Material taking device and assembling equipment

Abstract

The embodiment of the invention provides a material taking device and assembling equipment. The material taking device comprises a first clamping jaw assembly, a second clamping jaw assembly, a base and a driving assembly. The first clamping jaw assembly comprises a first jaw body, a first sliding piece, a second jaw body, a second sliding piece and a third sliding piece. The first claw body is connected with the first sliding piece, the first sliding piece is in sliding connection with the third sliding piece, the second claw body is connected with the second sliding piece, the second sliding piece is in sliding connection with the third sliding piece, and the third sliding piece is in sliding connection with the base. The base is provided with a first guide part and a second guide part; the first guide part is matched and connected with the first sliding piece to guide the first claw body to move along a first track, and the first track is not a straight line; the second guide part is matched and connected with the second sliding piece to guide the second claw body to move along a second track, and the second track is not a straight line; the second clamping jaw assembly comprises a third jaw body; the driving assembly is used for driving the first claw body, the second claw body and the third claw body to be close to or away from each other.

Description

Technical Field

[0001] This application relates to the technical field of material taking devices, and in particular, to a material taking device and an assembly device. Background Art

[0002] The material taking device obtains an object by the way of the claw bodies approaching or separating from each other.

[0003] For example, when the object to be obtained is a box body, the claw bodies can be first in an open state, and then the claw bodies can be moved to positions surrounding the outer periphery of the box body; further, the claw bodies can be switched to a closed state, and the box body can be grabbed by the approaching claw bodies.

[0004] Another example is that when the object to be obtained is an annular part (such as a sealing ring), the claw bodies can be first in a closed state, and then the closed claw bodies can be moved to the inner ring area of the annular part; further, the claw bodies can be switched to an open state, and the inner wall of the annular part can be propped up by the separating claw bodies, so as to complete the grasping of the annular part.

[0005] In the related art, the claw bodies can only approach or separate from each other by moving in a straight line direction. In this way, the material taking device in which the claw bodies all move in a straight line direction has a single movement mode of the claw bodies and is difficult to meet some special use requirements. For example, when there is an obstacle on the straight movement track of the claw body, the claw body is difficult to avoid the obstacle, so that the claw body may collide with the obstacle. Summary of the Invention

[0006] The embodiments of this application provide a material taking device and an assembly device to solve the problem that the clamping claws can only move in a straight line and cannot meet some special use requirements.

[0007] To solve the above technical problem, this application is implemented as follows:

[0008] In a first aspect, the embodiments of this application provide a material taking device.

[0009] The material taking device provided by the embodiment of the present application includes: a first jaw assembly, a second jaw assembly, a base, and a driving assembly; the first jaw assembly includes a first jaw body, a first sliding member, a second jaw body, a second sliding member, and a third sliding member; the first jaw body is connected to the first sliding member, the first sliding member is slidably connected to the third sliding member, the second jaw body is connected to the second sliding member, the second sliding member is slidably connected to the third sliding member, and the third sliding member is slidably connected to the base; the base is provided with a first guiding portion and a second guiding portion; the first guiding portion is cooperatively connected to the first sliding member to guide the first sliding member and the first jaw body to move relative to the base along a first trajectory, and at least part of the first trajectory is misaligned with the line segment between the two ends of the first trajectory; the second guiding portion is cooperatively connected to the second sliding member to guide the second sliding member and the second jaw body to move relative to the base along a second trajectory, and at least part of the second trajectory is misaligned with the line segment between the two ends of the second trajectory; the second jaw assembly includes a third jaw body; the driving assembly is used to drive the first jaw body, the second jaw body, and the third jaw body to approach or move away from each other.

[0010] Optionally, the second jaw assembly further includes a fourth sliding member, a fourth jaw body, a fifth sliding member, and a sixth sliding member; the third jaw body is connected to the fourth sliding member, the fourth sliding member is slidably connected to the sixth sliding member, the fourth jaw body is connected to the fifth sliding member, the fifth sliding member is slidably connected to the sixth sliding member, and the sixth sliding member is slidably connected to the base; the base is further provided with a third guiding portion and a fourth guiding portion; the third guiding portion is cooperatively connected to the fourth sliding member to guide the fourth sliding member and the third jaw body to move relative to the base along a third trajectory, and at least part of the third trajectory is misaligned with the line segment between the two ends of the third trajectory; the fourth guiding portion is cooperatively connected to the fifth sliding member to guide the fifth sliding member and the fourth jaw body to move relative to the base along a fourth trajectory, and at least part of the fourth trajectory is misaligned with the line segment between the two ends of the fourth trajectory; the driving assembly is used to drive the first jaw body, the second jaw body, the third jaw body, and the fourth jaw body to approach or move away from each other.

[0011] Optionally, the first guiding portion is a first guiding groove, the first sliding member is connected to a first guiding post, and the first guiding post is embedded in the first guiding groove; the second guiding portion is a second guiding groove, the second sliding member is connected to a second guiding post, and the second guiding post is embedded in the second guiding groove; the third guiding portion is a third guiding groove, the fourth sliding member is connected to a third guiding post, and the third guiding post is embedded in the third guiding groove; the fourth guiding portion is a fourth guiding groove, the fifth sliding member is connected to a fourth guiding post, and the fourth guiding post is embedded in the fourth guiding groove.

[0012] Optionally, the driving assembly includes a rotating member provided with a first sliding groove and a second sliding groove; one of the first guiding column and the second guiding column is embedded in the first sliding groove, and one of the third guiding column and the fourth guiding column is embedded in the second sliding groove.

[0013] Optionally, the first guiding portion and the second guiding portion are symmetrically arranged with respect to the first symmetry plane, and the third guiding portion and the fourth guiding portion are also symmetrically arranged with respect to the first symmetry plane.

