Grabbing mechanism, assembling device and assembling method compatible with materials of different sizes

Abstract

The grabbing mechanism comprises a carrying part and a clamping part, the carrying part can move the clamping part to a first preset area corresponding to a discharging port along a preset path, the clamping part can be switched between a standby state and a grabbing state, and the clamping part can be switched between a standby state and a grabbing state. The clamping part is provided with two oppositely-arranged grabbing units, the distance between the two grabbing units in the first linear direction is variable, the grabbing mechanism further comprises a position adjusting part, the clamping part is connected to the carrying part through the position adjusting part, and the position adjusting part can move the clamping part between at least two alignment positions in the first linear direction; when the clamping parts are located at different alignment positions, the distances between the two grabbing units are different when the two grabbing units are switched to the grabbing state. The position adjusting part is arranged so that the position of the clamping part can be adjusted to different alignment positions, the distances between the two grabbing units are different when the two grabbing units are switched to the grabbing state, and materials of different sizes are grabbed.

Description

Technical Field

[0001] The present invention relates to the field of automated manufacturing technology, and in particular to a gripping mechanism, an assembly device, and an assembly method compatible with materials of different sizes. Background Art

[0002] In the process of automatic assembly of products through automated production lines, the gripping mechanism's claws need to clamp the material from the material outlet to achieve transportation and assembly relative to other parts, so as to ultimately achieve the purpose of mass production and assembly of products.

[0003] Among them, for some similar products, due to the differences in the individual sizes of individual parts, the gripping mechanism is not compatible with the gripping of two different parts materials, resulting in the production line being incompatible with the production of two similar products. An additional automated equipment is required, resulting in a large waste of assembly space and costs.

[0004] Therefore, how to make a single assembly equipment adapt to the assembly of parts of various sizes has become the key research and development target of technical personnel. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects in the prior art that a single assembly equipment cannot adapt to the assembly of parts of various sizes, resulting in large assembly site occupation and high assembly costs, and to provide a gripping mechanism, an assembly device and an assembly method compatible with materials of different sizes.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] A gripping mechanism comprising a transport portion and a clamping portion, wherein the transport portion is capable of moving the clamping portion along a preset path to a first preset area corresponding to a material discharge port, and the clamping portion is capable of switching between a standby state and a gripping state when located in the first preset area, the clamping portion having two gripping units arranged opposite to each other, the spacing between the two gripping units being variable in a first linear direction, the gripping mechanism further comprising a position adjustment portion, the clamping portion being connected to the transport portion via the position adjustment portion, and the position adjustment portion being capable of moving the clamping portion between at least two aligned positions in the first linear direction;

[0008] When the clamping parts are located at different alignment positions, the distances between the two grasping units when they switch to the grasping state are different.

[0009] This gripping mechanism has two gripping units disposed opposite each other within a clamping portion, with a variable spacing in a first linear direction to grip materials. The gripping mechanism further includes a position adjustment unit to move the gripping unit between multiple alignment positions in the first linear direction. The gripping unit, positioned at different alignment positions, can align with materials of varying sizes. Therefore, by providing the position adjustment unit to adjust the gripping unit to different alignment positions, the spacing between the two gripping units when switching to the gripping state varies, enabling the gripping of materials of varying sizes.

[0010] The gripping mechanism further provides a position adjustment part on the basis of the conveying part to adjust the position of the clamping part along the first straight line direction, so that the clamping part can be compatible with the gripping of materials of different sizes. The gripping mechanism has a simple structure and high reliability, which is particularly conducive to simple modification of the original production line to be compatible with the gripping of materials of different sizes.

[0011] Preferably, there are multiple clamping parts, the relative positions between the multiple clamping parts remain unchanged, and the position adjustment part can synchronously move the clamping parts in the first straight line direction.

[0012] By providing multiple clamping parts, the gripping mechanism can simultaneously grasp multiple materials through these clamping parts, improving efficiency. Furthermore, the position adjustment part synchronously moves these clamping parts in the first linear direction to achieve position adjustment and alignment with materials of different sizes, which can reduce the number of moving parts and simplify the structure.

[0013] Preferably, the gripping mechanism further includes an adjusting portion, which connects the two clamping portions and is used to adjust the distance between the two clamping portions.

[0014] By providing an adjusting portion to connect the two clamping portions, the adjusting portion can adjust the spacing between the clamping portions so that the relative position relationship of each clamping portion can be consistent with the relative position relationship of the discharge port.

[0015] Preferably, the gripping mechanism further includes a fixing portion, which is detachably connected to the two clamping portions, and is used to fix the distance between the two clamping portions.

[0016] By providing a fixing portion that is detachably connected to the two clamping portions, the distance between the two clamping portions is fixed, ensuring that the distance between the clamping portions can be fixed, and avoiding loosening under external force and causing distance deviation.

[0017] Preferably, the plurality of clamping portions are arranged sequentially in the first straight line direction.

[0018] By arranging these clamping parts in sequence in the first straight line direction, the structural layout is facilitated.

[0019] Preferably, the distances between adjacent clamping portions are the same.

[0020] By making the intervals between adjacent clamping parts the same, the structural layout is facilitated.

[0021] Preferably, the position adjustment part is a piston cylinder, and the piston cylinder has a first limit position and a second limit position located at two ends of a moving stroke, wherein,

[0022] When the piston cylinder is located at a first extreme position, the clamping portion is located at an alignment position corresponding to a material of a first size;

[0023] And / or, when the piston cylinder is located at the second extreme position, the clamping portion is located at an alignment position corresponding to a material of a second size.

[0024] By driving the clamping part to move between two extreme positions at both ends of the moving stroke, the clamping part is aligned with materials of one size when the piston cylinder drives it to move to one extreme position, and aligned with materials of another size when it moves to the other extreme position. Precise positioning is achieved by stopping the piston cylinder at the extreme position, and the control scheme is simple.

[0025] Preferably, the transporting part includes a lifting drive module, which is used to move the clamping part in the height direction between a position relatively close to the discharge port and a position relatively far away from the discharge port. When the clamping part is at a position relatively close to the discharge port, the clamping part can switch from a waiting state to a grasping state.

