Grabbing device and speed reducer assembling equipment

Abstract

The utility model provides a grabbing device and assembling equipment of a speed reducer. The grabbing device comprises a mounting frame and a plurality of grabbing parts, the multiple grabbing parts are connected to the mounting frame and arranged on the same side of the mounting frame at intervals, and the multiple grabbing parts are used for grabbing the multiple parts. According to the grabbing device, the grabbing efficiency of the grabbing device can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of assembly technology, and in particular to an assembly device for a gripping device and a reducer. Background Art

[0002] The reducer is an important component in the vehicle. The main function of the reducer is to further adjust the speed and torque output by the drive component to ensure that the torque and speed of the drive component meet the vehicle requirements.

[0003] In the assembly process of the reducer, it is necessary to use a grabbing device to grab multiple parts of the reducer to the assembly platform for assembly. The grabbing efficiency of the grabbing device has an important impact on the assembly efficiency of the reducer, and thus affects the overall economic benefits of the reducer. Therefore, how to effectively improve the grabbing efficiency of the grabbing device is an urgent problem to be solved. Utility Model Content

[0004] In view of the above problems, the present application provides an assembly device for a gripping device and a reducer, which can effectively improve the gripping efficiency of the gripping device.

[0005] In a first aspect, an embodiment of the present application provides a grasping device, which includes a mounting frame and a plurality of grasping components, wherein the plurality of grasping components are connected to the mounting frame and are spaced apart on the same side of the mounting frame, and the plurality of grasping components are used to grasp a plurality of components.

[0006] When the grasping device in the above technical solution grasps multiple parts, there is no need to switch between multiple grasping components, which saves the time of grasping component switching steps, thereby effectively improving the grasping efficiency of the grasping device.

[0007] In some embodiments of the first aspect, the plurality of gripping components are used to respectively grip the plurality of parts.

[0008] The grasping device in the above technical solution can realize the grasping of multiple parts at the same time, which can not only further improve the grasping efficiency of the grasping device, but also further enrich the functions of the grasping device, thereby improving the applicability of the grasping device.

[0009] In some embodiments of the first aspect, the mounting frame includes a first mounting member, a second mounting member and a driving component, the first mounting member and the second mounting member are opposite to each other along a first direction, the driving component is connected between the first mounting member and the second mounting member and can drive the second mounting member to move along the first direction, and a plurality of grabbing components are connected to a side of the second mounting member facing away from the first mounting member.

[0010] The above technical solution sets a driving component to drive the second mounting component to move along the first direction, thereby driving the grasping component to move along the first direction, so as to realize the process of moving the grasping component in the direction close to the component. This can simplify the complexity of the robot's driving path, thereby improving the usability of the grasping device and further improving the grasping efficiency of the grasping device.

[0011] In some embodiments of the first aspect, there are multiple driving components, and the multiple driving components are arranged at intervals along the edge of the mounting frame.

[0012] Multiple driving components can simultaneously apply thrust to different positions of the second mounting member, which can not only reduce the risk of the second mounting member tilting due to uneven force, thereby improving the accuracy of the grasping component in grasping parts; it can also improve the force uniformity of the first mounting member and the second mounting member, thereby reducing the risk of damage to the first mounting member and the second mounting member due to excessive local force, thereby improving the reliability of the grasping device.

[0013] In some embodiments of the first aspect, the mounting frame further includes a supporting assembly, the supporting assembly includes a connecting shaft extending along the first direction, and the second mounting member is provided with a connecting hole. One end of the connecting shaft along the first direction is fixedly connected to the first mounting member, the other end of the connecting shaft along the first direction is passed through the connecting hole, and the second mounting member can move relative to the connecting shaft along the first direction.

[0014] The above technical solution provides a connecting shaft, which has a guiding effect on the second mounting member, and can reduce the risk of the second mounting member tilting during movement along the first direction, thereby effectively improving the reliability of the gripping device.

[0015] In some embodiments of the first aspect, the support assembly also includes a first floating component, the first floating component includes a fixed portion and a movable portion relative to each other along a first direction, the movable portion is arranged to be movable circumferentially along the connecting axis relative to the fixed portion, the fixed portion is connected to the connecting axis, and the movable portion is connected to the second mounting member.

[0016] The above technical scheme, by setting a first floating component, can, on the one hand, enable the grasping component to perform micro-swing activities along the circumference of the connecting shaft during the process of grasping the parts, so that the position of the grasping component can be fine-tuned to drive the grasping component to align with the parts, thereby improving the accuracy of the grasping device; on the other hand, the second mounting component can perform micro-swing activities along the circumference of the connecting shaft relative to the connecting shaft through the first floating component, and can also release part of the stress to reduce the risk of damage to the second mounting component due to stress concentration, thereby improving the reliability of the grasping device.

[0017] In some embodiments of the first aspect, there are two first floating components, which are respectively arranged on both sides of the second mounting member along the first direction. The two first floating components can act on the second mounting member at the same time to further improve the effect of the first floating components.

[0018] In some embodiments of the first aspect, the support assembly further includes a second floating component, the second floating component includes an elastic component, and the elastic component is sleeved on the connecting shaft and connected between the first mounting component and the second mounting component.

