Pick-up device

Abstract

The invention discloses a pick-up device, comprising: a holding member, the distal end of which is connected to a robot arm; the number of the pincers bodies is at least three, and the three pincers bodies are connected to the front end of the maintaining part and are arranged in the circumferential direction; the actuator is used for driving the at least three clamp bodies to pivot so as to enable the clamp bodies to be unfolded and folded; an arc-shaped concave part is arranged on the radial inner side of each clamp body, so that after the clamp bodies are folded, the radial inner sides of the at least three clamp bodies enclose an accommodating space capable of accommodating a ball part.

Description

Technical Field

[0001] The present invention relates to the technical field of non-standard equipment, and in particular to a picking device. Background Art

[0002] As is known, a clamping device (mechanism) can clamp and pick up a workpiece, and its working principle is to use at least two clamps pivotally connected to a holding component of a robot arm, which are driven by a driver to pivot to clamp the workpiece.

[0003] However, the clamping device in the prior art is difficult to stably clamp the spherical workpiece because: after the spherical workpiece is clamped, the distance between the heads of the two clamp bodies is always greater than the size of the spherical workpiece, making it difficult to hold the workpiece between the two clamp bodies. Summary of the invention

[0004] In view of the above technical problems existing in the prior art, an embodiment of the present invention provides a picking device.

[0005] In order to solve the above technical problems, the technical solution adopted in the embodiments of the present invention is: A picking device, comprising: a holding member having a distal end for connection to a robotic arm; A caliper body, comprising at least three caliper bodies, wherein the three caliper bodies are connected to the front end of the holding component and are arranged circumferentially; An actuator, which is used to drive at least three of the calipers to pivot so that the calipers open and close; wherein: An arc-shaped inner concave portion is arranged on the radial inner side of each pliers body, so that when the pliers bodies are folded, the radial inner sides of at least three pliers bodies enclose an accommodating space capable of accommodating a ball component.

[0006] Preferably, a connection disk is fixed to the distal end of the retaining component; The clamp body is connected to the connecting plate, and the actuator comprises a telescopic cylinder, wherein a telescopic rod of the telescopic cylinder drives the clamp body to pivot by telescoping.

[0007] Preferably, the tail portion of each caliper body extends to have an inner connecting portion located radially inward and an outer connecting portion located radially outward; wherein: The edge of the connecting plate is provided with a plurality of pairs of ear plates corresponding to the pliers body one by one, each pair of ear plates is provided with a long hole extending radially, the outer connecting portion of the pliers body is located between each pair of ear plates, the outer connecting portion is provided with a pin shaft, and the pin shaft passes through the long hole on the ear plate; the inner connecting portion of the pliers body is pivotally connected to the head of the telescopic rod.

[0008] Preferably, a connecting block is fixed to the front end of the telescopic rod, and the connecting block is provided with a plurality of circumferentially arranged mounting grooves, and the inner connecting portion of the caliper body is located between two groove walls of the mounting groove, and the inner connecting portion is installed with a core shaft, and the core shaft extends into the groove wall so that the inner connecting portion is pivotally connected to the connecting block by means of the core shaft.

[0009] Preferably, a columnar installation space is configured inside the retaining component, and the columnar installation space has an entrance penetrating to the surface of the retaining component, and the telescopic cylinder enters into the columnar installation space through the entrance.

[0010] Preferably, the telescopic cylinder is an oil cylinder, a pneumatic cylinder or an electrostrictive cylinder.

[0011] Compared with the prior art, the pickup device disclosed in the present invention has the following beneficial effects: An arc-shaped inner recess is arranged on the radial inner side of each pliers body. After the four pliers bodies are switched to the retracted state, the four pliers bodies enclose a receiving space for accommodating ball workpieces through the arc-shaped inner recess, so that the workpiece is confined in the receiving space and will not escape from the head of the pliers body.

[0012] This summary of various implementations or examples of the technology described in this disclosure is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the embodiments of the invention. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0014] Figure 1 A schematic diagram of the three-dimensional structure of a pickup device provided by an embodiment of the present invention from one viewing angle.

[0015] Figure 2 A schematic diagram of the three-dimensional structure of a pickup device provided by an embodiment of the present invention from another perspective. Attached photos

[0016] 10-holding component; 11-columnar installation space; 20-caliper body; 21-arc-shaped inner recess; 22-outer connecting portion; 23-inner connecting portion; 24-accommodating space; 30-telescopic cylinder; 31-telescopic rod; 40-connecting plate; 41-ear plate; 411-long hole; 42-pin shaft; 50-connecting block; 51-installation groove. DETAILED DESCRIPTION

[0017] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0018] In order to keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of well-known functions and well-known components are omitted.

[0019] like Figure 1 and Figure 2 As shown, an embodiment of the present invention discloses a picking device, which is used for picking up ball workpieces. The picking device includes: a holding component 10, four clamp bodies 20, a telescopic cylinder 30, a connecting plate 40 and a connecting block 50.

[0020] The holding component 10 has a proximal end and a distal end, the distal end is connected to the robot arm, and a columnar installation space 11 is configured inside the holding component 10. The columnar installation space 11 radially penetrates to the surface of the holding component 10 to form an entrance. The telescopic cylinder 30 (such as an oil cylinder, a gas cylinder or an electro-telescopic cylinder 30) enters the columnar installation space 11 through the entrance and is axially arranged. The telescopic rod 31 of the telescopic cylinder 30 extends out of the proximal end of the holding component 10.