[0026] The transporting part is provided with a lifting drive module so that the clamping part can move closer to and farther away from the discharge port in the height direction. When approaching the discharge port, the clamping part switches from the waiting state to the grasping state to grasp the material; and when away from the discharge port, the clamping part can have sufficient space for position adjustment, which is conducive to the position adjustment part moving the clamping part to different alignment positions corresponding to materials of different sizes.

[0027] Preferably, the transporting part includes a translation drive module, which is used to move the clamping part in the horizontal direction between a position relatively close to the discharge port and a position relatively far away from the discharge port. When the clamping part is at a position relatively close to the discharge port, the clamping part can switch from a waiting state to a grasping state.

[0028] The conveying part is provided with a translation drive module so that the clamping part can move closer to and farther away from the discharge port in the horizontal direction. When approaching the discharge port, the clamping part switches from the waiting state to the grasping state to grasp the material; when away from the discharge port, the clamping part can have sufficient space for position adjustment, which is conducive to the position adjustment part moving the clamping part to different alignment positions corresponding to materials of different sizes.

[0029] An assembly device comprising:

[0030] A gripping mechanism as described above;

[0031] A discharge mechanism, the discharge mechanism comprising a discharge port, the discharge port having a positioning portion, the positioning portion being capable of positioning material in the discharge port in a first linear direction;

[0032] Wherein, based on the size difference of the materials of different sizes positioned at the discharge port in the first straight line direction, the position adjustment part moves the clamping part to different alignment positions.

[0033] The grabbing mechanism and the discharging mechanism of the assembly device realize the grabbing and moving of materials through the correspondingly arranged clamping parts and the discharge port, wherein the positioning part arranged in the discharge port can position the materials in the discharge port along the first straight line direction, so that the reference of the materials of different sizes in the discharge port in the first straight line direction remains unchanged, so that the clamping part of the grabbing mechanism can only make simple and small position adjustments to these materials of different sizes to achieve grabbing.

[0034] Therefore, the assembly device achieves the purpose of being compatible with the grabbing of materials of different sizes through a simple and reliable structure, and is particularly advantageous in that a simple modification of the original production line can be made to be compatible with the grabbing of materials of different sizes.

[0035] Preferably, the positioning portion includes a fixed reference, and the fixed reference achieves positioning by abutting against an outer surface of the material in the first straight line direction.

[0036] The positioning part includes a fixed reference, and positioning is achieved by making the fixed reference abut against the outer surface of the material in the discharge port in the first straight line direction. It has a simple structure, high positioning accuracy, and is compatible with the positioning of materials of different sizes.

[0037] Preferably, the positioning portion further includes a floating reference, the fixed reference and the floating reference are arranged relative to each other in the first straight line direction, and the floating reference changes the distance between the floating reference and the fixed reference by moving.

[0038] A floating datum is further set up, and the distance between the two is changed by moving relative to the fixed datum, so that when the fixed datum and the floating datum are at a larger distance, the material can be moved in or out between the two, and when the fixed datum and the floating datum are at a smaller distance, the material can be clamped and positioned between the two, ensuring that the fixed datum positions the material.

[0039] Preferably, when the clamping portion is at an alignment position corresponding to a material of a first size, the symmetry planes of the two gripping units coincide with a central axis of the material of the first size in a first straight line direction.

[0040] When positioning the material at the discharge port, the position adjustment part moves the clamping part to a position where the symmetry plane of the two gripping units coincides with the central axis of the first-size material in the first straight line direction, thereby achieving center alignment between the clamping part and the material, which is more conducive to the clamping part clamping the material.

[0041] Preferably, the clamping parts and the discharge ports are provided in a one-to-one correspondence, the relative positions between the clamping parts are consistent with the relative positions between the discharge ports, and the position adjustment part can synchronously move the clamping parts in the first straight line direction.

[0042] By providing multiple, one-to-one corresponding clamping parts and discharge ports, the gripping mechanism can simultaneously grasp materials from multiple discharge ports through these clamping parts, improving efficiency. Furthermore, the position adjustment unit synchronously moves these clamping parts in the first linear direction to achieve position adjustment and alignment with materials of different sizes, reducing the number of moving parts and simplifying the structure.

[0043] An assembly method compatible with materials of different sizes, after the gripping portion of the gripping mechanism is moved to a first preset area corresponding to a material outlet, further comprising the following steps:

[0044] Adjust the position of the clamping part along the variable spacing direction of the two gripping units of the clamping part so that the clamping part is aligned with the material at the discharge port;

[0045] The two grabbing units of the clamping part approach each other along the variable spacing direction to grab the material from the feeding port.

[0046] This assembly method can achieve the gripping of materials with different external dimensions, and has a simple structure and high reliability. It is especially conducive to simple modification of the original production line. By adding a mechanism to the gripping mechanism that can adjust the position of the clamping part along the variable spacing direction of the two gripping units, it can be compatible with the gripping of materials with different external dimensions.

[0047] Preferably, the step of adjusting the position of the clamping part along the variable spacing direction of the two gripping units of the clamping part so that the clamping part is aligned with the material at the discharge port specifically includes: adjusting the position of the clamping part so that the symmetry plane of the two gripping units coincides with the central axis of the material at the discharge port.

[0048] Preferably, the gripping mechanism is provided with a plurality of clamping parts corresponding to the plurality of discharge ports, and the relative positions between the clamping parts are consistent with the relative positions between the discharge ports. The step of adjusting the position of the clamping part in the variable spacing direction of the two gripping units along the clamping part so that the clamping part is aligned with the material located at the discharge port specifically includes: synchronously adjusting the position of each clamping part so that each clamping part is aligned with the material located at the corresponding discharge port.

[0049] The positive progress effect of the present invention is:

[0050] In the gripping mechanism, assembly device and assembly method compatible with materials of different sizes, the gripping mechanism is provided with a position adjustment part to adjust the position of the clamping part to different alignment positions. The spacing between the two gripping units when switching to the gripping state is different, thereby realizing the gripping of materials of different sizes.