[0019] The above technical solution, by providing a second floating component including an elastic component, can, on the one hand, enable the grasping component to perform micro-swinging activities along the axial direction of the connecting shaft during the process of grasping the components, so that the position of the grasping component can be fine-tuned to drive the grasping component to align with the components, thereby improving the accuracy of the grasping device; on the other hand, the second mounting component can also release part of the stress by performing micro-swinging activities along the axial direction of the connecting shaft relative to the connecting shaft through the elastic component, so as to reduce the risk of damage to the second mounting component due to stress concentration, thereby improving the reliability of the grasping device.

[0020] In some embodiments of the first aspect, the second floating component further includes a sleeve, which is sleeved on the elastic component. The sleeve can limit the deformation of the elastic component in a direction perpendicular to the axial direction of the connecting shaft, so as to improve the efficiency of the elastic component in transmitting the force through deformation in the axial direction of the connecting shaft, thereby improving the effect of the second floating component.

[0021] In some embodiments of the first aspect, there are multiple support assemblies, and the multiple support assemblies are arranged at intervals along the circumferential edge of the mounting frame. When the grasping device grasps the parts, the multiple support assemblies can act on different positions of the second mounting member at the same time, thereby further improving the effect of the support assemblies on the grasping device.

[0022] In some embodiments of the first aspect, the grasping device further comprises a detection component, the detection component is connected to the mounting frame, and the detection component and the grasping component are located on the same side of the mounting frame. The detection component can detect the position of the component so that the grasping component can accurately grasp the component, thereby improving the reliability of the grasping device.

[0023] In some embodiments of the first aspect, the grasping device further includes a claw component, the claw component is connected to the mounting frame, and the claw component and the grasping component are located on the same side of the mounting frame.

[0024] The above technical solution can further improve the stability of the parts and reduce the risk of parts falling off by providing a claw component during the process of the grasping component grasping the parts, thereby effectively improving the reliability of the grasping device.

[0025] In some embodiments of the first aspect, there are multiple claw components, and the multiple claw components are arranged around the multiple grabbing components.

[0026] After the grasping component grasps the component, at least some of the multiple claw components can further fix the component grasped by the grasping component at the same time, which can further reduce the risk of the component falling off, thereby further improving the reliability of the grasping device.

[0027] In some embodiments of the first aspect, the plurality of parts include an input shaft, an intermediate shaft, an output shaft and a housing of the reducer, and the plurality of grasping components include two first grasping components, a second grasping component and a third grasping component. One of the two first grasping components is used to grasp the input shaft, the second grasping component is used to grasp the intermediate shaft, the other of the two first grasping components is used to grasp the output shaft, and the third grasping component is used to grasp the housing.

[0028] In the process of the grasping device grasping multiple components of the reducer, the above technical solution does not need to switch between the first grasping component, the second grasping component and the third grasping component, which saves the time of grasping component switching steps, thereby effectively improving the grasping efficiency of the grasping device.

[0029] In some embodiments of the first aspect, the first grasping component includes a first connecting member and a tensioning member, the first connecting member is connected to the mounting frame, the tensioning member is connected to one end of the first connecting member away from the mounting frame, and the tensioning member is arranged to be movable along the radial direction of the first connecting member. The second grasping component includes a second connecting member and a clamping member, the second connecting member is connected to the mounting frame, the clamping member is connected to one end of the second connecting member away from the mounting frame, and the clamping member is used for interference fit with a part of the intermediate shaft. The third grasping component includes a third connecting member and a hook, the third connecting member is connected to the mounting frame, the hook is connected to one end of the third connecting member away from the mounting frame, and the hook is arranged to be movable close to or away from the housing.

[0030] The above technical solution makes corresponding structural designs for the grasping components according to different parts, so that each grasping component in the multiple grasping components has better adaptability, thereby further improving the grasping efficiency of the grasping device.

[0031] In a second aspect, the present application provides an assembly device for a reducer, comprising a robot and the assembly device provided by any embodiment of the first aspect, wherein the robot is connected to the mounting frame.

[0032] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0034] Figure 1 A schematic diagram of a three-dimensional structure of a gripping device provided in some embodiments of the present application;

[0035] Figure 2 A schematic diagram of a structure of a gripping device and an input shaft provided in some embodiments of the present application;

[0036] Figure 3 A schematic diagram of the structure of a gripping device and an intermediate shaft provided in some embodiments of the present application;

[0037] Figure 4 A schematic diagram of the structure of a gripping device and an output shaft provided in some embodiments of the present application;

[0038] Figure 5 A schematic diagram of the structure of a gripping device and a three-axis system structure provided in some embodiments of the present application;

[0039] Figure 6 A schematic diagram of the structure of the grabbing cooperation between a grabbing device and a reducer provided in some embodiments of the present application;

[0040] Figure 7 A schematic diagram of the structure of a gripping device provided in some embodiments of the present application;

[0041] Figure 8 for Figure 7 A schematic diagram of a partially enlarged cross-sectional structure at H;

[0042] Fig. 9 A schematic diagram of the structure of a first gripping component of a gripping device provided in some embodiments of the present application;

[0043] Fig.10 A schematic structural diagram of a first gripping component of a gripping device provided in some embodiments of the present application;

[0044] Fig.11A schematic structural diagram of a second gripping component of a gripping device provided in some embodiments of the present application;

[0045] Fig.12 A schematic structural diagram of a third gripping component of a gripping device provided in some embodiments of the present application.

