A gripping device

Abstract

The application discloses a grabbing device and relates to the technical field of automatic production. The device adopts a mode of outwardly expanding parallel grabbing to grab a container, is simple in structure and reliable, and is convenient to replace and compatible with various containers. The device adopts a mode of tooth-shaped cooperation and a strip hole screw locking mode, is convenient to replace and adjust the pickup end, and is stable and reliable. The grabbing end has automatic centering and locking functions, can be locked around after grabbing, and can be automatically adjusted and centered during the grabbing process.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production, in particular to a parallel self-locking core grabbing device. Background Art

[0002] In existing automated production lines, materials are typically placed in containers, which are then transported and conveyed between various processes. Grasping the containers is a common step in this process, and the gripping device plays a crucial role. A gripping device with a simple structure, safety, reliability, and versatility is key to ensuring a safe, efficient, and convenient automated production process.

[0003] The grabbing mechanism for automated production lines in the prior art mainly adopts a clamping or hooking method from the outside to the inside to achieve the grabbing of containers such as barrels, such as a grabber for grabbing barrels recorded in application number: 202322332698.4.

[0004] However, the crawling method in the prior art has the following disadvantages:

[0005] 1. When gripping with a clamp, the material barrel or other container must be gripped from the side (holding tightly from the outside in). When the barrels are placed on a pallet or placed close together, the barrels will interfere with each other. Under certain conditions, the gripping can only be carried out in a certain order, which reduces flexibility and affects gripping efficiency. The device is also large and complex.

[0006] 2. When changing production in the existing method, the entire gripping device needs to be replaced.

[0007] 3. The existing method is inconvenient to adjust the fine position of the front end of the grasping mechanism and cannot be flexibly adjusted.

[0008] 4. The existing grasping method adopts two-point or clamping grasping, the grasping contact position is relatively concentrated, or it cannot be self-locking and self-centering, and the reliability is not high. Summary of the Invention

[0009] In view of the above problems, the present invention provides a gripping device for overcoming the above problems or at least partially solving the above problems.

[0010] The present invention provides the following solutions:

[0011] A gripping device, comprising:

[0012] A frame, wherein a mounting base is provided on the top of the frame, and the mounting base is used to connect to the robot execution end;

[0013] Two parallel air grippers, the two parallel air grippers are connected to the two ends of the lower part of the frame in a one-to-one correspondence;

[0014] Two groups of grabbing assemblies, each group of the grabbing assemblies comprises two grabbing ends, and the two grabbing ends in each group are respectively connected with two moving ends of one parallel air claw in one-to-one correspondence, so that the parallel air claw drives the two grabbing ends connected therewith to move close to or away from each other;

[0015] The grabbing end comprises a side-opened conical positioning hole, and during the movement of the two grabbing ends away from each other, the grabbing nails on the barrel are inserted into the side-opened part of the conical positioning hole, thereby realizing the temporary connection between the grabbing assembly and the barrel.

[0016] Preferably, the grabbing end comprises a transverse block and a lifting block connected through a bolt pair, the horizontal section of the transverse block is provided with a mounting hole to realize the connection with the moving end of the corresponding parallel air claw, and the conical positioning hole is arranged on the horizontal section of the lifting block.

[0017] Preferably, the vertical section of the transverse block is provided with a first waist-shaped hole extending in the vertical direction, the vertical section of the lifting block is provided with a second waist-shaped hole extending in the transverse direction, and the bolt pair passes through the first waist-shaped hole and the second waist-shaped hole to realize the connection of the transverse block and the lifting block.

[0018] Preferably, the contact part of the vertical section of the transverse block and the vertical section of the lifting block is respectively provided with a tooth-shaped pattern.

[0019] Preferably, the side-opened position of the conical positioning hole is formed with a V-shaped opening gradually decreasing from outside to inside.

[0020] Preferably, the inner side conical structure of the conical positioning hole is matched with the conical structure of the nut of the grabbing nail.

[0021] Preferably, the rack comprises a mounting body provided with an air claw mounting hole, and the parallel air claw comprises an air claw body connected with the air claw mounting hole through a screw.

[0022] According to the specific embodiments provided by the present application, the following technical effects are achieved:

[0023] The grabbing device provided by the embodiments of the present application adopts the mode of parallel grabbing by spreading outwards from the inside, and has the advantages of simple structure and reliability; the pickup end is modularly designed and convenient to replace, and is compatible with various containers; the pickup end is locked by the tooth-shaped cooperation and the strip-shaped hole screw, and is convenient to replace and adjust, and is stable and reliable; the grabbing end has the functions of automatic centering and locking, can be locked after grabbing, and can be automatically adjusted and centered during the grabbing process.

