 2 is mounted on the bottom plate 101. The transmission assembly 3 includes a guide rail 301, a support plate 302, and a connecting seat. The guide rail 301 extends along the length of the bottom plate 101 and is fixedly mounted on the outer side of the side plate 102; the support plate 302 is slidably mounted on the side of the guide rail 301 away from the side plate 102, and is connected to the drive mechanism 2 via the connecting seat. The gripping assembly 4 is mounted on the support plate 302 and located on one side of the base 1.

[0040] The gripping device of this embodiment of the invention has a gripping component 4 mounted on a support plate 302, located on one side of the base 1. The gripping component 4 is moved along the guide rail 301 by a drive mechanism 2, significantly improving the range of motion of the gripping component 4 and making it more flexible to use. Furthermore, other components can be installed within the accommodating cavity of the base 1, which helps to improve space utilization.

[0041] It should be noted that the embodiments of the present invention do not impose any restrictions on the driving mechanism 2, as long as the driving mechanism 2 can drive the gripping component 4 to move along the guide rail 301.

[0042] In one embodiment, such as Figure 3As shown, part of the drive mechanism 2 is located within the receiving cavity, including a first drive member 201, a drive wheel 202, a driven wheel 203, and a transmission belt 204. The drive wheel 202 and the driven wheel 203 are respectively located at both ends of the base plate 101 along its length. The transmission belt 204 is sleeved between the drive wheel 202 and the driven wheel 203. The output shaft of the first drive member 201 passes through the base plate 101 and is connected to the drive wheel 202. The connecting seat is fixedly connected to the transmission belt 204. The first drive member 201 drives the drive wheel 202 and the driven wheel 203 to rotate, causing the transmission belt 204 to rotate. Simultaneously, the rotation of the transmission belt 204 drives the connecting seat to move linearly, causing the support plate 302 fixedly connected to the connecting seat to move, thereby driving the gripping assembly 4 to move, facilitating the gripping assembly 4 to move to a suitable position to grip or release materials.

[0043] Specifically, the drive mechanism 2 can serve as the component for the lifting and lowering movement of the gripping assembly 4. The base plate 101 is placed vertically, with a drive wheel axle and a driven wheel axle at its upper and lower ends, respectively. The drive wheel 202 is mounted on the drive wheel axle at the lower end of the base plate 101 via bearings. The driven wheel 203 is mounted on the driven wheel axle at the upper end of the base plate 101 via bearings. A transmission belt 204 is vertically sleeved between the drive wheel 202 and the driven wheel 203, and the connecting seat is fixedly connected to the vertically moving portion of the transmission belt 204. The first drive component 201 can be a drive motor. By controlling the forward and reverse rotation of the drive motor, the transmission belt 204 drives the connecting seat, support plate 302, and gripping assembly 4 to move up and down, thus achieving the lifting and lowering movement of the gripping assembly 4.

[0044] In other embodiments, the drive mechanism 2 may also be a telescopic motor, telescopic cylinder, or other conventional drive mechanisms.

[0045] In one embodiment, the gripping device further includes an anti-collision mechanism 5, which is disposed between the drive mechanism 2 and the transmission assembly 3, and a portion of the anti-collision mechanism 5 is installed within the receiving cavity. Installing a portion of the anti-collision mechanism 5 within the receiving cavity improves the utilization rate of the internal space of the receiving cavity.

[0046] Furthermore, such as Figure 3 As shown, the anti-collision mechanism 5 includes a first anti-collision block 501, an elastic element 503, and a second anti-collision block 504. The first anti-collision block 501 is fixedly connected to the transmission belt 204 so as to move up and down with the transmission belt 204, thereby driving the second anti-collision block 504 and the support plate 302 to move up and down. The elastic element 503 is disposed between the first anti-collision block 501 and the second anti-collision block 504. The second anti-collision block 504 is fixedly connected to the support plate 302. The elastic element 503 can be a conventional elastic element such as a spring or an elastic pad.