[0046] The reference numerals in the specific implementation manner are as follows:

[0047] 100, reducer; 110, input shaft; 120, intermediate shaft; 130, output shaft; 140, housing;

[0048] 10. Mounting frame; 11. First mounting member; 12. Second mounting member; 121. Connecting hole; 13. Driving member; 14. Support assembly; 141. Connecting shaft; 142. First floating member; 1421. Fixed member; 1422. Moving member; 143. Second floating member; 1431. Elastic member; 1432. Sleeve;

[0049] 20. grabbing member; 21. first grabbing member; 211. first connecting member; 212. tensioning member; 22. second grabbing member; 221. second connecting member; 222. clamping member; 23. third grabbing member; 231. third connecting member; 232. hook;

[0050] 30. Detection component; 40. Claw component; X, first direction; Y, second direction. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0053] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0054] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" 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 a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0056] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0057] The term "plurality" used in the present application refers to two or more (including two).

[0058] The term "parallel" in this application includes not only the absolutely parallel situation, but also the roughly parallel situation conventionally recognized in engineering; meanwhile, "vertical" includes not only the absolutely vertical situation, but also the roughly vertical situation conventionally recognized in engineering.

[0059] The reducer is an important component in the vehicle. The main function of the reducer is to further adjust the speed and torque output by the drive component to ensure that the torque and speed of the drive component meet the vehicle requirements.

[0060] In the assembly process of the reducer, it is necessary to use a grasping device to grasp multiple parts of the reducer to the assembly platform for assembly. The grasping efficiency of the grasping device has an important impact on the assembly efficiency of the reducer, and thus affects the overall economic benefits of the reducer. At present, manual methods or multi-clamp grasping devices are usually used to grasp multiple parts of the reducer. Among them, the manual method requires more manpower and material resources, is inefficient, and has a high risk of human injury; and the multi-clamp grasping device requires different clamp designs for different parts, which is costly, and the multi-clamp grasping device needs to frequently replace the clamp by changing the gun plate during the grasping process. The replacement of the clamp takes a long time, which affects the overall grasping efficiency.

[0061] Based on the above considerations, the present application designs a gripping device, which includes a mounting frame and a plurality of gripping components, wherein the plurality of gripping components are connected to the mounting frame and are spaced apart on the same side of the mounting frame, and the plurality of gripping components are used to grip a plurality of components. In the process of gripping a plurality of components using the gripping device provided by the present application, there is no need to switch between the plurality of gripping components, which saves the time-consuming step of switching the gripping components, thereby effectively improving the gripping efficiency of the gripping device.

[0062] The following first introduces the gripping device provided in the embodiment of the present application with reference to the accompanying drawings. Figure 1 A schematic diagram of a three-dimensional structure of a gripping device provided in some embodiments of the present application, Figure 2 A schematic diagram of a structure of a gripping device and an input shaft provided in some embodiments of the present application. Figure 3 A schematic diagram of a structure of a gripping device and an intermediate shaft provided in some embodiments of the present application. Figure 4 A schematic diagram of a structure of a gripping device and an output shaft provided in some embodiments of the present application, Figure 5 A schematic diagram of the structure of a gripping device and a three-axis structure for gripping cooperation provided by some embodiments of the present application. Figure 6 A schematic structural diagram of the grabbing cooperation between a grabbing device and a reducer provided in some embodiments of the present application.

[0063] like Figure 1 As shown, an embodiment of the present application provides a grasping device, which includes a mounting frame 10 and a plurality of grasping components 20. The plurality of grasping components 20 are connected to the mounting frame 10 and are spaced apart on the same side of the mounting frame 10. The plurality of grasping components 20 are used to grasp a plurality of components.

[0064] Exemplarily, the gripping device is used to grip multiple parts in the assembly of the assembly to be assembled. The gripping device may be connected to a robot, and the robot drives the gripping device to move, wherein the robot may be, but is not limited to, a robotic arm or a gear train robot. As an example, the robot is connected to the side of the mounting frame 10 facing away from the gripping component 20, and the assembly to be assembled may be a reducer 100, and multiple parts of the reducer 100 include an input shaft 110, an intermediate shaft 120, an output shaft 130, and a housing 140. In order to more clearly describe the embodiments of the present application, the following description will be made by taking the assembly to be the reducer 100 as an example.

[0065] The mounting frame 10 may be but is not limited to being made of metal or non-metal materials. For example, the metal material may be copper, copper alloy, aluminum, aluminum alloy, nickel, nickel alloy, titanium, titanium alloy or stainless steel, and the non-metal material may be polyethylene, polypropylene, polyvinyl chloride or wood.

[0066] The gripping member 20 may be detachably connected to the mounting frame 10, or may be fixedly connected to the mounting frame 10. The gripping member 20 may be directly connected to the mounting frame 10, or may be restricted to the mounting frame 10 by other members. As an example, the gripping member 20 and the mounting frame 10 may be connected by, but not limited to, bolt connection, welding, riveting, or clamping.