[0024] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0026] Figure 1 1 is a schematic structural diagram of a gripping device provided by an embodiment of the present invention;

[0027] Figure 2 is a structural diagram of a rack provided by an embodiment of the present invention;

[0028] Figure 3 1 is a schematic structural diagram of a parallel air gripper provided in an embodiment of the present invention;

[0029] Figure 4 is a structural schematic diagram of a gripping end portion provided by an embodiment of the present invention;

[0030] Figure 5 is a schematic structural diagram of a horizontal block provided by an embodiment of the present invention;

[0031] Figure 6 is a structural schematic diagram of a lifting block provided by an embodiment of the present invention;

[0032] Figure 7 This is a schematic structural diagram of the gripping end portion in a retracted state provided by an embodiment of the present invention;

[0033] Figure 8 This is a structural diagram of the gripping end portion in an extended state provided by an embodiment of the present invention;

[0034] Figure 9 Schematic diagram of the starting position when grasping provided by an embodiment of the present invention;

[0035] Figure 10 Schematic diagram of the descending position during grasping (grasping end not extended) provided by an embodiment of the present invention;

[0036] Figure 11 Schematic diagram of the descending position (grasping end extended) during grasping provided by an embodiment of the present invention;

[0037] Figure 12 This is a schematic diagram of the centering and locking position after lifting during grabbing provided by an embodiment of the present invention;

[0038] Figure 13It is a schematic diagram of the states of the transverse block and the lifting block before and after adjustment provided by an embodiment of the present invention.

[0039] In the figure: frame 1, mounting base 11, air gripper mounting hole 12, parallel air gripper 2, moving end 21, air gripper body 22, grabbing end 3, tapered positioning hole 31, transverse block 32, lifting block 33, first waist-shaped hole 34, second waist-shaped hole 35, grabbing pin 4, bucket 5. DETAILED DESCRIPTION

[0040] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0041] See also Figure 1 , is a gripping device provided by an embodiment of the present invention, such as Figure 1 As shown, the device may include:

[0042] The frame 1 has a mounting base 11 on the top thereof, and the mounting base 11 is used to connect to the robot execution end;

[0043] Two parallel air grippers 2, the two parallel air grippers 2 are connected to the two ends of the lower part of the frame 1 in a one-to-one correspondence;

[0044] Two groups of gripping assemblies, each group of the gripping assemblies includes two gripping ends 3, and the two gripping ends 3 in each group are respectively connected to the two moving ends 21 of a parallel air gripper 2 in a one-to-one correspondence, so that the parallel air gripper 2 drives the two gripping ends 3 connected thereto to move closer to or separate from each other;

[0045] Among them, the grabbing end 3 includes a conical positioning hole 31 with an open side. When the two grabbing ends 3 separate and move from each other, the grabbing pin 4 on the barrel 5 is inserted into the conical positioning hole 31 through the open side of the conical positioning hole 31, thereby realizing a temporary connection between the grabbing assembly and the barrel 5.

[0046] Most existing grasping devices are complex and bulky in structure, have poor compatibility, and lack centering and self-locking functions. The device provided in the embodiment of the present application mainly adopts a parallel cylinder with a clamping claw as the main power, arranges the parallel cylinder with the clamping claw side by side, and cooperates with the picking end and the positioning grasping pin 4 to complete the grasping. It can automatically center and lock, has a simple structure, and is reliable in picking.

[0047] Most existing gripping devices use fork-grabbing or clamping methods, and adjacent containers can only be grabbed sequentially. The device provided in the embodiments of the present application adopts a top-end gripping method and a spreading method from the inside out, which solves the problem of interference between the gripping containers. The gripping device has a simple structure and a compact size, and can grasp containers in an unordered and arbitrary position.

[0048] In order to facilitate the installation of the gripping end 3, the embodiment of the present application can also provide that the gripping end 3 includes a transverse block 32 and a lifting block 33 connected by a bolt pair, and the horizontal section of the transverse block 32 is provided with a mounting hole so as to be connected to the corresponding movable end 21 of the parallel air gripper 2; the conical positioning hole 31 is provided in the horizontal section of the lifting block 33.

[0049] In order to achieve vertical and horizontal adjustment of the grabbing end 3, the embodiment of the present application can provide that the vertical section of the horizontal block 32 is provided with a first waist-shaped hole 34 extending along the vertical direction, and the vertical section of the lifting block 33 is provided with a second waist-shaped hole 35 extending along the horizontal direction, and the bolt pair is connected to the horizontal block 32 and the lifting block 33 through the first waist-shaped hole 34 and the second waist-shaped hole 35.