[0014] Optionally, the first trajectory includes a first segment and a second segment connected to each other, and both the first segment and the second segment extend along a straight line; during the process that the first sliding member moves relative to the base along the first segment towards the second segment, the first claw body moves away from the third claw body; the first segment is parallel to the first symmetry plane.

[0015] Optionally, the first guiding portion and the third guiding portion are symmetrically arranged with respect to the second symmetry plane, the second guiding portion and the fourth guiding portion are also symmetrically arranged with respect to the second symmetry plane, the second symmetry plane is perpendicular to the first symmetry plane; the first jaw assembly and the second jaw assembly are symmetrically arranged with respect to the second symmetry plane.

[0016] Optionally, the first jaw assembly further includes a first elastic member and a second elastic member; the first claw body is elastically and telescopically connected to the first sliding member via the first elastic member, and the second claw body is elastically and telescopically connected to the second sliding member via the second elastic member; the second jaw assembly further includes a third elastic member and a fourth elastic member, the first claw body is elastically and telescopically connected to the first sliding member via the first elastic member, and the second claw body is elastically and telescopically connected to the second sliding member via the second elastic member; the first claw body, the second claw body, the third claw body and the fourth claw body can elastically expand and contract relative to the base.

[0017] Optionally, the material taking device further includes a supporting member fixedly connected to the base; when the material taking device is in a state where the claw bodies are expanded, an annular member positioning area is formed around the first claw body, the second claw body, the third claw body and the fourth claw body, and the supporting member is located on a side of the annular member positioning area facing the base.

[0018] In a second aspect, an embodiment of the present application provides an assembling device.

[0019] The assembling device provided by the embodiment of the present application includes: a transfer device and any one of the material taking devices provided by the embodiment of the present application, and the transfer device is used to drive the material taking device to move.

[0020] The assembly device provided by the embodiment of the present application includes: a transfer device and any one of the material taking devices provided by the embodiment of the present application, and the transfer device is used to drive the material taking device to move.

[0021] The above at least one technical solution adopted in the embodiment of the present application can achieve the following beneficial effects:

[0022] In the embodiment of the present application, when it is necessary to use the material taking device to support against the inner wall of the annular part through each claw body to complete the grasping of the annular part, the driving component can be made to work. Thus, under the drive of the driving component, the first claw body moves along the first track relative to the base under the guidance of the first guiding part cooperating with the first sliding part, so as to approach the third claw body. The second claw body moves along the second track relative to the base under the guidance of the second guiding part cooperating with the second sliding part, so as to approach the third claw body.

[0023] Further, when each claw body is in a retracted state, the claw bodies in the retracted state are moved to the inside of the annular part.

[0024] Further, the driving component reversely drives each claw body, so that the first claw body moves away from the third claw body along the first track, and the second claw body moves away from the third claw body along the second track, until the first claw body, the second claw body and the third claw body support against the inner wall of the annular part.

[0025] Since the process of using the material taking device to clamp an object through each claw body is the reverse process of the process of using the material taking device to support against the inner wall of the annular part through each claw body, therefore, the process of using the material taking device to clamp an object through each claw body will not be elaborated here.

[0026] In the embodiment of the present application, since the first claw body and the second claw body move along non-linear tracks respectively, the problem that the claw body in the related art can only move in a straight line and cannot meet some special use requirements can be solved.

[0027] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0029] Figure 1 Schematic diagram of the first material taking device provided by the embodiment of the present application;

[0030] Figure 2 Schematic diagram of the base of the first material taking device provided by the embodiment of the present application;

[0031] Figure 3 Schematic diagram of the second material taking device provided by the embodiment of the present application;

[0032] Figure 4 Schematic diagram of the second material taking device and the annular member provided by the embodiment of the present application;

[0033] Figure 5 In Figure 3 On the basis of the second material taking device shown, the situation where components such as the supporting member are hidden;

[0034] Figure 6 In Figure 5 On the basis of the second material taking device shown, the situation where components such as the rotating member are hidden;

[0035] Figure 7 For Figure 6 Another perspective schematic diagram of the second material taking device shown in;

[0036] Figure 8 For Figure 6 Top view of the second material taking device shown in, showing the situation where the material taking device is in the expanded state;

[0037] Figure 9 For Figure 6 Top view of the second material taking device shown in, showing the situation where the material taking device is in the retracted state;

[0038] Figure 10 Schematic diagram of the base of the second material taking device provided by the embodiment of the present application;

[0039] Figure 11 Schematic diagram of a claw body in the retracted state provided by the embodiment of the present application, located inside the annular member;

[0040] Figure 12 Schematic diagram of a claw body in the open state provided by the embodiment of the present application, in abutting and cooperating with the inner wall of the annular member;

[0041] Figure 13 Schematic diagram of another claw body in the open state provided by the embodiment of the present application, in abutting and cooperating with the inner wall of the annular member;

[0042] Figure 14 Schematic diagram of the link mechanism and the first guide post of a driving component provided by the embodiment of the present application.