[0047] When the gripping component 4 is not aligned with the material, the material or the reagent kit cap containing the material will first hit the second anti-collision block 504. The second anti-collision block 504 compresses the elastic element 503 upward, and the elastic element 503 reduces the impact, thereby preventing the gripping component 4 and the material from being damaged due to mutual collision.

[0048] Furthermore, the anti-collision mechanism 5 also includes a first guide shaft 502 and a second guide shaft 505. One end of the first guide shaft 502 is fixedly mounted on the second anti-collision block 504, and the other end extends along the length of the base plate 101. The first guide shaft 502 passes through the first anti-collision block 501 and is slidably connected to it. An elastic member 503 is sleeved on the first guide shaft 502. One end of the second guide shaft 505 is fixedly mounted on the first anti-collision block 501, and the other end extends along the length of the base plate 101, passes through the second anti-collision block 504, and is slidably connected to it. By setting the first guide shaft 502 and the second guide shaft 505, the first anti-collision block 501 and the second anti-collision block 504 can be guided to move linearly, improving the movement stability of the first anti-collision block 501 and the second anti-collision block 504, and also guiding the movement of the elastic member 503.

[0049] In one embodiment, such as Figure 2 As shown, the base plate 101 is also provided with a detection optocoupler 103 and a through hole, with the detection optocoupler 103 located at the through hole. When the drive mechanism 2 drives the connecting seat to the highest point, the through hole is blocked by the connecting seat, and the detection optocoupler 103 outputs a signal to feed back to the drive mechanism 2 when it reaches the highest point.

[0050] In one embodiment, the first anti-collision block 501, the first guide shaft 502, the second guide shaft 505, and the second anti-collision block 504 form a connecting seat, which has a simple structure and is easy to use.

[0051] In one embodiment, the anti-collision mechanism 5 further includes an anti-collision optical coupler 506 and an anti-collision optical coupler baffle 507, with the anti-collision optical coupler 506 connected to the second anti-collision block 504. One end of the anti-collision optical coupler baffle 507 is connected to the first anti-collision block 501, and the other end interacts with the anti-collision optical coupler 506 as the first anti-collision block 501 and the second anti-collision block 504 move relative to each other. When the gripping component 4 is not aligned with the material, causing the material or the reagent kit cap containing the material to hit the second anti-collision block 504, the second anti-collision block 504 moves upward, the anti-collision optical coupler baffle 507 interacts with the anti-collision optical coupler 506, the level of the anti-collision optical coupler 506 changes, and the output signal is triggered to alert the operator that the gripping component 4 is not aligned with the material.

[0052] In another embodiment, the anti-collision optical coupler 506 can also be connected to the first anti-collision block 501. One end of the anti-collision optical coupler baffle 507 can be connected to the second anti-collision block 504, and the other end interacts with the anti-collision optical coupler 506 as the first anti-collision block 501 and the second anti-collision block 504 move relative to each other.

[0053] In one embodiment, a mounting groove is provided on one side of the first anti-collision block 501 along the moving direction of the drive mechanism 2. The anti-collision mechanism 5 also includes a fixing clamp 508, which is detachably connected to the side of the first anti-collision block 501 with the mounting groove, and clamps a portion of the transmission belt 204 within the mounting groove. By setting the fixing clamp 508 to clamp a portion of the transmission belt 204 within the mounting groove of the first anti-collision block 501, the connection tightness between the transmission belt 204 and the first anti-collision block 501 can be improved. Furthermore, the detachable connection between the fixing clamp 508 and the side of the first anti-collision block 501 with the mounting groove facilitates adjustment of the fixed position of the first anti-collision block 501 and the transmission belt 204, and also facilitates maintenance.