[0050] In order to ensure the stability of the connection between the transverse block 32 and the lifting block 33 , the embodiment of the present application may provide that the contact portions of the vertical section of the transverse block 32 and the vertical section of the lifting block 33 are respectively provided with tooth-shaped patterns.

[0051] In order to further facilitate the grabbing nail 4 to enter the positioning hole, the embodiment of the present application can also provide that the side open position of the tapered positioning hole 31 is formed with a V-shaped opening that gradually becomes smaller from the outside to the inside.

[0052] In order to achieve automatic centering, the embodiment of the present application may further provide an inner conical structure of the conical positioning hole 31 adapted to the conical structure of the nut of the grabbing nail 4 .

[0053] In order to facilitate the connection between the frame 1 and the parallel air gripper 2, the embodiment of the present application can also provide that the frame 1 includes a mounting body, and the mounting body is provided with an air gripper mounting hole 12; the parallel air gripper 2 includes an air gripper body 22, and the air gripper body 22 is connected to the air gripper mounting hole 12 by screws.

[0054] The device provided in the embodiment of the present application adopts a method of expanding from the inside to the outside and grasping in parallel to grasp the container; the modular design of the picking end is easy to replace and compatible with various types of containers; the tooth-shaped matching plus bar-shaped hole screw locking method is adopted, and the picking end is easy and reliable to replace and adjust; the grasping end 3 has automatic centering and locking functions.

[0055] The structure and usage of the device provided in this application are introduced in detail below.

[0056] like Figure 1 As shown, the device primarily comprises a frame 1, parallel air grippers 2, and a gripping end 3. The frame 1 is used to mount the actuators and can be secured to the robot end via screws. Two parallel air grippers 2 can be provided, each with two movable ends 21, for a total of four movable ends 21. Four gripping ends 3 can be provided, each connected to one of the four movable ends 21. Of course, in actual applications, the number of parallel air grippers 2 and gripping ends 3 can be increased based on actual needs.

[0057] like Figure 2 As shown, the rack 1 provided in this embodiment of the present application primarily comprises a mounting base 11 and a mounting body. Mounting base 11 has screw holes for threaded attachment to the robot end. Gripper mounting holes 12 are provided at each end of the mounting body, and parallel grippers 2 are threadedly attached to each end of the mounting body. The grippers are arranged parallel to each other on either side of the mounting body.

[0058] The parallel air gripper 2 provided in the embodiment of the present application is a mature product on the market, which uses a pneumatic drive device to achieve the corresponding action. Figure 3 As shown, the parallel gripper 2 primarily comprises a gripper body 22 and a gripper movable end 21. The gripper body 22 is secured to the frame 1 by screws. The movable end 21 can be pneumatically driven to move inward or outward relative to the gripper body 22. A mounting hole is provided at its lower portion for mounting the gripper end 3.

[0059] The grabbing end portion 3 provided in the embodiment of the present application includes a transverse block 32 , a lifting block 33 and a grabbing nail 4 .

[0060] like Figure 4 、 Figure 5 、 Figure 6 As shown, the transverse block 32 has mounting holes and is secured to the gripper's movable end 21 via screws. A toothed pattern is formed between the lifting block 33 and the transverse block 32. This pattern allows for adjustment of the relative position of the lifting block 33 in both the vertical and horizontal directions. After adjustment, the screws, respectively inserted through the first and second waist-shaped holes 34 and 35, secure the transverse block 32 and lifting block 33. A self-locking modular gripping mechanism comprises four sets of gripping end 3 structures.

[0061] The front section of the lifting block 33 has a tapered positioning hole 31 with a V-shaped opening, and the grabbing pin 4 cooperates with the tapered positioning hole 31 to achieve the functions of center positioning and locking.

[0062] When the device is in use, take the material bucket 5 as an example. The material bucket 5 is a common container for transporting materials. Before use, the grabbing nails 4 are fixed to the four corners of the material bucket 5.

[0063] The grabbing mechanism is fixed at the end of the mechanical arm, and the grabbing mechanism is moved to the top of the bucket 5 through the movement of the mechanical arm. The grabbing end 3 is moved to the inside and kept in a contracted state under the action of the air claw moving end 21 as shown in Figure 9 The contraction and extension of the grabbing end 3 are shown in Figure 7 、 Figure 8 .