[0043] Explanation of reference numerals:

[0044] 1 - Material taking device;

[0045] 100 - First jaw assembly; 110 - First jaw body; 120 - First slider; 130 - Second jaw body; 140 - Second slider; 150 - Third slider; 160 - First guide post; 170 - Second guide post; 180 - First elastic member; 190 - Second elastic member;

[0046] 200 - Second jaw assembly; 210 - Third jaw body; 220 - Fourth slider; 230 - Fourth jaw body; 240 - Fifth slider; 250 - Sixth slider; 260 - Third guide post; 270 - Fourth guide post; 280 - Third elastic member; 290 - Fourth elastic member;

[0047] 300 - Base; 310 - First guiding part; 311 - First track; 3111 - First segment; 3112 - Second segment; 320 - Second guiding part; 321 - Second track; 330 - Third guiding part; 331 - Third track; 340 - Fourth guiding part; 341 - Fourth track;

[0048] 400 - Driving assembly; 410 - Rotating member; 411 - First chute; 412 - Second chute; 420 - Linkage mechanism;

[0049] 510 - First symmetry plane; 520 - Second symmetry plane;

[0050] 600 - Jacking member;

[0051] 700 - Ring part positioning area;

[0052] 2 - Ring part. Detailed implementation manners

[0053] To make the objectives, technical solutions and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments of this application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0054] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0055] In addition, although the terms used in this application are selected from well-known and commonly used terms, some of the terms mentioned in the specification of this application may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts of the description herein.

[0056] In addition, this application is required to be understood not only by the actual terms used, but also by the meanings implied by each term.

[0057] The following will, with reference to the accompanying drawings, elaborate in detail on the technical solutions provided by the embodiments of this application.

[0058] The embodiments of this application provide a material taking device. Referring to Figures 1 to 14 , the material taking device 1 provided by the embodiments of this application includes: a first jaw assembly 100, a second jaw assembly 200, a base 300, and a driving assembly 400.

[0059] The first jaw assembly 100 includes a first jaw body 110, a first sliding member 120, a second jaw body 130, a second sliding member 140, and a third sliding member 150.

[0060] The first jaw body 110 is connected to the first sliding member 120, and the first sliding member 120 is slidably connected to the third sliding member 150. The second jaw body 130 is connected to the second sliding member 140, and the second sliding member 140 is slidably connected to the third sliding member 150. The third sliding member 150 is slidably connected to the base 300.

[0061] In other words, referring to Figure 1 , the third sliding member 150 serves as a sliding table and can slide relative to the base 300. The first sliding member 120 and the second sliding member 140 that are slidably connected to the third sliding member 150 are respectively provided on the third sliding member 150. Further, the first jaw body 110 is connected to the first sliding member 120, so that the first jaw body 110 can slide relative to the third sliding member 150 along with the first sliding member 120. The second jaw body 130 is connected to the second sliding member 140, so that the second jaw body 130 can slide relative to the third sliding member 150 along with the second sliding member 140. Since the third sliding member 150 serves as a sliding table, the combination formed by the first jaw body 110, the first sliding member 120, the second jaw body 130, the second sliding member 140, and the third sliding member 150 can slide relative to the base 300. In this way, the combination formed by the first jaw body 110 and the first sliding member 120 has two degrees of freedom of movement in two directions relative to the base 300; the combination formed by the second jaw body 130 and the second sliding member 140 has two degrees of freedom of movement in two directions relative to the base 300.

[0062] The base 300 is provided with a first guiding portion 310 and a second guiding portion 320. The first guiding portion 310 is cooperatively connected with the first sliding member 120 to guide the first sliding member 120 and the first claw body 110 to move relative to the base 300 along a first trajectory 311. Wherein, at least a part of the first trajectory 311 is displaced from the line segment between the two ends of the first trajectory 311.

[0063] It should be noted that if the first trajectory 311 completely coincides with the line segment between the two ends of the first trajectory 311, it indicates that the first trajectory 311 is a straight line. In the embodiments of the present application, at least a part of the first trajectory 311 is displaced from the line segment between the two ends of the first trajectory 311, which indicates that at least a part of the first trajectory 311 is not a straight line. In this way, by making the first trajectory 311 along which the first claw body 110 and the first sliding member 120 move relative to the base 300 not a straight line, the movement trajectories of the first claw body 110 and the first sliding member 120 are not restricted by the "straight-line trajectory". Therefore, by flexibly adjusting the guiding trajectory of the first guiding portion 310, the diversity of the movement trajectories of the first claw body 110 and the first sliding member 120 can be improved to enhance the adaptability of the material taking device 1.

[0064] In the embodiments of the present application, the second guiding portion 320 is cooperatively connected with the second sliding member 140 to guide the second sliding member 140 and the second claw body 130 to move relative to the base 300 along a second trajectory 321. Wherein, at least a part of the second trajectory 321 is displaced from the line segment between the two ends of the second trajectory 321.

[0065] In this way, similar to the movement trajectories of the first claw body 110 and the first sliding member 120, the second trajectory 321 along which the second claw body 130 and the second sliding member 140 move relative to the base 300 is also not a straight line, so that the movement trajectories of the second claw body 130 and the second sliding member 140 are not restricted by the "straight-line trajectory". Therefore, by flexibly adjusting the guiding trajectory of the second guiding portion 320, the diversity of the movement trajectories of the second claw body 130 and the second sliding member 140 can be improved to enhance the adaptability of the material taking device 1.

[0066] Furthermore, the second jaw assembly 200 includes a third claw body 210. The driving assembly 400 of the material taking device 1 is used to drive the first claw body 110, the second claw body 130 and the third claw body 210 to approach or move away from each other.

[0067] In this way, in the embodiments of the present application, when it is necessary to use the material taking device 1 to support against the inner wall of the annular member 2 through each claw body to complete the grasping of the annular member 2, the driving assembly 400 can be made to work. Thus, under the drive of the driving assembly 400, the first claw body 110 moves along the first track 311 relative to the base 300 under the guidance of the first guiding portion 310 that cooperates with the first sliding member 120, so as to approach the third claw body 210. The second claw body 130 moves along the second track 321 relative to the base 300 under the guidance of the second guiding portion 320 that cooperates with the second sliding member 140, so as to approach the third claw body 210.