[0054] In one embodiment, such as Figure 1 As shown, the gripping assembly 4 includes a connecting plate 401, a second driving member 402, a cam 403, and a gripping mechanism 404. The connecting plate 401 is fixedly connected to the side of the support plate 302 away from the side plate 102. The second driving member 402 is fixedly mounted on the connecting plate 401, and its output shaft passes through the connecting plate 401 and connects to the cam 403. The second driving member 402 drives the cam 403 to rotate, thereby causing the gripping mechanism 404 to open and close to grip materials. The fixed connection between the connecting plate 401 and the support plate 302 away from the side plate 102 allows the gripping assembly 4 to be positioned on one side of the base 1, thus expanding the range of motion of the gripping mechanism 404 and improving its flexibility. The second driving member 402 drives the cam 403 to rotate, thereby causing the gripping mechanism 404 to open and close to grip materials.

[0055] Specifically, the connecting plate 401 can be fixedly connected to the support plate 302 by conventional fixing methods such as screws, bolts, and clips, and is used to support the second driving component 402, the cam 403, and the gripping mechanism 404. The second driving component 402 can be a drive motor.

[0056] Furthermore, such as Figure 4 and Figure 5 As shown, the gripping mechanism 404 includes a connector 4041, a first gripper 4042, a second gripper 4043, and a spring 4044. The connector 4041 is fixedly connected to the connecting plate 401. The first gripper 4042 and the second gripper 4043 are slidably connected to the connector 4041, respectively. The two ends of the spring 4044 are connected to the first gripper 4042 and the second gripper 4043, respectively, and are always kept taut. The cam 403 is located between the first gripper 4042 and the second gripper 4043. The second drive member 402 drives the cam 403 to rotate, and under the action of the spring 4044, switches the first gripper 4042 and the second gripper 4043 between an open state and a closed state.

[0057] The second drive unit 402 drives the cam 403 to rotate, and the first gripper 4042 and the second gripper 4043 are pressed apart by the cam 403 to switch to the open state. At this time, it is impossible to grip the material, and the spring 4044 is stretched. The second drive unit 402 drives the cam 403 to continue rotating, and the cam 403 no longer presses against the first gripper 4042 and the second gripper 4043. The spring 4044 rebounds to switch to the closed state, thereby clamping the material. The gripping process is stable and reliable and convenient to use.

[0058] Specifically, the shapes of the first gripper 4042 and the second gripper 4043 can be adapted to the material being gripped by the gripping device. Taking a medical device gripping a reaction cup as an example, the reaction cup is generally cylindrical; therefore, the first gripper 4042 and the second gripper 4043 can be designed with opposing arc-shaped openings. In the closed state, the inner surfaces of the first gripper 4042 and the second gripper 4043 are in contact with the outer wall of the reaction cup.

[0059] In one embodiment, such as Figure 4 As shown, the gripping mechanism 404 also includes a first slide rail 4045 and a second slide rail 4046 respectively fixedly disposed on both sides of the connector 4041. The first gripper 4042 is mounted on the first slide rail 4045 via a slider, and the second gripper 4043 is mounted on the second slide rail 4046 via a slider. When the cam 403 rotates, the first gripper 4042 and the second gripper 4043 slide back and forth on the first slide rail 4045 and the second slide rail 4046 respectively to switch between an open state and a closed state.

[0060] In one embodiment, such as Figure 5 As shown, the gripping component 4 also includes a gripping optical coupler 405 and a gripping optical coupler baffle 406. The gripping optical coupler 405 is connected to one of the first gripper 4042 and the second gripper 4043, and has a gripping opening slot. The gripping optical coupler baffle 406 is connected to the other of the first gripper 4042 and the second gripper 4043, and moves in and out of the gripping opening slot as the first gripper 4042 and the second gripper 4043 move. In the closed state, the gripping optical coupler baffle 406 enters the gripping opening slot, and the voltage level of the gripping optical coupler 405 changes to indicate that the first gripper 4042 and the second gripper 4043 have entered the closed state, clamping the material. In the open state, the gripping optical coupler baffle 406 leaves the gripping opening slot, and the voltage level of the gripping optical coupler 405 changes to indicate that the first gripper 4042 and the second gripper 4043 have entered the open state, releasing the material.