[0067] The gripping member 20 may be, but is not limited to, a clamping structure, an internal expansion tensioning structure, or a magnetic structure, and the structure of the gripping member 20 matches the structure of the corresponding component to be gripped. In one example, a plurality of gripping members 20 are arranged in one-to-one correspondence with a plurality of components.

[0068] For example, in the assembly process of the body to be assembled, the grasping device moves to the location of a part of the parts of the body to be assembled, and grasps this part of the parts, and then the grasping device moves to the assembly platform, and places the grasped part of the parts on the assembly platform; then, the grasping device moves to the location of another part of the parts of the body to be assembled, and grasps this other part of the parts, and then the grasping device moves to the assembly platform, and places the grasped part of the parts on the assembly platform; repeat the above steps multiple times until all the parts of the body to be assembled are located on the assembly platform. Then the assembly mechanism assembles the parts on the assembly platform to form an assembly. Then, the grasping device grasps the assembled assembly and transports it to the target location.

[0069] like Figures 2 to 6As shown, as a specific example, in the assembly process of the reducer 100, the grasping device moves to the position where the input shaft 110 of the reducer 100 is located, and grasps the input shaft 110 through the grasping component 20 corresponding to the input shaft 110, and then the grasping device moves to the assembly platform and places the input shaft 110 on the assembly platform;

[0070] Then, the grabbing device continues to move to the position where the intermediate shaft 120 of the reducer 100 is located, and grabs the intermediate shaft 120 through the grabbing component 20 corresponding to the intermediate shaft 120, and then the grabbing device moves to the assembly platform and places the intermediate shaft 120 on the assembly platform;

[0071] Then, the grabbing device continues to move to the position where the output shaft 130 of the reducer 100 is located, and grabs the output shaft 130 through the grabbing component 20 corresponding to the output shaft 130, and then the grabbing device moves to the assembly platform and places the output shaft 130 on the assembly platform;

[0072] Then, the assembly mechanism assembles the input shaft 110, the intermediate shaft 120 and the output shaft 130 on the assembly platform to form a three-axis structure, and the grasping device grasps the three-axis structure through the grasping component 20 corresponding to the three-axis structure, and then the grasping device moves to transport the three-axis structure to the position where the housing 140 is located, and places the three-axis structure on the housing 140 to form the reducer 100;

[0073] Then, the grasping device grasps the shell 140 through the grasping component 20 corresponding to the shell 140, and at the same time grasps the three-axis structure in cooperation with the grasping component 20 corresponding to the three-axis structure, so as to transport the reducer 100 to the target position.

[0074] In this way, when the grasping device in the above technical solution grasps multiple parts, there is no need to switch between multiple grasping components 20, which saves the time of switching steps of the grasping components 20, thereby effectively improving the grasping efficiency of the grasping device.

[0075] In some embodiments, a plurality of gripping members 20 are used to grip a plurality of components respectively.

[0076] Exemplarily, the number of the gripping components 20 matches the number of components, and each of the plurality of gripping components 20 grips each of the plurality of components correspondingly.

[0077] As a specific example, when the assembly body is a reducer 100 and the reducer 100 includes an input shaft 110, an intermediate shaft 120 and an output shaft 130, three grasping components 20 corresponding to the input shaft 110, the intermediate shaft 120 and the output shaft 130 are provided in the grasping device, and the three grasping components 20 grasp the input shaft 110, the intermediate shaft 120 and the output shaft 130 respectively. Moreover, after the input shaft 110, the intermediate shaft 120 and the output shaft 130 are assembled to form a three-axis system structure, the input shaft 110, the intermediate shaft 120 and the output shaft 130 can be grasped simultaneously directly by the three grasping components 20 corresponding to the input shaft 110, the intermediate shaft 120 and the output shaft 130 in the grasping device, so as to realize the grasping of the three-axis system structure.

[0078] The grasping device in the above technical solution can realize the grasping of multiple parts at the same time, which can not only further improve the grasping efficiency of the grasping device, but also further enrich the functions of the grasping device, thereby improving the applicability of the grasping device.

[0079] In some embodiments, the mounting frame 10 includes a first mounting member 11, a second mounting member 12 and a driving component 13. The first mounting member 11 and the second mounting member 12 are opposite to each other along a first direction X. The driving component 13 is connected between the first mounting member 11 and the second mounting member 12, and can drive the second mounting member 12 to move along the first direction X. A plurality of grasping components 20 are connected to a side of the second mounting member 12 facing away from the first mounting member 11.

[0080] Exemplarily, the robot is connected to the first mounting member 11 to drive the gripping device to move. In one example, a mounting component is provided on the first mounting member 11, and the robot is detachably connected to the first mounting member 11 through the mounting component.

[0081] The driving component 13 may be detachably connected to the first mounting member 11, or may be fixedly connected to the first mounting member 11. The driving component 13 may be directly connected to the first mounting member 11, or may be restricted to the first mounting member 11 by other components. As an example, the connection method between the driving component 13 and the first mounting member 11 may be, but is not limited to, bolt connection, welding, riveting, or clamping.