[0068] Further, when each claw body is in a retracted state, the claw bodies in the retracted state are moved to the inner side of the annular member 2.

[0069] Further, the driving assembly 400 reversely drives each claw body, so that the first claw body 110 moves away from the third claw body 210 along the first track 311, and the second claw body 130 moves away from the third claw body 210 along the second track 321 until the first claw body 110, the second claw body 130 and the third claw body 210 support against the inner wall of the annular member 2.

[0070] Since the process of using the material taking device 1 to clamp an object through each claw body is the reverse process of the process of using the material taking device 1 to support against the inner wall of the annular member 2 through each claw body, the process of using the material taking device 1 to clamp an object through each claw body will not be elaborated here.

[0071] In the embodiments of the present application, since the first claw body 110 and the second claw body 130 move along non-linear trajectories respectively, the problem that the claw bodies in the related art can only move in a straight line and cannot meet some special use requirements can be solved.

[0072] For example, if the first claw body 110 and / or the second claw body 130 move in a straight line and there are obstacles on the straight-line movement path of the first claw body 110 and / or the second claw body 130, then, by setting a non-linear guiding trajectory that can stagger the first claw body 110 and / or the second claw body 130 from the obstacles, the first claw body 110 and / or the second claw body 130 can move along a non-linear trajectory under the guidance of the non-linear guiding trajectory during the movement process, so as to stagger from the obstacles.

[0073] Refer to Figures 3 to 12 In some embodiments, the second jaw assembly 200 further includes a fourth sliding member 220, a fourth claw body 230, a fifth sliding member 240 and a sixth sliding member 250.

[0074] The third claw body 210 is connected to the fourth sliding member 220, the fourth sliding member 220 is slidably connected to the sixth sliding member 250, the fourth claw body 230 is connected to the fifth sliding member 240, the fifth sliding member 240 is slidably connected to the sixth sliding member 250, and the sixth sliding member 250 is slidably connected to the base 300.

[0075] The base 300 is further provided with a third guiding portion 330 and a fourth guiding portion 340. The third guiding portion 330 is cooperatively connected to the fourth sliding member 220 to guide the fourth sliding member 220 and the third claw body 210 to move relative to the base 300 along a third trajectory 331, and at least part of the third trajectory 331 is offset from the line segment between the two ends of the third trajectory 331. The fourth guiding portion 340 is cooperatively connected to the fifth sliding member 240 to guide the fifth sliding member 240 and the fourth claw body 230 to move relative to the base 300 along a fourth trajectory 341, and at least part of the fourth trajectory 341 is offset from the line segment between the two ends of the fourth trajectory 341.

[0076] The driving assembly 400 is used to drive the first claw body 110, the second claw body 130, the third claw body 210 and the fourth claw body 230 to approach or move away from each other.

[0077] In this way, by setting at least four claw bodies, when the material taking device 1 clamps an object through each claw body, the material can be stably clamped, thereby preventing the material from accidentally falling. When the material taking device 1 abuts against the inner wall of the annular member 2 through each claw body, the claw bodies can make the annular member 2 present a more complex shape to meet some special usage requirements.

[0078] It should be noted that referring to Figure 11 and Figure 12 , when there are four claw bodies, the annular member 2 can be abutted by each claw body into a shape similar to a quadrilateral. It can be understood that when there are five claw bodies, the annular member 2 can be abutted by each claw body into a shape similar to a pentagon. It should be noted that the number of claw bodies can be set based on actual needs, and the specific number of claw bodies is not limited in the embodiments of the present application.

[0079] Referring to Figures 6 to 10 , in some embodiments, the first guiding portion 310 is a first guiding groove. The first sliding member 120 is connected to the first guiding column 160, and the first guiding column 160 is embedded in the first guiding groove. The second guiding portion 320 is a second guiding groove. The second sliding member 140 is connected to the second guiding column 170, and the second guiding column 170 is embedded in the second guiding groove.

[0080] The third guiding part 330 is a third guiding groove. The fourth sliding member 220 is connected to the third guiding post 260, and the third guiding post 260 is embedded in the third guiding groove. The fourth guiding part 340 is a fourth guiding groove. The fifth sliding member 240 is connected to the fourth guiding post 270, and the fourth guiding post 270 is embedded in the fourth guiding groove.

[0081] Exemplarily, a first roller is provided at the part where the first guiding post 160 is embedded in the first guiding groove. The first roller is in rolling fit with the groove wall of the first guiding groove to reduce the frictional resistance between the first guiding post 160 and the groove wall of the first guiding groove, so that the first guiding post 160 can move relatively smoothly with respect to the groove wall of the first guiding groove. Further, the first sliding member 120 connected to the first guiding post 160 and the first claw body 110 connected to the first sliding member 120 can be driven to move relatively smoothly with respect to the base 300.

[0082] Similarly, a second roller is provided at the part where the second guiding post 170 is embedded in the second guiding groove. The second roller is in rolling fit with the groove wall of the second guiding groove. A third roller is provided at the part where the third guiding post 260 is embedded in the third guiding groove. The third roller is in rolling fit with the groove wall of the third guiding groove. A fourth roller is provided at the part where the fourth guiding post 270 is embedded in the fourth guiding groove. The fourth roller is in rolling fit with the groove wall of the fourth guiding groove.

[0083] In other embodiments, the base 300 is respectively connected with a first guiding wire, a second guiding wire, a third guiding wire and a fourth guiding wire. The first guiding post 160 is provided with a first sliding hole, the second guiding post 170 is provided with a second sliding hole, the third guiding post 260 is provided with a third sliding hole, and the fourth guiding post 270 is provided with a fourth sliding hole. The first guiding wire passes through the first sliding hole to guide the first guiding post 160 to slide along the extending direction of the first guiding wire. The second guiding wire passes through the second sliding hole to guide the second guiding post 170 to slide along the extending direction of the second guiding wire. The third guiding wire passes through the third sliding hole to guide the third guiding post 260 to slide along the extending direction of the third guiding wire. The fourth guiding wire passes through the fourth sliding hole to guide the fourth guiding post 270 to slide along the extending direction of the fourth guiding wire.