[0051] The grabbing mechanism, assembly device and assembly method compatible with materials of different sizes enable the clamping part to be compatible with the grabbing of materials of different sizes. The grabbing mechanism has a simple structure and high reliability, which is particularly conducive to simple modification of the original production line to be compatible with the grabbing of materials of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a structural diagram of the gripping mechanism of Example 1 of the present invention.

[0053] Figure 2 Schematic diagram (1) of the gripping mechanism in use according to embodiment 1 of the present invention.

[0054] Figure 3 Schematic diagram (2) of the gripping mechanism in use according to embodiment 1 of the present invention.

[0055] Figure 4 Schematic diagram (1) of the assembly device in use according to embodiment 1 of the present invention.

[0056] Figure 5 Schematic diagram (2) of the assembly device in use according to embodiment 1 of the present invention.

[0057] Figure 6 This is a schematic structural diagram of the discharge port of Example 1 of the present invention.

[0058] Figure 7 This is a schematic structural diagram of an assembly device according to embodiment 2 of the present invention.

[0059] Figure 8 Schematic diagram (1) of the assembly device in use according to embodiment 2 of the present invention.

[0060] Figure 9 This is a schematic diagram (2) of the assembly device in use according to Example 2 of the present invention.

[0061] Figure 10 This is a schematic diagram of the specific structure of the assembly device of Example 2 of the present invention.

[0062] Figure 11 This is a schematic diagram of the specific structure of the gripping mechanism of Example 2 of the present invention.

[0063] Figure 12 This is a schematic diagram of the front structure of the gripping mechanism of Example 2 of the present invention.

[0064] Figure 13 This is a schematic diagram of the back structure of the gripping mechanism of Example 2 of the present invention.

[0065] Figure 14 Schematic diagram of one layout of the clamping portion of the gripping mechanism of embodiment 3 of the present invention.

[0066] Figure 15 Schematic diagram of another layout of the clamping portion of the gripping mechanism of Example 3 of the present invention.

[0067] Description of reference numerals:

[0068] Assembly device 100

[0069] Grasping mechanism 10, first linear direction A

[0070] Transport unit 11, lifting drive module 111, translation drive module 112, rotation drive module 113

[0071] Clamping portion 12, gripping unit 121, symmetry surface 1211

[0072] Position adjustment unit 13

[0073] Actuating cylinder 131, first limit position 132, second limit position 133, guide rail slider 134

[0074] Adjustment portion 14, fixing portion 15

[0075] Discharging mechanism 20, discharging port 21

[0076] Fixed datum 221, floating datum 222

[0077] Material conveying channel 22

[0078] Assembly disc 30

[0079] Positioning fixture 40

[0080] Material 200, center axis 201 DETAILED DESCRIPTION

[0081] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0082] Example 1

[0083] like Figure 1As shown, the present invention provides a gripping mechanism 10, which includes a transport portion 11 and a clamping portion 12. The transport portion 11 can move the clamping portion 12 along a preset path to a first preset area (i.e., Figure 1 The area where the clamping portion 12 is located) is used to grab the material 200 from the discharge port 21. Figure 2 As shown, the clamping portion 12 has two gripping units 121 arranged opposite to each other. The distance between the two gripping units 121 in the first linear direction A is variable. The two gripping units 121 are brought into relative proximity to each other so as to contact the two sides of the material 200 and thereby achieve gripping. Therefore, by adjusting the distance between the two gripping units 121 in the first linear direction A, the clamping portion 12 can switch between the standby state and the gripping state when located in the first preset area (see Figure 2 When in the standby state, the distance between the two gripping units 121 is greater than the size of the material 200 in the first linear direction A, and the clamping portion 12 does not contact the material 200. When in the gripping state, the distance between the two gripping units 121 is equal to the size of the material 200 in the first linear direction A, allowing the clamping portion 12 to grip the material 200 and, under the drive of the transport portion 11, move the gripped material 200 to another location for subsequent processing.

[0084] In this embodiment, if Figure 1 and Figure 3 As shown, the clamping portion 12 is connected to the transport portion 11 through a position adjustment portion 13, and the position adjustment portion 13 can move the clamping portion 12 between at least a plurality of alignment positions in the first linear direction A. Figure 1 As shown, when you need to grab Figure 1 When the material 200 of the first size is located in the position adjustment unit 13, the position adjustment unit 13 moves the clamping unit 12 along the first linear direction A, so that the clamping unit 12 moves to the alignment position corresponding to the material 200 of the first size. Figure 3 As shown, when you need to grab Figure 3 When the second size of the material 200 is positioned in the first predetermined area, the position adjustment unit 13 moves the clamping unit 12 along the first linear direction A to move the clamping unit 12 to an alignment position corresponding to the second size of the material 200. By providing the position adjustment unit 13, the position of the clamping unit 12 is adjusted along the first linear direction A when the clamping unit 12 is located in the first predetermined area, so that the clamping unit 12 moves to different alignment positions to align with materials 200 of different sizes.

[0085] Therefore, by providing a position adjustment portion 13 to adjust the position of the clamping portion 12 to different alignment positions, the spacing between the two gripping units 121 when switching to the gripping state is different, thereby enabling the gripping of materials 200 of different sizes. Specifically, in this embodiment, the material 200 is an arc extinguishing chamber product. Different styles of arc extinguishing chamber products have some dimensional differences. The above-described structural arrangement enables the gripping mechanism 10 in the production line to be compatible with the gripping of these arc extinguishing chamber products. When different styles of arc extinguishing chamber products are located at the discharge port, the operator manipulates the position adjustment portion 13 to adjust the position of the clamping portion 12, moving it to the alignment position to align it with the corresponding style of arc extinguishing chamber product. In other embodiments, a relatively more automated solution can also be used to implement the position adjustment portion 13 to adjust the position of the clamping portion 12. For example, when different styles of arc extinguishing chamber products are located at the discharge port, a sensor can be provided to actively obtain the external dimensional parameters of the arc extinguishing chamber product. Based on the obtained parameters, the position adjustment portion 13 is automatically controlled to adjust the position of the clamping portion 12 to align it with the corresponding style of arc extinguishing chamber product.