[0082] The driving component 13 may be detachably connected to the second mounting member 12, or may be fixedly connected to the second mounting member 12. The driving component 13 may be directly connected to the second mounting member 12, or may be restricted to the second mounting member 12 by other components. As an example, the connection method between the driving component 13 and the second mounting member 12 may be, but is not limited to, bolt connection, welding, riveting, or clamping.

[0083] The driving component 13 can be but is not limited to a ball screw, an electric cylinder or a synchronous pulley, etc. For example, when the driving component 13 is an electric cylinder, the electric cylinder includes a main body and a telescopic part, the telescopic part is connected to the main body and protrudes from one end of the main body, the telescopic part can be telescoped along the first direction X relative to the main body, the main body is connected to the first mounting member 11, and the end of the telescopic part away from the main body is connected to the second mounting member 12, and the telescopic part can drive the second mounting member 12 to move along the first direction X through its own telescopic movement.

[0084] It is understandable that before the grasping component 20 grasps the component, the robot needs to first move the grasping device to the location of the component according to the corresponding preset driving path and adjust the corresponding grasping component 20 to a suitable posture, and then drive the grasping device to move according to the corresponding preset driving path to make the grasping component 20 approach the component and grasp the component, making the entire driving path of the robot more complicated.

[0085] In this way, the above technical solution sets a driving component 13 to drive the second mounting member 12 to move along the first direction X, thereby driving the grasping component 20 to move along the first direction X, so as to realize the process of moving the grasping component 20 in the direction close to the component, which can simplify the complexity of the driving path of the robot, thereby improving the usability of the grasping device and further improving the grasping efficiency of the grasping device.

[0086] In some embodiments, there are multiple driving components 13 , and the multiple driving components 13 are arranged at intervals along the edge of the mounting frame 10 .

[0087] Exemplarily, in the process of the driving component 13 driving the second mounting member 12 to move along the first direction X, multiple driving components 13 can simultaneously apply thrust to different positions of the second mounting member 12, which can not only reduce the risk of the second mounting member 12 tilting due to uneven force, so as to improve the accuracy of the grasping component 20 in grasping parts; it can also improve the force uniformity of the first mounting member 11 and the second mounting member 12, so as to reduce the risk of damage to the first mounting member 11 and the second mounting member 12 due to excessive local force, thereby improving the reliability of the grasping device.

[0088] The plurality of driving components 13 may be, but are not limited to, two driving components 13 , three driving components 13 , or four driving components 13 , etc.

[0089] In some optional embodiments, at least some of the plurality of driving components 13 are relatively arranged along the second direction Y, and the first direction X intersects with the second direction Y.

[0090] Exemplarily, when there are two driving components 13, the two driving components 13 are arranged opposite to each other along the second direction Y. When the driving component 13 drives the second mounting member 12 to move along the first direction X, both sides of the second mounting member 12 along the second direction Y can receive thrust from the driving component 13, which can further improve the balance of the force on the second mounting member 12, thereby further improving the reliability of the grasping device.

[0091] Optionally, the first direction X is perpendicular to the second direction Y.

[0092] Figure 7 A schematic diagram of the structure of a gripping device provided in some embodiments of the present application, Figure 8 for Figure 7 Schematic diagram of the locally enlarged cross-sectional structure at H.

[0093] Continue to refer Figures 7 and 8 In some embodiments, the mounting frame 10 further includes a supporting assembly 14, the supporting assembly 14 includes a connecting shaft 141 extending along the first direction X, and the second mounting member 12 is provided with a connecting hole 121. One end of the connecting shaft 141 along the first direction X is fixedly connected to the first mounting member 11, and the other end of the connecting shaft 141 along the first direction X is passed through the connecting hole 121, and the second mounting member 12 can move along the first direction X relative to the connecting shaft 141.

[0094] Exemplarily, during the process of the driving component 13 driving the second mounting member 12 to move along the first direction X, the second mounting member 12 can move along the connecting shaft 141, so that the connecting shaft 141 has a guiding effect on the second mounting member 12, thereby reducing the risk of the second mounting member 12 tilting during the movement along the first direction X.

[0095] The connecting shaft 141 can be detachably connected to the first mounting member 11, or can be fixedly connected to the first mounting member 11. The connecting shaft 141 can be directly connected to the first mounting member 11, or can be restricted to the first mounting member 11 by other components. As an example, the connection method between the connecting shaft 141 and the first mounting member 11 can be, but is not limited to, bolt connection, welding, riveting, or clamping.

[0096] The connecting shaft 141 can be but is not limited to being made of metal or non-metal materials. For example, the metal material can be copper, copper alloy, aluminum, aluminum alloy, nickel, nickel alloy, titanium, titanium alloy or stainless steel, and the non-metal material can be polyethylene, polypropylene, polyvinyl chloride or wood, etc.

[0097] The above technical solution provides a connecting shaft 141 which guides the second mounting member 12 and can reduce the risk of the second mounting member 12 tilting during movement along the first direction X, thereby effectively improving the reliability of the gripping device.

