Gripping device and collaborative robot

Abstract

The utility model provides a grabbing device and a collaborative robot. The grabbing device comprises a first mounting table, at least two transmission shafts are arranged in the thickness direction of the first mounting table in a penetrating mode, and the transmission shafts are configured to rotate around the axes of the transmission shafts under the action of external force; the driving assembly is arranged on one side of the first mounting table; the speed reducer is arranged at the output end of the driving assembly, and the output end of the speed reducer is connected with the at least two transmission shafts; and the at least two grabbing assemblies are arranged on the side, away from the driving assembly, of the first mounting table, and the grabbing assemblies are connected with the transmission shafts in a one-to-one correspondence mode. According to the grabbing device, the material grabbing efficiency can be improved, then the production efficiency of a production line is improved, meanwhile, multiple driving assemblies can be prevented from being arranged, and the device weight and the manufacturing cost are reduced; moreover, the speed reducer is arranged at the output end of the driving assembly, so that the output torque and stability of the driving assembly are improved, and the load inertia is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automation, in particular to a grasping device and a collaborative robot. Background Art

[0002] In the automation industry, with the continuous development of robots, many traditional production lines have added robots to achieve automated management. The use of robots improves the automation level of the entire production line, greatly increases its production capacity, and reduces production costs.

[0003] On some automated production lines, materials may be placed at different angles. How to improve the material grabbing efficiency on such production lines and thus improve the production efficiency of the production lines is an issue that needs to be addressed urgently. Utility Model Content

[0004] Based on this, the utility model aims to provide an improved grasping device and a collaborative robot to solve at least one of the above problems.

[0005] In a first aspect, the present application provides a gripping device, comprising:

[0006] The first mounting platform has at least two transmission shafts extending through the thickness direction thereof, and the transmission shafts are configured to rotate around their own axes under the action of external forces;

[0007] A driving assembly, disposed on one side of the first mounting platform;

[0008] a reducer, disposed at the output end of the driving assembly, wherein the output end of the reducer is connected to the at least two transmission shafts; and

[0009] At least two grabbing assemblies are arranged on a side of the first mounting platform away from the driving assembly, and the grabbing assemblies are connected to the transmission shafts in a one-to-one correspondence.

[0010] The above-mentioned grasping device utilizes a driving component to drive multiple transmission shafts to rotate so that the clamping claw component can adapt to the placement angle of the material for grasping, which is beneficial to improving the grasping efficiency of the material, thereby improving the production efficiency of the production line, and at the same time can avoid setting up multiple driving components, reducing the weight of the device and the preparation cost; and, by setting a reducer at the output end of the driving component, it is also beneficial to improve the output torque and stability of the driving component and reduce the load inertia.

[0011] In one embodiment, a driving wheel is provided at the output end of the reducer, a driven wheel is sleeved on the outer side of the transmission shaft, and a synchronous belt is wound around the outer circumference of the driving wheel and the driven wheel to connect the driving wheel and the driven wheel.

[0012] In one embodiment, at least one first tensioning wheel and at least one driven wheel are respectively provided on both sides of the driving wheel, the first tensioning wheel is located between the driving wheel and the driven wheel, and the synchronous belt is wound around the outer circumference of the first tensioning wheel.

[0013] In one embodiment, at least one second tensioning wheel is arranged between at least one pair of adjacent driven wheels, and the synchronous belt is wound around the outer circumference of the at least one pair of adjacent driven wheels and the second tensioning wheel.

[0014] In one embodiment, the grabbing assembly includes: a second mounting platform connected to the at least two transmission shafts; a lifting assembly mounted on the second mounting platform; and a clamp mounted on a side of the lifting assembly and configured to be lifted and lowered under the action of the lifting assembly.

[0015] In one embodiment, the lifting assembly and the clamping claw are arranged on the same side of the second mounting platform, and the second mounting platform has a limiting surface for limiting the position of the clamping claw during the lifting process.

[0016] In one embodiment, the driving assembly has only one motor, and the output end of the motor is connected to the reducer.

[0017] In one of the embodiments, the at least two transmission shafts are arranged along the circumference of the mounting platform.

[0018] In one of the embodiments, the distance between two adjacent transmission shafts is greater than or equal to a preset value.

[0019] In a second aspect, the present application provides a collaborative robot, comprising a grasping device as described in the foregoing embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the implementation methods of this specification or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0022] Figure 2 It is a schematic top view of an embodiment of the present application.