[0084] In other words, in other embodiments, each guiding part may not be a guiding groove structure. Each guiding part may be a guiding wire structure or other structures, as long as it can guide each guiding post and drive the corresponding slider and claw body to move along a preset track.

[0085] It should also be noted that although Figure 2Only the case where the first trajectory 311 of the first guiding portion 310 includes a first straight segment and a second straight segment is shown. However, in other embodiments, the first trajectory 311 of the first guiding portion 310 may be a curve, or may be a combination of a curve and a straight line, or may be a combination of a curve and a broken line, which will not be listed one by one here.

[0086] Reference Figure 4 and Figure 5 , in some embodiments, the driving assembly 400 includes a rotating member 410, and the rotating member 410 is provided with a first sliding groove 411 and a second sliding groove 412. One of the first guiding post 160 and the second guiding post 170 is embedded in the first sliding groove 411, and one of the third guiding post 260 and the fourth guiding post 270 is embedded in the second sliding groove 412.

[0087] For example, the second guiding post 170 is embedded in the first sliding groove 411, and the groove wall of the first sliding groove 411 plays a role similar to that of a cam. The third guiding post 260 is embedded in the second sliding groove 412, and the groove wall of the second sliding groove 412 plays a role similar to that of a cam. In this way, during the rotation of the rotating member 410, the second guiding post 170 will move in a direction approaching or departing from the rotation axis of the rotating member 410 under the push of the groove wall of the first sliding groove 411, thereby driving the second sliding member 140 connected to the second guiding post 170 and the second claw body 130 connected to the second sliding member 140 to move relative to the base 300 along the second trajectory 321. The third guiding post 260 will move in a direction approaching or departing from the rotation axis of the rotating member 410 under the push of the groove wall of the second sliding groove 412. Thereby driving the fourth sliding member 220 connected to the third guiding post 260 and the third claw body 210 connected to the fourth sliding member 220 to move relative to the base 300 along the third trajectory 331.

[0088] In addition, since the first claw body 110 is connected to the third sliding member 150 via the first sliding member 120, and the second claw body 130 is connected to the third sliding member 150 via the second sliding member 140, under the guiding action of the first guiding portion 310 and the second guiding portion 320, the first sliding member 120 and the first claw body 110 will move synchronously with the second claw body 130 via the second sliding member 140. Therefore, without separately configuring a sliding groove similar to the first sliding groove 411 for the first guiding post 160 connected to the first sliding member 120, the first claw body 110 and the first sliding member 120 can be driven to move by the moving third sliding member 150.

[0089] Similarly, the groove wall of the second sliding groove 412 of the rotating member 410 can push the third guiding post 260 to move, thereby driving the fourth sliding member 220 and the sixth sliding member 250 to move. Furthermore, the fifth sliding member 240 can be driven to move by the moving sixth sliding member 250.

[0090] Furthermore, the first claw body 110 is driven to move by the first sliding member 120, the second claw body 130 is driven to move by the second sliding member 140, the third claw body 210 is driven to move by the fourth sliding member 220, and the fourth claw body 230 is driven to move by the fifth sliding member 240, so that the first claw body 110, the second claw body 130, the third claw body 210 and the fourth claw body 230 approach or move away from each other.

[0091] Exemplarily, when the second guide post 170 is embedded in the first chute 411, a fifth roller is provided at the portion where the second guide post 170 is embedded in the first chute 411. The fifth roller is in rolling cooperation with the groove wall of the first chute 411 to reduce the frictional resistance between the second guide post 170 and the groove wall of the first chute 411, so that the second guide post 170 can move relatively smoothly with respect to the groove wall of the first chute 411.

[0092] When the third guide post 260 is embedded in the second chute 412, a sixth roller is provided at the portion where the third guide post 260 is embedded in the second chute 412. The sixth roller is in rolling cooperation with the groove wall of the second chute 412 to reduce the frictional resistance between the third guide post 260 and the groove wall of the second chute 412, so that the third guide post 260 can move relatively smoothly with respect to the groove wall of the second chute 412.

[0093] In some embodiments, the driving assembly 400 further includes a rotary driver. The rotary driver is drivingly connected to the rotating member 410 to drive the rotating member 410 to rotate. Exemplarily, the rotary driver is a device capable of outputting a rotational driving force such as a rotary motor, a pneumatic motor, or a hydraulic motor.

[0094] In addition, in other embodiments, based on the principle of the crank and connecting rod mechanism, each guide post can be driven to approach or move away from the axis of rotation of the rotating member 410. Furthermore, the sliding members connected to the guide posts approach or move away from the axis of rotation of the rotating member 410, so that the claw bodies connected to the sliding members approach or move away from each other.

[0095] Exemplarily, referring to Figure 14 , the driving assembly 400 further includes a link mechanism 420. The link mechanism 420 includes a first link and a second link that are rotatably connected. The rotary driver is connected to the first link, and the second link is rotatably connected to the first guide post 160. In this way, during the process of the rotary driver driving the first link to rotate, the angle between the first link and the second link changes, so that the distance between the axis of rotation of the first link and the axis of rotation of the second link relative to the first guide post 160 changes. In this way, the first guide post 160 can be driven to move along the guiding trajectory of the first guide groove. It should be noted that the driving methods of other guide rods can refer to the driving method of the first guide post 160, and will not be elaborated here.