[0098] In some embodiments, the support assembly 14 also includes a first floating component 142, the first floating component 142 includes a fixed portion 1421 and a movable portion 1422 relative to each other in a first direction, the movable portion 1422 is arranged to be movable circumferentially along the connecting shaft 141 relative to the fixed portion 1421, the fixed portion 1421 is connected to the connecting shaft 141, and the movable portion 1422 is connected to the second mounting member 12.

[0099] Exemplarily, the second mounting member 12 can perform micro-swinging motion relative to the connecting shaft 141 along the circumference of the connecting shaft 141 through the first floating member 142. While the second mounting member 12 performs micro-swinging motion along the circumference of the connecting shaft 141, it can drive the grasping member 20 to perform micro-swinging motion together. In this way, during the process of the grasping member 20 grasping the parts, after the grasping member 20 contacts the parts, if the grasping member 20 and the parts are not completely aligned, the interaction force between the grasping member 20 and the parts can form a thrust on the grasping member 20. Due to the existence of the first floating member 142, the grasping member 20 can perform micro-swinging motion along the circumference of the connecting shaft 141, so that the position of the grasping member 20 is finely adjusted to drive the grasping member 20 to align with the parts. As an example, the first floating member 142 is a planar thrust bearing, the fixed plate of the planar thrust bearing is the fixed part 1421, and the movable plate of the planar thrust bearing is the movable part 1422.

[0100] The fixing portion 1421 may be detachably connected to the connecting shaft 141, or may be fixedly connected to the connecting shaft 141. The fixing portion 1421 may be directly connected to the connecting shaft 141, or may be restricted to the connecting shaft 141 by other components. As an example, the connection between the fixing portion 1421 and the connecting shaft 141 may be, but is not limited to, bolt connection, welding, riveting, or clamping.

[0101] The movable portion 1422 may be detachably connected to the second mounting member 12, or may be fixedly connected to the second mounting member 12. The movable portion 1422 may be directly connected to the second mounting member 12, or may be restricted to the second mounting member 12 by other components. As an example, the connection method between the movable portion 1422 and the second mounting member 12 may be, but is not limited to, bolt connection, welding, riveting, or clamping.

[0102] The above technical solution, by setting the first floating component 142, can, on the one hand, enable the grasping component 20 to perform micro-swing activities along the circumference of the connecting shaft 141 during the process of grasping parts, so that the position of the grasping component 20 can be fine-tuned to drive the grasping component 20 to align with the parts, thereby improving the accuracy of the grasping device; on the other hand, the second mounting component 12 can perform micro-swing activities along the circumference of the connecting shaft 141 relative to the connecting shaft 141 through the first floating component 142, and can also release part of the stress to reduce the risk of damage to the second mounting component 12 due to stress concentration, thereby improving the reliability of the grasping device.

[0103] In some embodiments, there are two first floating components 142 , which are respectively disposed on both sides of the second mounting member 12 along the first direction X. The two first floating components 142 can act on the second mounting member 12 simultaneously to further improve the effect of the first floating components 142 .

[0104] In some embodiments, the support assembly 14 further includes a second floating component 143 . The second floating component 143 includes an elastic member 1431 . The elastic member 1431 is sleeved on the connecting shaft 141 and connected between the first mounting member 11 and the second mounting member 12 .

[0105] Exemplarily, the second mounting member 12 can perform micro-swinging motion along the axial direction of the connecting shaft 141 relative to the connecting shaft 141 through the elastic member 1431 in the second floating member 143. While the second mounting member 12 performs micro-swinging motion along the axial direction of the connecting shaft 141, it can drive the grasping member 20 to perform micro-swinging motion together. In this way, during the process of the grasping member 20 grasping the parts, after the grasping member 20 contacts the parts, if the grasping member 20 and the parts are not completely aligned, the contact interaction force between the grasping member 20 and the parts can form a thrust on the grasping member 20. Due to the presence of the elastic member 1431, the grasping member 20 can perform micro-swinging motion along the axial direction of the connecting shaft 141, so that the position of the grasping member 20 is finely adjusted to drive the grasping member 20 to align with the parts. As an example, the elastic member 1431 can be, but is not limited to, a spring, a rubber column, or a rubber band.

[0106] The elastic member 1431 can be detachably connected between the first mounting member 11 and the second mounting member 12, or can be fixedly connected between the first mounting member 11 and the second mounting member 12. The fixing portion 1421 can be directly connected to the first mounting member 11 and the second mounting member 12, or can be restricted to the first mounting member 11 and the second mounting member 12 by other components. As an example, the connection between the fixing portion 1421 and the first mounting member 11 and the connection between the fixing portion 1421 and the second mounting member 12 can be, but not limited to, bolt connection, welding, riveting or clamping.

[0107] The above technical solution, by providing a second floating component 143 including an elastic component 1431, can, on the one hand, enable the grasping component 20 to perform micro-swinging activities along the axial direction of the connecting shaft 141 during the process of grasping parts, so that the position of the grasping component 20 can be fine-tuned to drive the grasping component 20 to align with the parts, thereby improving the accuracy of the grasping device; on the other hand, the second mounting component 12 can perform micro-swinging activities along the axial direction of the connecting shaft 141 relative to the connecting shaft 141 through the elastic component 1431, and can also release part of the stress to reduce the risk of damage to the second mounting component 12 due to stress concentration, thereby improving the reliability of the grasping device.