[0021] The connecting plate 40 is fixed to the distal end of the retaining component 10, and the edge of the connecting plate 40 is provided with four pairs of ear plates 41 arranged circumferentially; the four pliers 20 are arranged along the circumference of the connecting plate 40 and correspond to the circumferential positions of the four ear plates 41 respectively. The tail of each pliers 20 extends an inner connecting portion 23 located radially inward and an outer connecting portion 22 located radially outward. Each pair of ear plates 41 is processed with a long hole 411 extending in the radial direction, and the outer connecting portion 22 of the pliers 20 is located between each pair of ear plates 41, and a pin is installed on the outer connecting portion 22, and the pin passes through the long hole 411 of each pair of ear plates 41, so that the connecting plate 40 allows the pliers 20 to pivot in the radial direction. The four pliers 20 are switched to the open state by pivoting radially outward, and switched to the closed state by pivoting radially inward.

[0022] The connecting block 50 is located at the front side of the connecting disk 40, and the telescopic rod 31 of the telescopic cylinder 30 passes through the connecting disk 40 and is connected to the middle part of the connecting block 50, so as to drive the connecting block 50 to move axially. Four mounting grooves 51 are provided on the connecting block 50, and the circumferential positions of the four mounting grooves 51 correspond to the circumferential positions of the inner connecting parts 23 of the four pliers 20. The inner connecting parts 23 of the pliers 20 are between the two groove walls of the mounting groove 51, and a mandrel is installed at the inner connecting part 23, which passes through the groove wall and extends into the connecting block 50. Therefore, when the telescopic cylinder 30 drives the connecting block 50 to move axially forward, the connecting block 50 drives the four pliers 20 to switch to the expanded state to allow the workpiece to enter between the four pliers 20, and the telescopic cylinder 30 drives the connecting block 50 to move backward to switch the four pliers 20 to the retracted state.

[0023] The key to the present invention is that an arc-shaped inner recess 21 is arranged on the radial inner side of each pliers body 20. After the four pliers bodies 20 are switched to the retracted state, the four pliers bodies 20 enclose a receiving space 24 for accommodating ball workpieces through the arc-shaped inner recess 21, so that the workpiece is confined in the receiving space 24 and will not escape from the head of the pliers body 20.

[0024] In addition, although exemplary embodiments have been described in the present invention, the scope includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., various embodiments intersecting schemes), adaptations or changes. The elements in the claims will be interpreted broadly based on the language adopted in the claims, and are not limited to the examples described in this specification or during the execution of this application, and the examples will be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered as examples only, and the true scope and spirit are indicated by the following claims and the full scope of their equivalents.

[0025] The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more schemes thereof) may be used in combination with each other. For example, a person of ordinary skill in the art may use other embodiments when reading the above description. In addition, in the above-mentioned specific embodiments, various features may be grouped together to simplify the present invention. This should not be interpreted as an intention that a disclosed feature that is not required to be protected is necessary for any claim. On the contrary, the subject matter of the present invention may be less than all the features of a particular disclosed embodiment. Thus, the following claims are incorporated herein as examples or embodiments in the specific embodiments, wherein each claim is independently a separate embodiment, and it is considered that these embodiments can be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the appended claims and the full scope of equivalent forms granted by these claims.

[0026] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A picking device, characterized in that: include: a holding member having a distal end for connection to a robotic arm; A caliper body, comprising at least three caliper bodies, wherein the three caliper bodies are connected to the front end of the holding component and are arranged circumferentially; An actuator, which is used to drive at least three of the calipers to pivot so that the calipers open and close; wherein: An arc-shaped inner concave portion is arranged on the radial inner side of each pliers body, so that when the pliers bodies are folded, the radial inner sides of at least three pliers bodies enclose an accommodating space capable of accommodating a ball component.

2. The pickup device according to claim 1, characterized in that: A connecting disk is fixed to the distal end of the retaining component; The clamp body is connected to the connecting plate, and the actuator comprises a telescopic cylinder, wherein a telescopic rod of the telescopic cylinder drives the clamp body to pivot by telescoping.

3. The pickup device according to claim 2, characterized in that: The tail of each caliper body extends to an inner connecting portion located radially inward and an outer connecting portion located radially outward; wherein: The edge of the connecting plate is provided with a plurality of pairs of ear plates corresponding to the pliers body one by one, each pair of ear plates is provided with a long hole extending radially, the outer connecting portion of the pliers body is located between each pair of ear plates, the outer connecting portion is provided with a pin shaft, and the pin shaft passes through the long hole on the ear plate; the inner connecting portion of the pliers body is pivotally connected to the head of the telescopic rod.

4. The pickup device according to claim 3, characterized in that: A connecting block is fixed to the front end of the telescopic rod, and the connecting block is provided with a plurality of circumferentially arranged mounting grooves. The inner connecting portion of the caliper body is located between two groove walls of the mounting groove, and a core shaft is installed on the inner connecting portion, and the core shaft extends into the groove wall so that the inner connecting portion is pivotally connected to the connecting block via the core shaft.

5. The pickup device according to claim 2, characterized in that: A columnar installation space is configured inside the holding component. The columnar installation space has an entrance penetrating to the surface of the holding component. The telescopic cylinder enters the columnar installation space through the entrance.

6. The pickup device according to claim 2, characterized in that: The telescopic cylinder is an oil cylinder, a gas cylinder or an electro-telescopic cylinder.

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