[0064] The grabbing mechanism is moved from the starting position as shown in Figure 9 to the lowered docking position as shown in Figure 10 . After reaching the lowered docking position, the grabbing end 3 is extended, and the grabbing nails 4 are guided into the top of the conical positioning hole 31 under the guidance of the v-shaped port as shown in Figure 11 . After the grabbing end 3 is extended to the position, the grabbing mechanism is slowly lifted, and the grabbing nails 4 complete the automatic centering and clamping functions under the guidance of the conical positioning hole 31 of the lifting block 33 as shown in Figure 12 .

[0065] In this state, the bucket 5 can be transported. Since there are four grabbing nails 4 at the corners and they are guided and matched with the conical positioning hole 31, the movement of the four corners is limited to achieve the locked state under the self-weight of the bucket 5.

[0066] During the entire process of grabbing the bucket 5, the projection of the grabbing mechanism is within the projection range of the bucket 5, so the transportation of the bucket 5 can be realized without interference between the buckets 5.

[0067] Position adjustment of the lifting block 33. As shown in Figure 13 , the adjustment of the lifting block 33 is convenient for production change and local adjustment of the grabbing position of the mechanical arm. When the size of the container is different, the ordinary picking mechanism needs to be replaced as a whole, and the present application only needs to loosen one screw between the lifting block 33 and the transverse block 32. By adjusting the relative position of the tooth-shaped grooves between the lifting block 33 and the transverse block 32, the front grabbing position can be quickly and conveniently adjusted, and the structure is stable and reliable before and after adjustment. The front and rear adjustments are realized by adjusting the mounting hole of the transverse block 32. The states before and after adjustment are shown in Figure 13 .

[0068] In summary, the grabbing device provided by the present application uses the method of expanding and parallel grabbing from the inside to the outside to grab the container, and the structure is simple and reliable. The picking end module is designed for easy replacement and is compatible with various containers. The tooth-shaped cooperation and strip hole screw locking method is adopted, and the picking end is easy to replace and adjust, stable and reliable. The grabbing end has automatic centering and locking functions, and can be locked around after grabbing. The centering can be automatically adjusted during the grabbing process.

[0069] It should be noted that, in the specification, relational terms such as first and second, and the like, can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0070] Those skilled in the art can clearly understand, through the description of the above embodiments, that the application can be implemented by means of software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0071] The various embodiments in the specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the system or system embodiments, since it is basically similar to the method embodiments, it is described more simply, and the relevant parts can be referred to the part of the method embodiments. The above-described system and system embodiments are only illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. According to the actual needs, some or all of the modules can be selected to achieve the purpose of the embodiment. Those skilled in the art can understand and implement without creative labor.

[0072] The above only describes the preferred embodiments of the application and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A gripping device, characterized in that: include: A frame, wherein a mounting base is provided on the top of the frame, and the mounting base is used to connect to the robot execution end; Two parallel air grippers, the two parallel air grippers are connected to the two ends of the lower part of the frame in a one-to-one correspondence; Two groups of gripping assemblies, each group of gripping assemblies includes two gripping ends, and the two gripping ends in each group are connected to the two moving ends of a parallel air gripper in a one-to-one correspondence, so that the parallel air gripper drives the two gripping ends connected thereto to move closer to or apart from each other; The grabbing end includes a conical positioning hole with an open side. When the two grabbing ends move apart from each other, the grabbing pin on the barrel is inserted into the conical positioning hole through the open side of the conical positioning hole, thereby realizing a temporary connection between the grabbing assembly and the barrel.

2. The gripping device according to claim 1, characterized in that The gripping end includes a transverse block and a lifting block connected by a bolt pair. The horizontal section of the transverse block is provided with a mounting hole so as to be connected to the corresponding moving end of the parallel air gripper; the conical positioning hole is provided in the horizontal section of the lifting block.

3. The gripping device according to claim 2, characterized in that The vertical section of the transverse block is provided with a first waist-shaped hole extending in the vertical direction, and the vertical section of the lifting block is provided with a second waist-shaped hole extending in the transverse direction. The bolt pair connects the transverse block and the lifting block through the first waist-shaped hole and the second waist-shaped hole.

4. The gripping device according to claim 3, characterized in that The contact portions of the vertical section of the transverse block and the vertical section of the lifting block are respectively provided with tooth-shaped patterns.

5. The gripping device according to claim 1, characterized in that The open side of the tapered positioning hole is formed with a V-shaped opening that gradually becomes smaller from the outside to the inside.

6. The gripping device according to claim 1, characterized in that The inner conical structure of the conical positioning hole is adapted to the conical structure of the nut of the grabbing nail.

7. The gripping device according to claim 1, characterized in that The frame includes a mounting body, and the mounting body is provided with an air gripper mounting hole; the parallel air gripper includes an air gripper body, and the air gripper body is connected to the air gripper mounting hole through screws.

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