[0108] In some embodiments, the second floating component 143 further includes a sleeve 1432 , and the sleeve 1432 is sleeved on the elastic member 1431 .

[0109] Exemplarily, the sleeve 1432 can limit the deformation of the elastic member 1431 in a direction perpendicular to the axial direction of the connecting shaft 141 to improve the efficiency of the elastic member 1431 in transmitting the force through deformation in the axial direction of the connecting shaft 141 , thereby improving the effect of the second floating component 143 .

[0110] Optionally, the sleeve 1432 can be but is not limited to being made of metal or non-metal materials. For example, the metal material can be copper, copper alloy, aluminum, aluminum alloy, nickel, nickel alloy, titanium, titanium alloy or stainless steel, and the non-metal material can be polyethylene, polypropylene, polyvinyl chloride or wood, etc.

[0111] In some embodiments, there are multiple support assemblies 14 , and the multiple support assemblies 14 are spaced apart along the circumferential edge of the mounting frame 10 .

[0112] For example, during the process of the grasping device grasping parts, a plurality of support assemblies 14 can act on different positions of the second mounting member 12 at the same time, thereby further improving the effect of the support assemblies 14 on the grasping device.

[0113] Optionally, the plurality of support assemblies 14 may be, but is not limited to, two support assemblies 14 , three support assemblies 14 , or four support assemblies 14 , etc.

[0114] In some embodiments, the grabbing device further includes a detection component 30 , which is connected to the mounting frame 10 , and the detection component 30 and the grabbing component 20 are located on the same side of the mounting frame 10 .

[0115] Exemplarily, the detection component 30 can detect the position of the component so that the grasping component 20 can accurately grasp the component, thereby improving the reliability of the grasping device. Optionally, the detection component 30 can be but is not limited to a beam photoelectric switch, a visual detector or a laser detector.

[0116] The detection component 30 can be detachably connected to the mounting frame 10, or can be fixedly connected to the mounting frame 10. The detection component 30 can be directly connected to the mounting frame 10, or can be restricted to the mounting frame 10 by other components. As an example, the connection method between the detection component 30 and the mounting frame 10 can be, but is not limited to, bolt connection, welding, riveting or clamping.

[0117] In some embodiments, the gripping device further includes a claw component 40 , which is connected to the mounting frame 10 , and the claw component 40 and the gripping component 20 are located on the same side of the mounting frame 10 .

[0118] Exemplarily, after the grasping component 20 grasps the component, the claw component 40 can further hook the component grasped by the grasping component 20 through the claw portion to further fix it.

[0119] The claw component 40 can be detachably connected to the mounting frame 10, or can be fixedly connected to the mounting frame 10. The claw component 40 can be directly connected to the mounting frame 10, or can be restricted to the mounting frame 10 by other components. As an example, the connection method between the claw component 40 and the mounting frame 10 can be, but is not limited to, bolt connection, welding, riveting, or clamping.

[0120] The above technical solution can further improve the stability of the parts and reduce the risk of parts falling off by providing the claw component 40 during the process of the grasping component 20 grasping the parts, thereby effectively improving the reliability of the grasping device.

[0121] In some embodiments, there are multiple claw components 40, and the multiple claw components 40 are arranged around the multiple grasping components 20. After the grasping component 20 grasps the component, at least some of the multiple claw components 40 can further fix the component grasped by the grasping component 20 at the same time, which can further reduce the risk of the component falling off, thereby further improving the reliability of the grasping device.

[0122] Optionally, the plurality of claw components 40 may be but are not limited to two claw components 40 , three claw components 40 , or four claw components 40 , etc.

[0123] In some embodiments, the plurality of parts include an input shaft 110, an intermediate shaft 120, an output shaft 130, and a housing 140 of the reducer 100, and the plurality of gripping members 20 include two first gripping members 21, a second gripping member 22, and a third gripping member 23. One of the two first gripping members 21 is used to grip the input shaft 110, the second gripping member 22 is used to grip the intermediate shaft 120, the other of the two first gripping members 21 is used to grip the output shaft 130, and the third gripping member 23 is used to grip the housing 140.

[0124] Exemplarily, the structural dimensions of one of the two first gripping components 21 match the input shaft 110 and are used to grip the input shaft 110, the structural dimensions of the other of the two first gripping components 21 match the output shaft 130 and are used to grip the output shaft 130, the structural dimensions of the second gripping component 22 match the intermediate shaft 120 and are used to grip the intermediate shaft 120, and the structural dimensions of the third gripping component 23 match the housing 140 and are used to grip the housing 140.