[0096] Reference Figures 8 to 13 In some embodiments, the first guiding portion 310 and the second guiding portion 320 are symmetrically arranged with respect to the first symmetry plane 510, and the third guiding portion 330 and the fourth guiding portion 340 are also symmetrically arranged with respect to the first symmetry plane 510. In this way, when the material taking device 1 is in the expanded state, the positions of the first claw body 110 and the second claw body 130 are symmetric with respect to the first symmetry plane 510, and the positions of the third claw body 210 and the fourth claw body 230 are symmetric with respect to the first symmetry plane 510, so that the material taking device 1 is suitable for gripping the annular member 2 that is symmetric with respect to the first symmetry plane 510.

[0097] In some embodiments, the first track 311 includes a first segment 3111 and a second segment 3112 connected to each other, and the first segment 3111 extends along a straight line. During the process that the first slider 120 moves relative to the base 300 along the first segment 3111 towards the second segment 3112, the first claw body 110 moves away from the third claw body 210. The first segment 3111 is parallel to the first symmetry plane 510.

[0098] In this way, by making the first segment 3111 extend along a straight line, during the initial stage of the opening of the first claw body 110, it moves along a straight line, so as to reduce the movement complexity of the first claw body 110 and simplify the structure of the first guiding groove.

[0099] Furthermore, when the second segment 3112 also extends along a straight line, the extending direction of the second segment 3112 intersects with the extending direction of the first segment 3111. In this way, by making the second segment 3112 extend along a straight line, during the later stage of the opening of the first claw body 110, it also moves along a straight line, so as to reduce the movement complexity of the first claw body 110 and simplify the structure of the first guiding groove.

[0100] It should be noted that in order to enable the first guiding post 160 to move smoothly at the transition section between the first segment 3111 and the second segment 3112, in some embodiments, the transition section between the first segment 3111 and the second segment 3112 is arc-shaped. The transition section is tangent to the first segment 3111 and the second segment 3112 respectively.

[0101] In some embodiments, the first guiding portion 310 and the third guiding portion 330 are symmetrically arranged with respect to the second symmetry plane 520, the second guiding portion 320 and the fourth guiding portion 340 are also symmetrically arranged with respect to the second symmetry plane 520, and the second symmetry plane 520 is perpendicular to the first symmetry plane 510. The first jaw assembly 100 and the second jaw assembly 200 are symmetrically arranged with respect to the second symmetry plane 520.

[0102] In this way, by making the first jaw assembly 100 and the second jaw assembly 200 symmetrical to each other, the structure of the material taking device 1 can be simplified, thereby improving the versatility of the components of each jaw assembly and reducing the production cost.

[0103] In the embodiment of the present application, during the process of each jaw body switching from the closed state to the opened state, under the guiding action of each guiding groove, among them, the two jaw bodies on the left first move synchronously to the left, and the two jaw bodies on the right first move synchronously to the right; further, when the four jaw bodies synchronously move to the corner positions of each guiding groove, each jaw body moves in a direction away from each other.

[0104] In addition, by adopting the solution provided in the embodiment of the present application, each jaw body (for example, the first jaw body 110, the second jaw body 130, the third jaw body 210, and the fourth jaw body 230) can be shrunk and combined into a circle, so that when each jaw body is in the closed state, the outer dimension of the combined body formed by the jaw bodies is relatively small, which is convenient for the combined body formed by the jaw bodies to be inserted into the inner side of the annular member 2. In other words, even if the annular member 2 undergoes a large deformation, as long as the area in the deformed annular member 2 can accommodate the combined body formed by the jaw bodies, the combined body formed by the jaw bodies can be extended into the annular member 2, and then by making the combined body formed by the jaw bodies move away from each other, it can be propped against the inner side of the annular member 2 so that the material taking device 1 is connected to the annular member 2.

[0105] In the later stage when each jaw body moves away from each other, each jaw body can move in a manner facing the respective corners of the annular member 2, so that when each jaw body is in a propping and cooperating state with the inner side of the annular member 2, the pressure exerted by each jaw body on the annular member 2 is relatively uniform.

[0106] It should be noted that although the above lists the situation where each jaw body is shrunk and combined into a circular combined body, it can be understood that in other embodiments, each jaw body can also be combined into other shapes. For example, each jaw body can also be combined into a rectangle or a square, etc. Those skilled in the art can flexibly set the type of the shape formed by shrinking and combining each jaw body according to actual needs during the implementation of the solution provided in the embodiment of the present application.

[0107] Reference Figures 3 to 7 In some embodiments, the first jaw assembly 100 further includes a first elastic member 180 and a second elastic member 190. The first jaw body 110 is elastically telescopically connected to the first sliding member 120 via the first elastic member 180, and the second jaw body 130 is elastically telescopically connected to the second sliding member 140 via the second elastic member 190.

[0108] The second jaw assembly 200 further includes a third elastic member 280 and a fourth elastic member 290. The first jaw body 110 is elastically telescopically connected to the first sliding member 120 via the first elastic member 180, and the second jaw body 130 is elastically telescopically connected to the second sliding member 140 via the second elastic member 190. The first jaw body 110, the second jaw body 130, the third jaw body 210, and the fourth jaw body 230 can elastically expand and contract relative to the base 300.

[0109] Exemplarily, the first elastic member 180, the second elastic member 190, the third elastic member 280, and the fourth elastic member 290 can all be springs.

[0110] In the embodiments of the present application, a solution is adopted in which the jaw body floats relative to the corresponding sliding member via an elastic element. In this way, the annular member 2 can be grasped by conforming to the reference surface of the annular member 2. For a certain degree of torsional deformation of the annular member 2, or when there is a certain angular deviation between the material taking device 1 and the annular member 2, the annular member 2 can also be grasped more accurately.