[0086] The gripping mechanism 10 further provides a position adjustment portion 13 on the basis of the conveying portion 11 to adjust the position of the clamping portion 12 along the first straight line direction A, so that the clamping portion 12 can be compatible with the gripping of materials 200 of different sizes. The gripping mechanism 10 has a simple structure and high reliability, and is particularly conducive to simple modification of the original production line to be compatible with the gripping of materials 200 of different sizes.

[0087] In the scheme where the position adjustment unit 13 adjusts the position of the clamping unit 12 to align with materials 200 of different sizes, the position to which the position adjustment unit 13 adjusts the clamping unit 12 can be pre-set. For example, corresponding to a material 200 of a first size, the position adjustment unit 13 moves the clamping unit 12 to a determined first position, and corresponding to a material 200 of a second size, the position adjustment unit 13 moves the clamping unit 12 to a determined second position. Alternatively, the position to which the position adjustment unit 13 adjusts the clamping unit 12 can be determined based on the actual size of the material 200. For example, by detecting the actual size of the material 200 at the discharge port 21, the specific position to which the clamping unit 12 is to be moved is obtained through calculation. The clamping unit 12 is then moved to this position by the position adjustment unit 13 to achieve the gripping of the material 200 of the specific size.

[0088] In this embodiment, the transporting portion 11 includes a lifting drive module (not shown in the figure), which is used to move the clamping portion 12 between a position relatively close to the discharge port 21 and a position relatively far away from the discharge port 21 in the height direction. When the clamping portion 12 is at a position relatively close to the discharge port 21, the clamping portion 12 can switch from a waiting state to a grasping state. Specifically, the transporting portion 11 is provided with a lifting drive module so that the clamping portion 12 can move closer to and farther away from the discharge port 21 in the height direction. When close to the discharge port 21, the clamping portion 12 switches from the waiting state to the grasping state to grasp the material 200; and when away from the discharge port 21, the clamping portion 12 can have sufficient space for position adjustment, which is conducive to the position adjustment portion 13 moving the clamping portion 12 to different alignment positions corresponding to materials 200 of different sizes.

[0089] At the same time, in this embodiment, the transporting portion 11 includes a translation drive module (not shown in the figure), which is used to move the clamping portion 12 between a position relatively close to the discharge port 21 and a position relatively far away from the discharge port 21 in the horizontal direction. When the clamping portion 12 is at a position relatively close to the discharge port 21, the clamping portion 12 can switch from a waiting state to a grasping state. Specifically, the transporting portion 11 is provided with a translation drive module so that the clamping portion 12 can move closer to and farther away from the discharge port 21 in the horizontal direction. When close to the discharge port 21, the clamping portion 12 switches from the waiting state to the grasping state to grasp the material 200; and when away from the discharge port 21, the clamping portion 12 can have sufficient space for position adjustment, which is conducive to the position adjustment portion 13 moving the clamping portion 12 to different alignment positions corresponding to materials 200 of different sizes.

[0090] Specifically in this embodiment, in order to ensure that the position adjustment part 13 has sufficient space to move the clamping part 12, when the clamping part 12 is located at the first preset position corresponding to the discharge port 21, the lifting drive module 111 moves the clamping part 12 to a high position relatively far away from the discharge port 21, so that the position adjustment part 13 has enough space to adjust the position of the clamping part 12 to achieve alignment with the material 200 to be grasped. After alignment, the lifting drive module 111 moves the clamping part 12 to a low position relatively close to the discharge port 21, and the two grasping units 121 are relatively close to clamp the material 200.

[0091] Of course, the above-mentioned structural setting scheme and process control scheme are only one of the feasible cases. In other embodiments, the position adjustment part 13 can also adjust the position of the clamping in the first straight line direction A during the process of the lifting drive module 111 driving the clamping part 12 to descend, or, after the lifting drive module 111 drives the clamping part 12 to descend to the low position, the position of the clamping in the first straight line direction A is adjusted by the position adjustment part 13. The specific feasible scheme will not be repeated here.

[0092] In addition, the specific implementation schemes of the position adjustment unit 13, the lifting drive module 111 of the conveying unit 11, and the translation drive module 112 are diverse and can be set according to the actual needs of the production line. For example, the position adjustment unit 13, the lifting drive module 111 of the conveying unit 11, and the translation drive module 112 can use a piston cylinder such as a cylinder or a hydraulic cylinder to drive the clamping unit 12 to move, or a linear motion module, an electric push rod, or other electric drive device to drive the clamping unit 12 to move. Specifically in this embodiment, the position adjustment unit 13, the lifting drive module 111 of the conveying unit 11, and the translation drive module 112 are all implemented using cylinders.

[0093] like Figure 4-5 As shown, this embodiment also provides an assembly device 100 using the above-mentioned gripping mechanism 10. Specifically, the assembly device 100 includes a discharge mechanism 20 and the above-mentioned gripping mechanism 10. The discharge mechanism 20 includes a discharge port 21 for discharging materials for the clamping portion 12 to grasp.

[0094] Specifically, the discharge port 21 further includes a positioning portion, which can position the material 200 in the discharge port 21 in the first linear direction A. Figure 4 and Figure 5 It can be seen that based on the size differences of the materials 200 of different sizes positioned at the discharge port 21 in the first linear direction A, the position adjustment portion 13 moves the clamping portion 12 to different alignment positions to respectively grasp the materials 200 of different sizes.

[0095] Specifically, in this embodiment, Figure 4 and Figure 5 As shown, the positioning portion of the discharge port 21 can position the right side surface of the material 200 in the first linear direction A, so that the position of the right side surface of the material 200 of different sizes remains unchanged when the material 200 is in the discharge port 21. The positioning portion uses the right side surface of the material 200 as a reference for maintaining a constant position, allowing the clamping portion 12 of the grasping mechanism 10 to grasp these materials 200 of different sizes with simple, small adjustments.