[0061] In one embodiment, the two end faces of the cam 403 are provided with a first track surface and a second track surface circumferentially opposite each other. The thickness of the first track surface and the second track surface gradually increases from one end to the other, forming a step at the junction of the narrowest and thickest points. The upper ends of the first gripper 4042 and the second gripper 4043 are respectively provided with rollers that abut against the first track surface and the second track surface. When the cam 403 rotates, the first gripper 4042 and the second gripper 4043 move along the first track surface and the second track surface respectively, so as to switch the first gripper 4042 and the second gripper 4043 between an open state and a closed state.

[0062] Specifically, the cam 403 has a first position and a second position. The first position is when the cam 403 rotates to the point where the first gripper 4042 and the second gripper 4043 are pressed apart by the cam 403 to switch to the open state. The second position is when the cam 403 rotates to the point where it no longer presses against the first gripper 4042 and the second gripper 4043, and the spring 4044 rebounds to switch to the closed state.

[0063] In one embodiment, the gripping component 4 further includes a calibration optocoupler 407 and a calibration optocoupler baffle 408. The calibration optocoupler 407 is fixedly connected to the connecting plate 401 and has a calibration opening slot. The calibration optocoupler baffle 408 is disposed on the outer periphery of the cam 403 and moves in and out of the calibration opening slot as the cam 403 rotates. Specifically, the top of the connecting plate 401 extends towards the cam 403 to form a horizontal plate, and the calibration optocoupler 407 is fixed on the horizontal plate. When the cam 403 is in the first or second position, the calibration optocoupler baffle 408 is located in the calibration opening slot, gripping the level transition of the optocoupler 405 to provide feedback on the rotation state of the cam 403. When the cam 403 is not in the first or second position, the calibration optocoupler baffle 408 moves away from the calibration opening slot.

[0064] The working process of this invention embodiment is as follows:

[0065] The first driving component 201 is controlled to rotate forward in advance, and the transmission belt 204 is driven by the driving wheel 202 and the driven wheel 203, which in turn drive the first anti-collision block 501, the first guide shaft 502, the second guide shaft 505, the second anti-collision block 504, the support plate 302 and the connecting plate 401 to move up and down in sequence, so that the first gripper 4042 and the second gripper 4043 move to the appropriate position to grasp the material.

[0066] Then, the second drive unit 402 drives the cam 403 to rotate, the first gripper 4042 and the second gripper 4043 switch from the open state to the closed state, the spring 4044 contracts, and the first gripper 4042 and the second gripper 4043 clamp the material.

[0067] Next, control the first drive component 201 to reverse, driving the gripping mechanism 404 to move up and down to the appropriate position for placing the material.

[0068] Finally, the second drive unit 402 drives the cam 403 to rotate, the first gripper 4042 and the second gripper 4043 switch from the closed state to the open state, the spring 4044 is continuously stretched, and the first gripper 4042 and the second gripper 4043 release the material.

[0069] To achieve the basic functions of the gripping device, the gripping device in this embodiment of the invention may also include other necessary modules or components, such as a control system, wires, etc. It should be noted that the other necessary modules or components included in the gripping device can be any suitable existing structure. To clearly and concisely illustrate the technical solution provided in this embodiment, the above-mentioned parts will not be repeated here, and the accompanying drawings have also been simplified accordingly. However, it should be understood that the scope of the invention is not limited thereto.