[0111] In some embodiments, the material taking device 1 further includes a supporting member 600, and the supporting member 600 is fixedly connected to the base 300;

[0112] When the material taking device 1 is in a state where the jaws are opened, an annular member positioning area 700 is formed on the outer periphery of the first jaw body 110, the second jaw body 130, the third jaw body 210, and the fourth jaw body 230, and the supporting member 600 is located on the side of the annular member positioning area 700 facing the base 300.

[0113] In this way, when the annular member 2 is clamped in the annular member positioning area 700, the supporting member 600 abuts against the annular member 2. For example, when installing the annular member 2 in the installation area located above, the jaws abut against the inner part of the installation area. Thus, when further driving the material taking device 1 to rise, the jaws retract, and further, the annular member 2 can be installed in the installation area under the pressure applied by the supporting member 600.

[0114] It should be noted that the installation of the annular member 2 from bottom to top described above is only an example. In other embodiments, for example, the annular member 2 can be oriented downward, and the annular member 2 can be installed in a top-down manner. Of course, in other embodiments, the annular member 2 can also be installed by driving the material taking device 1 to move in other directions. This will not be elaborated here.

[0115] In addition, with the solution where the claw body floats relative to the corresponding slider via an elastic element, when assembling the annular member 2, there is no need for the ejector 600 to push out the annular member 2. By having the claw body float relative to the slider via the elastic element, in combination with the fixed ejector 600 and the way of driving the material taking device 1 to move by the manipulator, the assembly of the annular member 2 can be completed. In this way, on the one hand, a power device and accessories for driving the telescopic movement of the ejector 600 are reduced, and on the other hand, the assembly beat is increased.

[0116] Therefore, by adopting the solution provided in the embodiment of the present application, the assembly speed and reliability of the annular member 2 can be improved. With the solution where the claw body floats relative to the slider via an elastic element, even if the annular member 2 has a certain deformation, the material taking device 1 can accurately grasp the annular member 2. In addition, the opening trajectory of the claw body is diverse and can be "customized" according to different opening members, and the opening effect is good.

[0117] The embodiment of the present application provides an assembly device, including: a transfer device and any one of the material taking devices 1 provided in the embodiment of the present application, and the transfer device is used to drive the material taking device 1 to move. Exemplarily, the transfer device is a manipulator. Therefore, the manipulator can be used to drive the material taking device 1 to move.

[0118] Continuing to take the installation of the annular member 2 as an example, the working principle of the assembly device will be briefly described. Among them, for example, the annular member 2 is a belt or a sealing ring.

[0119] The operator can place the annular member 2 into the material bin (which can also be called the feeding bin). For example, the material bin is a vibrating bowl or a climbing type feeding bin. The material bin is used to supply the annular member 2 to the flexible vibrating bowl, and the flexible vibrating bowl is used to spread out the annular member 2. It should be noted that if there are too many annular members 2 on the flexible vibrating bowl, the annular members 2 are likely to pile up together, which is not convenient for the material taking device 1 to obtain a single annular member 2. Therefore, the material bin can periodically supply an appropriate number of annular members 2 to the flexible vibrating bowl.

[0120] An industrial camera is provided at the top of the flexible vibrating bowl. The industrial camera can obtain the image of the annular member 2 carried on the flexible vibrating bowl, so that based on the image obtained by the industrial camera, the positions of the annular members 2 can be determined. Furthermore, the manipulator can drive the material taking device 1 to move to the inner area of the annular member 2, and then obtain the annular member 2 by opening the claw body and propping against the inner side of the annular member 2.

[0121] For example, when it is determined based on an image acquired by an industrial camera that a part of the annular member 2 is in a separated state, the flexible vibrating disk can stop vibrating. The manipulator can drive the material taking device 1 to first pick up the annular member 2 in the separated state. Further, after the annular member 2 in the separated state is picked up, the flexible vibrating disk can be made to vibrate again to separate the unseparated annular members 2 from each other. In this way, after most or all of the annular members 2 are picked up, the material bin can supply an appropriate number of annular members 2 to the flexible vibrating disk again.

[0122] Before the manipulator drives the material taking device 1 to pick up the annular member 2, the driving assembly 400 first drives the claw bodies to approach each other. For example, the claw bodies move to a state of abutting against each other. Further, the manipulator drives the material taking device 1 to move so that the claw bodies move to the inner region of a single annular member 2. Further, the driving assembly 400 drives the claw bodies to move away from each other, so that the claw bodies support against the inner wall of the annular member 2.

[0123] Further, the manipulator drives the material taking device 1 to move so that the annular member 2 moves to a position opposite to the annular member installation area. The manipulator drives the material taking device 1 to continue moving towards the annular member installation area. Under the pushing action of the supporting member 600, the annular member 2 is pressed into the annular member installation area, and the claw bodies retract, so as to separate from the annular member 2. Thus, the installation of the annular member 2 is completed.

[0124] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0125] Although the embodiments of the present application have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the embodiments of the present application. The scope of the embodiments of the present application is defined by the appended claims and their equivalents.