[0096] Therefore, the assembly device 100 achieves the purpose of being compatible with the grabbing of materials 200 of different sizes through a simple and reliable structure, and is particularly conducive to simple modification of the original production line to be compatible with the grabbing of materials 200 of different sizes.

[0097] Of course, in this embodiment, the right side surface of the material 200 is positioned by the positioning portion of the discharge port 21, so that the position of the right side surface of materials 200 of different sizes remains unchanged, further facilitating the position adjustment portion 13 to slightly move the clamping portion 12 to grasp materials 200 of different sizes. In other embodiments, the method and position of the positioning portion for positioning the material 200 can also be changed according to actual needs, for example, to maintain the position of the left side surface of materials 200 of different sizes unchanged, or to maintain the position of the central axis 201 of materials 200 of different sizes unchanged, etc. Specific feasible solutions are not further described here.

[0098] like Figure 6 As shown, to ensure that the right side surface of materials 200 of varying sizes remains unchanged when they are within the discharge port 21, a positioning unit in this embodiment includes a fixed datum 221. The fixed datum 221 is positioned on the right side of the material 200 and abuts against the right side surface of the material 200, ensuring that the right side surface of materials 200 of varying sizes remains unchanged. By providing the fixed datum 221 and abutting against the outer surface of the material 200 in the first linear direction A, the positioning unit achieves positioning, resulting in a simple structure, high positioning accuracy, and compatibility with the positioning of materials 200 of varying sizes.

[0099] In this embodiment, the positioning portion further includes a floating datum 222. The fixed datum 221 and the floating datum 222 are relatively arranged in the first straight line direction A. The floating datum 222 changes the distance between itself and the fixed datum 221 by moving, so that when the fixed datum 221 and the floating datum 222 are at a larger distance, the material 200 can move in or out between the two. When the fixed datum 221 and the floating datum 222 are at a smaller distance, the material 200 can be clamped and positioned between the two, ensuring that the fixed datum 221 positions the material 200.

[0100] There are various specific implementations for driving the floating reference 222 to move, and they can be set according to the actual needs of the production line. For example, a piston cylinder such as a pneumatic cylinder or a hydraulic cylinder can be used to achieve movement, or an electric drive device such as a linear motion module or an electric push rod can be used to achieve movement.

[0101] In this embodiment, the positioning portion of the discharge port 21 positions the right side surface of the material 200 so that the position change of the left side surface of different materials 200 is equal to the size change of the material 200, and at the same time, the position change of the central axis 201 of different materials 200 is half of the size change of the material 200, so that the position adjustment portion 13 can simply adjust the position of the clamping portion 12 in the straight direction to make the symmetry plane 1211 of the two grabbing units 121 of the clamping portion 12 coincide with the central axis 201 of the material 200.

[0102] Therefore, by adjusting the position of the clamping portion 12 so that the symmetric planes 1211 of the two gripping units 121 of the clamping portion 12 are aligned with the central axis 201 of the materials 200 of different sizes, the purpose of reliable clamping can be achieved.

[0103] like Figure 4 and Figure 5 As shown, for example, Figure 4 Item 200 and Figure 5 The material in 200 is of different sizes, Figure 4 The dimension L1 of the material 200 in the first straight line direction A is 22.9 mm. Figure 5 The dimension L2 of the material 200 in the first straight line direction A is 24.9 mm. Since the right surfaces of the two materials 200 are both positioned and the positions remain unchanged, by subtracting the dimensions L1 from L2, we can get Figure 5 The left side surface of the material 200 is relatively Figure 4 The left side surface of the material 200 in the figure is offset to the left by 2 mm. At the same time, further calculation by simple division can be obtained. Figure 5 The central axis 201 of the material 200 is relative to Figure 4 The central axis 201 of the material 200 in the grip is offset to the left by 1 mm. Therefore, to grasp the two materials 200 of different sizes, the position adjustment part 13 only needs to move the clamping part 12 to the left and right by 1 mm.

[0104] This embodiment also provides an assembly method compatible with materials 200 of different sizes. Specifically, after the clamping portion 12 of the gripping mechanism 10 is moved to the first preset area corresponding to the discharge port 21, the assembly method further includes the following steps:

[0105] S1. Adjust the position of the clamping portion 12 along the variable spacing direction of the two gripping units 121 of the clamping portion 12 (i.e., the first linear direction A in this embodiment) so that the clamping portion 12 is aligned with the material 200 located at the discharge port 21;

[0106] S2. The two grabbing units 121 of the clamping portion 12 approach each other along the variable spacing direction and grab the material 200 from the discharge port 21.

[0107] This assembly method can achieve compatibility with the grabbing of materials 200 of different external dimensions, and has a simple structure and high reliability. It is particularly conducive to simple modification of the original production line. By adding a mechanism on the grabbing mechanism 10 that can adjust the position of the clamping part 12 along the variable spacing direction of the two grabbing units 121, it can be compatible with the grabbing of materials 200 of different external dimensions.

[0108] In step S2 of the assembly method, the position of the clamping portion 12 can be adjusted so that the symmetry planes 1211 of the two gripping units 121 coincide with the central axis 201 of the material 200 located at the discharge port 21. By aligning the symmetry planes 1211 of the two gripping units 121 with the central axis 201 of the material 200 located at the discharge port 21, the two gripping units 121 can simultaneously contact both sides of the material 200 when approaching synchronously, thereby achieving reliable gripping.

[0109] Specifically, in this embodiment, the position of the clamping portion 12 is adjusted to align with the material 200 at the discharge port 21 by the position adjustment portion 13. Specifically, the cylinder of the position adjustment portion 13 reciprocates the clamping portion 12 in the first linear direction A to achieve alignment with the material 200 at the discharge port 21. Of course, in other embodiments, other driving components may be provided to adjust the position of the clamping portion 12 along the variable spacing direction of the two gripping units 121 (i.e., the first linear direction A in this embodiment) to align the clamping portion 12 with the material 200 at the discharge port 21.