[0023] Component number description:

[0024] 100. Grabbing device, 110. First mounting platform, 120. Transmission shaft, 130. Driving assembly, 140. Speed ​​reducer, 150. Grabbing assembly, 151. Second mounting platform, 152. Lifting assembly, 153. Clamp, 160. Driving wheel, 170. Driven wheel, 180. Synchronous belt, 191. First tensioning wheel, 192. Second tensioning wheel. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0029] The inventor discovered the following problems in the prior art during the implementation of the utility model:

[0030] In the production process, in order to adapt to the placement angles of different materials, multiple grippers are usually set up and each gripper is equipped with a corresponding motor to adjust the gripping angle. However, this method will greatly increase the weight and preparation cost of the device, which is not conducive to industrialization.

[0031] Based on the above problems, an embodiment of the present application provides a grasping device, which utilizes a driving assembly to drive multiple transmission shafts to rotate so that the clamping assembly can adapt to the placement angle of the material for grasping, thereby improving the grasping efficiency of the material, thereby improving the production efficiency of the production line, and at the same time avoiding the need to set up multiple driving assemblies and reducing preparation costs; and, by setting a reducer at the output end of the driving assembly, the output torque and stability of the driving assembly can also be improved, and the load inertia can be reduced.

[0032] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a grasping device 100, comprising: a first mounting platform 110, through which at least two transmission shafts 120 are provided along the thickness direction, and the transmission shafts are configured to rotate around their own axes under the action of external force; a driving component 130, which is arranged on one side of the first mounting platform 110; a reducer 140, which is arranged at the output end of the driving component 130, and the output end of the reducer 140 is connected to the at least two transmission shafts 120; and at least two grasping components 150, which are arranged on a side of the first mounting platform 110 away from the driving component 130, and the grasping components 150 are connected to the transmission shafts 120 one by one.

[0033] Exemplarily, the grabbing assembly 150 includes: a second mounting platform 151 connected to at least two transmission shafts 120 ; a lifting assembly 152 mounted on the second mounting platform 151 ; and a clamp 153 mounted on the lifting assembly 152 and configured to be lifted and lowered by the lifting assembly 152 .

[0034] Optionally, when controlling the grabbing device 100 to grab materials, the grabbing device 100 can be controlled to move above the materials first, and then the drive shafts 120 are driven to rotate through the driving assembly 130 and the reducer 140, and then the grabbing assemblies 150 are driven to rotate, so that each grabbing assembly 150 is adjusted to a grabbing angle corresponding to the material placement angle, and finally the lifting assembly 152 is used to lower the clamping jaws 153 to grab the materials, and after grabbing, the lifting assembly 152 is used to lift the clamping jaws 153 with the materials.

[0035] Optionally, when controlling the grabbing device 100 to place materials, the grabbing device 100 can be first controlled to move above an empty material table, and then the drive shafts 120 are driven to rotate through the driving assembly 130 and the reducer 140, thereby driving the grabbing assemblies 150 to rotate, so that each grabbing assembly 150 is adjusted to a desired material placement angle, and finally the lifting assembly 152 is used to lower the clamp 153 to place the material on the material table.

[0036] In some embodiments of the present application, Figure 1 As shown, a driving wheel 160 is provided at the output end of the reducer 140, a driven wheel 170 is sleeved on the outer side of the transmission shaft 120, and a synchronous belt 180 is provided around the outer circumference of the driving wheel 160 and the driven wheel 170 to connect the driving wheel 160 and the driven wheel 170. In this way, the driving wheel 160 can drive multiple driven wheels 170 to rotate synchronously, thereby driving the rotation of the transmission shaft 120 and the driving assembly 150, and finally realizing the adjustment of the gripping angle of the clamping claw 153.

[0037] In some embodiments of the present application, Figure 1 As shown, at least one first tensioning wheel 190 and at least one driven wheel 170 are respectively provided on both sides of the driving wheel 160, the first tensioning wheel 191 is located between the driving wheel 160 and the driven wheel 170, and a synchronous belt 180 is wound around the outer circumference of the first tensioning wheel 191. By respectively providing the first tensioning wheels 191 on both sides of the driving wheel 160 and winding the synchronous belt 180, it is beneficial to keep the synchronous belt 180 in a tensioned state, avoid the synchronous belt 180 from slipping, and ensure the effective transmission of torque.

[0038] In some embodiments of the present application, Figure 2 As shown, at least one second tensioning wheel 192 is disposed between at least one pair of adjacent driven wheels 170, and the synchronous belt 180 is wound around the outer circumference of at least one pair of adjacent driven wheels 170 and the second tensioning wheel 192. By increasing the number of tensioning wheels between adjacent driven wheels 170, it is beneficial to further keep the synchronous belt 180 in a tensioned state, avoid slipping of the synchronous belt 180, and ensure effective transmission of torque.