Claims

1. A material taking device, characterized in that, Comprising: A first jaw assembly (100), a second jaw assembly (200), a base (300), and a driving assembly (400); The first jaw assembly (100) includes a first jaw body (110), a first sliding member (120), a second jaw body (130), a second sliding member (140), and a third sliding member (150); The first jaw body (110) is connected to the first sliding member (120), the first sliding member (120) is slidably connected to the third sliding member (150), the second jaw body (130) is connected to the second sliding member (140), the second sliding member (140) is slidably connected to the third sliding member (150), and the third sliding member (150) is slidably connected to the base (300); The base (300) is provided with a first guiding portion (310) and a second guiding portion (320); The first guiding portion (310) is cooperatively connected to the first sliding member (120) to guide the first sliding member (120) and the first jaw body (110) to move relative to the base (300) along a first trajectory (311), and at least part of the first trajectory (311) is misaligned with the line segment between both ends of the first trajectory (311); The second guiding portion (320) is cooperatively connected to the second sliding member (140) to guide the second sliding member (140) and the second jaw body (130) to move relative to the base (300) along a second trajectory (321), and at least part of the second trajectory (321) is misaligned with the line segment between both ends of the second trajectory (321); The second jaw assembly (200) includes a third jaw body (210); The driving assembly (400) is used to drive the first jaw body (110), the second jaw body (130), and the third jaw body (210) to approach or move away from each other.

2. The material taking device according to claim 1, wherein The second jaw assembly (200) further includes a fourth sliding member (220), a fourth jaw body (230), a fifth sliding member (240), and a sixth sliding member (250); The third jaw body (210) is connected to the fourth sliding member (220), the fourth sliding member (220) is slidably connected to the sixth sliding member (250), the fourth jaw body (230) is connected to the fifth sliding member (240), the fifth sliding member (240) is slidably connected to the sixth sliding member (250), and the sixth sliding member (250) is slidably connected to the base (300); The base (300) is further provided with a third guiding portion (330) and a fourth guiding portion (340); The third guiding portion (330) is cooperatively connected to the fourth sliding member (220) to guide the fourth sliding member (220) and the third jaw body (210) to move relative to the base (300) along a third trajectory (331), and at least part of the third trajectory (331) is misaligned with the line segment between both ends of the third trajectory (331); The fourth guiding part (340) is cooperatively connected with the fifth sliding part (240) to guide the fifth sliding part (240) and the fourth claw body (230) to move relative to the base (300) along a fourth track (341), and at least part of the fourth track (341) is offset from the line segment between both ends of the fourth track (341); The driving assembly (400) is used for driving the first claw body (110), the second claw body (130), the third claw body (210) and the fourth claw body (230) to approach or move away from each other.

3. The material taking device according to claim 2, characterized in that, The first guiding part (310) is a first guiding groove, the first sliding part (120) is connected with a first guiding post (160), and the first guiding post (160) is embedded in the first guiding groove; The second guiding part (320) is a second guiding groove, the second sliding part (140) is connected with a second guiding post (170), and the second guiding post (170) is embedded in the second guiding groove; The third guiding part (330) is a third guiding groove, the fourth sliding part (220) is connected with a third guiding post (260), and the third guiding post (260) is embedded in the third guiding groove; The fourth guiding part (340) is a fourth guiding groove, the fifth sliding part (240) is connected with a fourth guiding post (270), and the fourth guiding post (270) is embedded in the fourth guiding groove.

4. The material taking device according to claim 3, characterized in that, The driving assembly (400) includes a rotating part (410), and the rotating part (410) is provided with a first sliding groove (411) and a second sliding groove (412); One of the first guiding post (160) and the second guiding post (170) is embedded in the first sliding groove (411), and one of the third guiding post (260) and the fourth guiding post (270) is embedded in the second sliding groove (412).

5. The material taking device according to claim 2, characterized in that, The first guiding part (310) and the second guiding part (320) are symmetrically arranged relative to a first symmetry plane (510), and the third guiding part (330) and the fourth guiding part (340) are also symmetrically arranged relative to the first symmetry plane (510).

6. The material taking device according to claim 5, wherein The first track (311) includes a first segment (3111) and a second segment (3112) connected to each other, and both the first segment (3111) and the second segment (3112) extend along a straight line; During the process that the first sliding part (120) moves relative to the base (300) along the first segment (3111) towards the second segment (3112), the first claw body (110) moves away from the third claw body (210); The first segment (3111) is parallel to the first symmetry plane (510).

7. The material taking device according to claim 5, characterized in that, The first guiding part (310) and the third guiding part (330) are symmetrically arranged relative to a second symmetry plane (520), and the second guiding part (320) and the fourth guiding part (340) are also symmetrically arranged relative to the second symmetry plane (520), and the second symmetry plane (520) is perpendicular to the first symmetry plane (510); The first jaw assembly (100) and the second jaw assembly (200) are symmetrically arranged with respect to the second symmetry plane (520).

8. The material taking device according to claim 2, characterized in that The first jaw assembly (100) further includes a first elastic member (180) and a second elastic member (190); The first jaw body (110) is elastically telescopically connected to the first sliding member (120) via the first elastic member (180), and the second jaw body (130) is elastically telescopically connected to the second sliding member (140) via the second elastic member (190); The second jaw assembly (200) further includes a third elastic member (280) and a fourth elastic member (290), the first jaw body (110) is elastically telescopically connected to the first sliding member (120) via the first elastic member (180), and the second jaw body (130) is elastically telescopically connected to the second sliding member (140) via the second elastic member (190); The first jaw body (110), the second jaw body (130), the third jaw body (210) and the fourth jaw body (230) can elastically telescope relative to the base (300).

9. The material taking device according to claim 8, wherein, The material taking device further includes a supporting member (600), and the supporting member (600) is fixedly connected to the base (300); When the material taking device is in the state where the jaws are opened, an annular member positioning area (700) is formed on the periphery of the first jaw body (110), the second jaw body (130), the third jaw body (210) and the fourth jaw body (230), and the supporting member (600) is located on the side of the annular member positioning area (700) facing the base (300).

10. An assembling device, characterized in that, Comprising: A transfer device and the material taking device according to any one of claims 1 to 9, wherein the transfer device is used to drive the material taking device to move.

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