[0110] Example 2

[0111] This embodiment provides a gripping mechanism 10 and an assembly device 100 including the gripping mechanism 10, the structures of which are substantially the same as those of the gripping mechanism 10 and the assembly device 100 in Example 1, except that, in this embodiment, Figure 7 As shown, there are two clamping parts 12. The relative position between these two clamping parts 12 remains unchanged, and the position adjustment part 13 can synchronously move these two clamping parts 12 in the first linear direction A to achieve alignment with materials 200 at different discharge ports 21. By providing multiple clamping parts 12, the grasping mechanism 10 can simultaneously grasp multiple materials 200 through these clamping parts 12, thereby improving efficiency. Furthermore, the position adjustment part 13 synchronously moves these clamping parts 12 in the first linear direction A to achieve position adjustment and alignment with materials 200 of different sizes, thereby reducing the number of moving parts and simplifying the structure.

[0112] At the same time, the discharging mechanism 20 is also provided with two discharging ports 21 corresponding to the two clamping portions 12 of the gripping mechanism 10. Each discharging port 21 is provided with a corresponding positioning portion to position the material 200. The relative positional relationship between the two clamping portions 12 is consistent with the relative positional relationship between the two discharging ports 21, so that the position adjustment portion 13 achieves synchronous alignment with the material 200 in the two discharging ports 21 by synchronously moving the clamping portions 12 in the first linear direction A.

[0113] Specific as Figure 8 and Figure 9 As shown, in which Figure 8In the embodiment, the two discharge ports 21 are both filled with a material 200 of the first size. The dimension L1 of the material 200 of the first size in the first linear direction A is 22.9 mm. The clamping portion 12 has been aligned with the material 200 in the discharge port 21. The position adjustment portion 13 does not need to adjust the positions of the two clamping portions 12. After the material 200 is grasped and transported, Figure 9 As shown, the two discharge ports 21 are both provided with a second-sized material 200, and the dimension L2 of the second-sized material 200 in the first straight line direction A is 24.9 mm. Since the right surface position of the second-sized material 200 does not change, a simple calculation can also be obtained. Figure 9 The central axis 201 of the second size material 200 is relative to Figure 8 The central axis 201 of the first size material 200 is offset to the left by 1 mm. Therefore, to grasp the two different sizes of materials 200, the position adjustment part 13 only needs to move the two clamping parts 12 to the left by 1 mm.

[0114] Among them, when the discharge mechanism 20 in this embodiment has two discharge ports 21, two material conveying channels 22 can be set to supply materials 200 to the two discharge ports 21 respectively, or one material conveying channel 22 can be set to supply materials 200 to the two discharge ports 21 at the same time. The specific material 200 supply plan can be set according to the actual situation of the production line.

[0115] like Figure 10 As shown, it is a schematic diagram of the specific structure of the assembly device 100 in this embodiment. As can be seen from the figure, the gripping mechanism 10 of the assembly device 100 is used to transport the material 200 at the discharge port 21 of the discharge mechanism 20 to the positioning fixture 40 on the assembly disc 30. After each transport of the material 200 from the discharge port 21 of the discharge mechanism 20 to the positioning fixture 40 on the assembly disc 30 is completed, the assembly disc 30 will rotate a certain angle to make the empty positioning fixture 40 face the gripping mechanism 10 and the discharge mechanism 20 for the next material 200 transport. In this embodiment, the so-called preset path refers to the path of the reciprocating movement of the clamping part 12 between the discharge port 21 and the positioning fixture 40, which is realized by the transporting part 11 of the gripping mechanism 10. Figure 10 As can be seen from the figure, the discharging mechanism 20 in this embodiment is provided with only one material conveying channel 22 , through which the material 200 is supplied to the two discharging ports 21 of the discharging mechanism 20 respectively.

[0116] Among them, such as Figure 11As shown in FIG. , it is a schematic diagram of the specific structure of the gripping mechanism 10 in this embodiment. As can be seen from the figure, the transport portion 11 of the gripping mechanism 10 in this embodiment includes three modules, namely a lifting drive module 111, a translation drive module 112, and a rotation drive module 113. All three modules are driven by cylinders. The lifting drive module 111 is used to drive the two clamping parts 12 to move in the vertical direction, the translation drive module 112 is used to drive the two clamping parts 12 to move in the horizontal direction, and the rotation drive module 113 is used to drive the two clamping parts 12 to rotate in the horizontal direction to adjust the orientation of the clamping parts 12. Through the coordinated action of these three modules, the material 200 grasped by the clamping part 12 is moved out of the first preset area. The orientation of the clamping part 12 is adjusted by the rotation drive module 113, and the clamping part 12 is moved along the preset path, and the grasped material 200 is placed in the corresponding positioning fixture 40.

[0117] like Figure 11 and Figure 12 As shown, the two clamping parts 12 are connected to the conveying part 11 via a position adjustment part 13. After the two clamping parts 12 are moved to the first preset area corresponding to the discharge port 21 under the drive of the conveying part 11, the positions of the two clamping parts 12 are synchronously adjusted in the first linear direction A by the position adjustment part 13, so as to align them with the materials 200 in the corresponding two discharge ports 21. Among them, the position adjustment part 13 in this embodiment is composed of multiple parts such as an actuator cylinder 131, a first limit position 132, a second limit position 133, and a guide rail slider 134. The cylinder rod of the actuator cylinder 131 is connected to the two clamping parts 12. The cylinder rod is extended and retracted to drive the two clamping parts 12 to reciprocate in the first linear direction A. The first limit position 132 and the second limit position 133 are set at the two ends of the cylinder's travel range. The travel range is limited between the two first limit positions 132 and the second limit position 133 by abutting against the surface of the clamping part 12. The guide rail slider 134 is used to connect the two clamping parts 12 and guide the movement of the clamping parts 12 in the first straight line direction A.