[0039] In some embodiments of the present application, Figure 1 As shown, the clamping claw 153 is installed on the side of the lifting assembly 152. In this way, it is helpful to reduce the overall height of the grasping device 100 and reduce the volume of the grasping device 100.

[0040] In some embodiments of the present application, see Figure 1The lifting assembly 152 and the clamping jaw 153 are arranged on the same side of the second mounting platform 151, and the second mounting platform 151 has a limiting surface for limiting the clamping jaw 153 during the lifting process. In this way, the clamping jaw 153 can be prevented from being lifted too high and interfering with the first mounting platform 110, thereby ensuring the reliable operation of the grasping device 100.

[0041] In some embodiments of the present application, the driving assembly 130 has only one motor, and the output end of the motor is connected to the reducer 140. In this way, the entire device has only one motor, which can greatly reduce the weight and preparation cost of the grasping device 100.

[0042] In some embodiments of the present application, at least two transmission shafts 120 are arranged along the circumference of the mounting platform 110. In this way, more arrangement space can be provided for the transmission shafts 120, which facilitates the arrangement of a larger number of transmission shafts 120, thereby increasing the number of drive components 150.

[0043] In some embodiments of the present application, the spacing between two adjacent transmission shafts is greater than or equal to a preset value. Optionally, the preset value can be determined according to the size of the material, for example, it can be greater than or equal to twice the longest dimension of the material. Optionally, the preset value can be greater than or equal to the width of the mounting platform 110. In this way, the clamping jaws 153 can avoid interference with adjacent materials during the process of grabbing the material, ensuring that the material is intact.

[0044] The embodiment of the present application further provides a collaborative robot, comprising the grasping device 100 as described in any of the above embodiments. The collaborative robot can quickly grasp materials placed at different angles, thereby improving production efficiency.

[0045] It should be noted that the numbers representing quantities or properties used to describe and claim certain embodiments of the present application should be understood to be modified by the terms "roughly", "about", "approximately" or "substantially" in some cases. For example, unless otherwise specified, "roughly", "about", "approximately" or "substantially" can indicate a ±20% variation of the value described. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0046] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A gripping device, characterized in that: include: The first mounting platform has at least two transmission shafts extending through the thickness direction thereof, and the transmission shafts are configured to rotate around their own axes under the action of external forces; A driving assembly, disposed on one side of the first mounting platform; A reducer is provided at the output end of the driving assembly, and the output end of the reducer is connected to the at least two transmission shafts; as well as, At least two grabbing assemblies are arranged on a side of the first mounting platform away from the driving assembly, and the grabbing assemblies are connected to the transmission shafts in a one-to-one correspondence.

2. The gripping device according to claim 1, characterized in that: A driving wheel is arranged at the output end of the reducer, a driven wheel is sleeved on the outer side of the transmission shaft, and a synchronous belt is wound around the outer circumferences of the driving wheel and the driven wheel to connect the driving wheel and the driven wheel.

3. The gripping device according to claim 2, characterized in that: At least one first tensioning wheel and at least one driven wheel are respectively arranged on both sides of the driving wheel. The first tensioning wheel is located between the driving wheel and the driven wheel, and the synchronous belt is wound around the outer circumference of the first tensioning wheel.

4. The gripping device according to claim 3, characterized in that: At least one second tensioning wheel is arranged between at least one pair of adjacent driven wheels, and the synchronous belt is wound around the outer circumference of the at least one pair of adjacent driven wheels and the second tensioning wheel.

5. The gripping device according to any one of claims 1 to 4, characterized in that: The grabbing component comprises: A second mounting platform connected to the at least two transmission shafts; A lifting assembly is installed on the second mounting platform; The clamping claw is installed on the side of the lifting assembly and is configured to be lifted and lowered under the action of the lifting assembly.

6. The gripping device according to claim 5, characterized in that: The lifting assembly and the clamping claw are arranged on the same side of the second mounting platform, and the second mounting platform has a limiting surface for limiting the position of the clamping claw during the lifting process.

7. The gripping device according to any one of claims 1 to 4, characterized in that: The driving assembly has only one motor, and the output end of the motor is connected to the reducer.

8. The gripping device according to any one of claims 1 to 4, characterized in that: The at least two transmission shafts are arranged along the circumference of the mounting platform.

9. The gripping device according to any one of claims 1 to 4, characterized in that: The distance between two adjacent transmission shafts is greater than or equal to a preset value.

10. A collaborative robot, characterized in that: The method comprises a gripping device as claimed in any one of claims 1 to 9.

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