[0070] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A gripping device, characterized in that, include: The base (1) includes a bottom plate (101) and a side plate (102), wherein the side plate (102) and the bottom plate (101) together form a receiving cavity; The drive mechanism (2) is mounted on the base plate (101); The transmission assembly (3) includes a guide rail (301), a support plate (302), and a connecting seat. The guide rail (301) extends along the length of the base plate (101) and is fixedly disposed on the outside of the side plate (102). The support plate (302) is slidably disposed on the side of the guide rail (301) away from the side plate (102) and is connected to the drive mechanism (2) through the connecting seat. The gripping component (4) is disposed on the support plate (302) and located on one side of the base (1); The drive mechanism (2) includes a first drive member (201), a drive wheel (202), a driven wheel (203), and a transmission belt (204). The drive wheel (202) and the driven wheel (203) are respectively located at both ends of the base plate (101) along its length. The transmission belt (204) is sleeved between the drive wheel (202) and the driven wheel (203). The output shaft of the first drive member (201) passes through the base plate (101) and is connected to the drive wheel (202). The connecting seat is fixedly connected to the transmission belt (204). It also includes a collision avoidance mechanism (5), which is located between the drive mechanism (2) and the transmission assembly (3); The anti-collision mechanism (5) includes a first anti-collision block (501), an elastic element (503), and a second anti-collision block (504). The first anti-collision block (501) is fixedly connected to the transmission belt (204). The elastic element (503) is disposed between the first anti-collision block (501) and the second anti-collision block (504). The second anti-collision block (504) is fixedly connected to the support plate (302).

2. The gripping device according to claim 1, characterized in that, Part of the drive mechanism (2) is located inside the receiving cavity.

3. The gripping device according to claim 1, characterized in that, The anti-collision mechanism (5) further includes a first guide shaft (502) and a second guide shaft (505). One end of the first guide shaft (502) is fixedly disposed on the second anti-collision block (504), and the other end extends along the length direction of the base plate (101). The first guide shaft (502) passes through the first anti-collision block (501) and is slidably connected to the first anti-collision block (501). The elastic element (503) is sleeved on the first guide shaft (502). One end of the second guide shaft (505) is fixedly disposed on the first anti-collision block (501), and the other end extends along the length direction of the base plate (101). The second guide shaft (505) passes through the second anti-collision block (504) and is slidably connected to the second anti-collision block (504).

4. The gripping device according to claim 3, characterized in that, The first anti-collision block (501), the first guide shaft (502), the second guide shaft (505), and the second anti-collision block (504) form the connecting seat.

5. The gripping device according to claim 1, characterized in that, The anti-collision mechanism (5) further includes an anti-collision optical coupler (506) and an anti-collision optical coupler baffle (507). The anti-collision optical coupler (506) is connected to one of the first anti-collision block (501) and the second anti-collision block (504). One end of the anti-collision optical coupler baffle (507) is connected to the other of the first anti-collision block (501) and the second anti-collision block (504).

6. The gripping device according to claim 1, characterized in that, The first anti-collision block (501) has an installation groove on one side along the moving direction of the drive mechanism (2); the anti-collision mechanism (5) also includes a fixing clamp (508), which is detachably connected to the side of the first anti-collision block (501) with the installation groove, and clamps part of the transmission belt (204) in the installation groove.

7. The gripping device according to any one of claims 1 to 6, characterized in that, The gripping assembly (4) includes a connecting plate (401), a second driving member (402), a cam (403), and a gripping mechanism (404). The connecting plate (401) is fixedly connected to the side of the support plate (302) away from the side plate (102). The second driving member (402) is fixedly disposed on the connecting plate (401), and the output shaft of the second driving member (402) passes through the connecting plate (401) and is connected to the cam (403). The second driving member (402) drives the cam (403) to rotate so that the gripping mechanism (404) opens and closes to grip the material.

8. The gripping device according to claim 7, characterized in that, The gripping mechanism (404) includes a connector (4041), a first gripper (4042), a second gripper (4043), and a spring (4044). The connector (4041) is fixedly connected to the connecting plate (401). The first gripper (4042) and the second gripper (4043) are slidably connected to the connector (4041). The two ends of the spring (4044) are connected to the first gripper (4042) and the second gripper (4043) respectively. The cam (403) is located between the first gripper (4042) and the second gripper (4043). The second driving member (402) drives the cam (403) to rotate, and under the action of the spring (4044), the first gripper (4042) and the second gripper (4043) switch between an open state and a closed state.

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