[0118] Specifically in Figure 12In the embodiment, the first limit position 132 on the right side can abut against the right side surface of the clamping portion 12 to limit further rightward movement of the clamping portion 12, and the second limit position 133 on the left side can abut against the left side surface of the clamping portion 12 to limit further leftward movement of the clamping portion 12. Furthermore, in this embodiment, when the clamping portion 12 moves and abuts against the first limit position 132 on the right side, it can align with a material 200 of a certain size. When the clamping portion 12 moves and abuts against the second limit position 133 on the left side, it can align with a material 200 of another size. Specifically, let's take the example where the size of the first size material 200 is 22.9 mm and the size of the second size material 200 is 24.9 mm: the first extreme position 132 and the second extreme position 133 limit the moving stroke of the clamping part 12 in the first straight line direction A to 1 mm, the cylinder of the position adjustment part 13 drives the two clamping parts 12 to move to the right and abut against the first extreme position 132, and the clamping part 12 is aligned with the material of the first size, the cylinder of the position adjustment part 13 drives the two clamping parts 12 to move 1 mm to the left and abut against the second extreme position 133, and the clamping part 12 is aligned with the material of the second size.

[0119] In addition, it can be seen from the figure that the actual strokes of the two extreme positions used to abut against the clamping portion 12 in this embodiment are at the end of the screw, so the specific positions of the two extreme positions can be fine-tuned by rotating the screw to achieve the purpose of precise alignment.

[0120] In this embodiment, the cylinder drives the clamping portion 12 to move between two extreme positions at both ends of the moving stroke. When the cylinder drives the clamping portion 12 to move to one of the extreme positions, it is aligned with one size of material 200, and when it moves to the other extreme position, it can be aligned with another size of material 200. The piston cylinder is stopped at the extreme position to achieve precise positioning, and the control scheme is simple. Of course, in other embodiments, the position adjustment portion 13 can also use a linear motion module, an electric push rod or other electric drive device to drive the clamping portion 12 to move and achieve the purpose of stopping at multiple different positions. By causing the position adjustment portion 13 to drive the clamping portion 12 to stop at multiple positions, more materials 200 of different sizes can be aligned respectively, thereby improving the compatibility of the assembly device 100 with materials 200 of different sizes.

[0121] like Figure 12As shown, the gripping mechanism 10 further includes an adjusting portion 14, which connects the two clamping portions 12 and is used to adjust the distance between the two clamping portions 12. By providing the adjusting portion 14 to connect the two clamping portions 12, the adjusting portion 14 can adjust the distance between the clamping portions 12 so that the relative position relationship of each clamping portion 12 can be consistent with the relative position relationship of the discharge port 21. Specifically in this embodiment, the adjusting portion 14 is a screw with a thread, and the two ends of the screw are respectively screwed with the surfaces of the two clamping portions 12 to achieve connection. By rotating the screw to generate a displacement along the first straight line direction A relative to the clamping portion 12, the distance between the two clamping portions 12 is adjusted. Of course, this scheme of connecting with a screw is only a preferred implementation scheme for adjusting the distance. In other embodiments, other methods can also be used to adjust the distance between the two clamping portions 12.

[0122] like Figure 13 As shown, the gripping mechanism 10 also includes a fixing portion 15, which is detachably connected to the two clamping portions 12, and the fixing portion 15 is used to fix the spacing between the two clamping portions 12. By setting the fixing portion 15 to be detachably connected to the two clamping portions 12, the spacing between the two clamping portions 12 is fixed, ensuring that the spacing between each clamping portion 12 can be fixed, avoiding loosening under the action of external force and causing spacing deviation. Specifically in this embodiment, the fixing portion 15 is a cross bar with a rectangular cross section, which is arranged on the outer surface of the two clamping portions 12 and is detachably connected to the two clamping portions 12 by screws. After the adjustment portion 14 completes the adjustment of the spacing between the two clamping portions 12, the cross bar is installed to fix the spacing between the two clamping portions 12, avoiding deviation during use and improving the reliability of the equipment operation. Of course, this solution of fixing with a cross bar and screws is only a preferred implementation solution. In other embodiments, other methods can also be used to fix the spacing between the two clamping portions 12.

[0123] This embodiment also provides an assembly method compatible with materials 200 of different sizes. This assembly method is substantially the same as the assembly method provided in Example 1, with the main difference being that, in this embodiment, since two one-to-one corresponding discharge ports 21 and clamping portions 12 are provided, step S2 of the assembly method may specifically include: synchronously adjusting the positions of the two clamping portions 12 so that the two clamping portions 12 are aligned with the materials 200 in the two discharge ports 21, respectively. When multiple clamping portions 12 are provided, synchronously adjusting the positions of these clamping portions 12 can simplify the control process and improve the efficiency of position adjustment.

[0124] Specifically, in this embodiment, the position adjustment unit 13 is used to synchronously adjust the positions of the two clamping units 12 so as to align them with the material 200 at the discharge port 21. Specifically, the cylinder of the position adjustment unit 13 reciprocates the clamping units 12 in the first linear direction A to align the clamping units 12 with the corresponding material 200 in the discharge port 21. Of course, in other embodiments, other driving components may be provided to adjust the positions of the two clamping units 12 along the variable spacing direction of the two gripping units 121 (i.e., the first linear direction A in this embodiment) to align the clamping units 12 with the material 200 at the discharge port 21.

[0125] Example 3

[0126] This embodiment provides a gripping mechanism 10 and an assembly device 100 including the gripping mechanism 10, the structures of which are substantially the same as those of the gripping mechanism 10 and the assembly device 100 in Example 1, except that, in this embodiment, Figure 14 As shown, there are four clamping parts 12, the relative positions between the four clamping parts 12 remain unchanged, and the position adjustment part 13 can synchronously move the four clamping parts 12 in the first straight direction A to achieve synchronous alignment of the materials 200 with the corresponding four discharge ports 21.

[0127] Specifically, from Figure 14 As can be seen in the figure, the four clamping parts 12 are arranged in sequence in the first straight direction A. At the same time, the spacing between adjacent clamping parts 12 in the first straight direction A is also the same. This arrangement is relatively more convenient for structural layout.

[0128] When the gripping mechanism 10 has multiple clamping parts 12, the clamping parts 12 can also be arranged along other directions, and the spacing between adjacent clamping parts 12 can also be different. As long as the relative positions between these clamping parts 12 remain unchanged, the positions of materials 200 of different sizes relative to the discharge port 21 can be synchronously adjusted under the drive of the position adjustment part 13.

[0129] For example, if Figure 15 , which is another schematic diagram of the layout of the four clamping parts 12 of the gripping mechanism 10 in this embodiment. Figure 15This is a top view of the gripping mechanism 10, from which it can be seen that the four clamping parts 12 are arranged in an array in the horizontal direction, and the spacing between adjacent clamping parts 12 is not the same (the spacing between the left and right clamping parts 12 is smaller, while the spacing between the front and rear clamping parts 12 is larger). Adjacent clamping parts 12 are fixed by fixing parts 15 to keep the relative positions fixed. The position adjustment part 13 can be connected to one of the clamping parts 12, and the force is transmitted through these fixing parts 15 to make the four clamping parts 12 move synchronously in the first straight line direction A; the position adjustment part 13 can also be connected to the four clamping parts 12 at the same time to drive the four clamping parts 12 to move synchronously in the first straight line direction A. In other embodiments, when the gripping mechanism 10 has multiple clamping parts 12, the position layout between the clamping parts 12 can be set as needed according to the production line conditions.

[0130] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A gripping mechanism comprising a transport portion and a clamping portion, wherein the transport portion is capable of moving the clamping portion along a preset path to a first preset area corresponding to a discharge port, and the clamping portion is capable of switching between a standby state and a gripping state when located in the first preset area, characterized in that: The clamping portion includes two gripping units arranged opposite to each other, and the spacing between the two gripping units in the first linear direction is variable. The gripping mechanism further includes a position adjustment portion, the clamping portion is connected to the transport portion via the position adjustment portion, and the position adjustment portion is capable of moving the clamping portion between at least two aligned positions in the first linear direction; When the clamping parts are located at different alignment positions, the distances between the two grasping units when they switch to the grasping state are different.

2. The gripping mechanism according to claim 1, wherein: There are multiple clamping parts, and the relative positions between the multiple clamping parts remain unchanged. The position adjustment part can synchronously move the clamping parts in the first straight line direction.

3. The gripping mechanism according to claim 2, wherein: The gripping mechanism further includes an adjusting portion, the adjusting portion connecting the two clamping portions, and the adjusting portion being used to adjust the distance between the two clamping portions; And / or, the gripping mechanism further includes a fixing portion, which is detachably connected to the two clamping portions, and the fixing portion is used to fix the distance between the two clamping portions.

4. The gripping mechanism according to claim 2, wherein: The plurality of clamping parts are arranged sequentially in the first straight line direction; And / or, the distances between adjacent clamping portions are the same.

5. The gripping mechanism according to claim 1, wherein: The position adjustment part is a piston cylinder, and the piston cylinder has a first limit position and a second limit position located at both ends of the moving stroke, wherein, When the piston cylinder is located at a first extreme position, the clamping portion is located at an alignment position corresponding to a material of a first size; And / or, when the piston cylinder is located at the second extreme position, the clamping portion is located at an alignment position corresponding to a material of a second size.

6. The gripping mechanism according to any one of claims 1 to 5, characterized in that: The transport portion includes a lifting drive module, which is used to move the clamping portion between a position relatively close to the discharge port and a position relatively far from the discharge port in the height direction, and when the clamping portion is at a position relatively close to the discharge port, the clamping portion can switch from a waiting state to a grasping state; And / or, the transporting part includes a translation drive module, which is used to move the clamping part in the horizontal direction between a position relatively close to the discharge port and a position relatively far away from the discharge port. When the clamping part is at a position relatively close to the discharge port, the clamping part can switch from a waiting state to a grasping state.

7. An assembly device, characterized in that: It includes: The gripping mechanism according to any one of claims 1 to 6; A discharge mechanism, the discharge mechanism comprising a discharge port, the discharge port having a positioning portion, the positioning portion being capable of positioning material in the discharge port in a first linear direction; Wherein, based on the size difference of materials of different sizes positioned at the discharge port in the first straight line direction, the position adjustment part moves the clamping part to different alignment positions.

8. The assembly device according to claim 7, characterized in that The positioning portion includes a fixed reference, and the fixed reference is positioned by abutting against the outer surface of the material in the first straight line direction.

9. The assembly device according to claim 8, characterized in that The positioning portion further includes a floating reference. The fixed reference and the floating reference are arranged opposite to each other in a first straight line direction. The floating reference changes a distance between the floating reference and the fixed reference by moving.

10. The assembly device according to claim 7, wherein: When the clamping portion is in an alignment position corresponding to a material of a first size, the symmetry planes of the two gripping units coincide with the central axis of the material of the first size in a first straight line direction.

11. The assembly device according to claim 7, wherein: There are multiple clamping parts and discharge ports corresponding to each other, and the relative positions between the clamping parts are consistent with the relative positions between the discharge ports. The position adjustment part can synchronously move the clamping parts in the first straight line direction.

12. An assembly method compatible with materials of different sizes, characterized in that: After the gripping portion of the gripping mechanism is moved to the first preset area corresponding to the discharge port, the following steps are further included: Adjust the position of the clamping part along the variable spacing direction of the two gripping units of the clamping part so that the clamping part is aligned with the material at the discharge port; The two grabbing units of the clamping part approach each other along the variable spacing direction to grab the material from the feeding port.

13. The assembly method for materials of different sizes as claimed in claim 12, characterized in that: The step of adjusting the position of the clamping part along the variable spacing direction of the two gripping units of the clamping part so that the clamping part is aligned with the material at the discharge port specifically includes: adjusting the position of the clamping part so that the symmetry plane of the two gripping units coincides with the central axis of the material at the discharge port.

14. The assembly method for materials of different sizes as claimed in claim 12, characterized in that: The gripping mechanism is provided with a plurality of clamping parts corresponding to the plurality of discharge ports, and the relative positions between the clamping parts are consistent with the relative positions between the discharge ports. The step of adjusting the position of the clamping part in the variable spacing direction of the two gripping units along the clamping part so that the clamping part is aligned with the material located at the discharge port specifically includes: synchronously adjusting the position of each clamping part so that each clamping part is aligned with the material located at the corresponding discharge port.

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