[0125] In the assembly process of the above-mentioned reducer 100, the grasping device moves to the position where the input shaft 110 of the reducer 100 is located, and grasps the input shaft 110 through the first grasping component 21 matching the structural size of the input shaft 110, and then the grasping device moves to the assembly platform and places the input shaft 110 on the assembly platform;

[0126] Then, the grabbing device continues to move to the position where the intermediate shaft 120 of the reducer 100 is located, and grabs the intermediate shaft 120 through the second grabbing component 22, and then the grabbing device moves to the assembly platform and places the intermediate shaft 120 on the assembly platform;

[0127] Then, the grabbing device continues to move to the position where the output shaft 130 of the reducer 100 is located, and grabs the output shaft 130 through the first grabbing component 21 that matches the structural size of the output shaft 130, and then the grabbing device moves to the assembly platform and places the output shaft 130 on the assembly platform;

[0128] Then, the assembly mechanism assembles the input shaft 110, the intermediate shaft 120 and the output shaft 130 on the assembly platform to form a three-axis structure, and the grasping device grasps the input shaft 110, the intermediate shaft 120 and the output shaft 130 simultaneously with the second grasping component 22 and the two first grasping components 21 to grasp the three-axis structure, and then the grasping device moves to transport the three-axis structure to the position of the housing 140, and places the three-axis structure on the housing 140 to form the reducer 100;

[0129] Then, the grasping device grasps the housing 140 through the third grasping component 23, and simultaneously grasps the three-axis structure in cooperation with the second grasping component 22 and the two first grasping components 21, so as to transport the reducer 100 to the target position.

[0130] In this way, in the process of the grasping device grasping multiple components of the reducer 100, the above technical solution does not need to switch between the first grasping component 21, the second grasping component 22 and the third grasping component 23, which saves the time of the switching step of the grasping component 20, thereby effectively improving the grasping efficiency of the grasping device.

[0131] Fig. 9 A schematic diagram of the structure of a first gripping component of a gripping device provided in some embodiments of the present application, Fig.10 A schematic structural diagram of a first gripping component of a gripping device provided in some embodiments of the present application, Fig.11 A schematic diagram of the structure of a second gripping component of a gripping device provided in some embodiments of the present application, Fig.12 A schematic structural diagram of a third gripping component of a gripping device provided in some embodiments of the present application.

[0132] Continue to refer Figures 9 to 12In some embodiments, the first grasping member 21 includes a first connecting member 211 and a tensioning member 212. The first connecting member 211 is connected to the mounting frame 10. The tensioning member 212 is connected to one end of the first connecting member 211 away from the mounting frame 10. The tensioning member 212 is movably arranged along the radial direction of the first connecting member 211. The second grasping member 22 includes a second connecting member 221 and a clamping member 222. The second connecting member 221 is connected to the mounting frame 10. The clamping member 222 is connected to one end of the second connecting member 221 away from the mounting frame 10. The clamping member 222 is used for interference fit with a part of the intermediate shaft 120. The third grasping member 23 includes a third connecting member 231 and a hook 232. The third connecting member 231 is connected to the mounting frame 10. The hook 232 is connected to one end of the third connecting member 231 away from the mounting frame 10. The hook 232 is movably arranged to be close to or away from the housing 140.

[0133] Exemplarily, a first groove is provided on the input shaft 110 of the reducer 100, and the structural dimensions of the tensioning member 212 of one of the two first grasping members 21 match the structural dimensions of the first groove. When the first grasping member 21 grasps the input shaft 110, the tensioning member 212 first extends into the first groove, and then expands along the radial direction of the first connecting member 211, so that the tensioning member 212 is tightly abutted against the inner wall of the first groove. Under the action of the friction between the tensioning member 212 and the inner wall of the first groove, the first grasping member 21 can grasp the input shaft 110. The radial direction of the first connecting member 211 can also be understood as the radial direction of the first groove.

[0134] A second groove is provided on the input shaft 110 of the output shaft 130 of the reducer 100, and the structural dimensions of the tensioning member 212 of the other first gripping member 21 of the two first gripping members 21 match the structural dimensions of the second groove. When the first gripping member 21 grips the output shaft 130, the tensioning member 212 first extends into the second groove, and then the tensioning member 212 expands along the radial direction of the first connecting member 211, so that the tensioning member 212 is tightly in contact with the inner wall of the second groove. Under the action of the friction between the tensioning member 212 and the inner wall of the second groove, the first gripping member 21 can grip the output shaft 130. The radial direction of the first connecting member 211 can also be understood as the radial direction of the second groove.

[0135] The intermediate shaft 120 of the reducer 100 is provided with a clamping portion, and the structural dimensions of the clamping member 222 of the second grabbing member 22 match the structural dimensions of the clamping portion. When the second grabbing member 22 grabs the intermediate shaft 120, the clamping member 222 and the clamping portion are interference-fitted, so that the second grabbing member 22 can grab the intermediate shaft 120. The clamping portion can be a shaft body and the clamping member 222 can be a slot body; or the clamping member 222 can be a shaft body and the clamping portion can be a slot body.

[0136] When the third grasping component 23 grasps the housing 140 of the reducer 100 , after the third grasping component 23 moves to the position of the housing 140 , the hook 232 moves in a direction close to the housing 140 and hooks the housing 140 , so that the third grasping component 23 can grasp the output shaft 130 .

[0137] The above technical solution makes corresponding structural designs for the grasping components 20 according to different parts, so that each grasping component 20 in the plurality of grasping components 20 has better adaptability, thereby further improving the grasping efficiency of the grasping device.

[0138] According to some embodiments of the present application, the present application further provides an assembly device for a reducer 100, including a robot and a grasping device of any of the above schemes, wherein the robot is connected to the mounting frame 10 to drive the grasping device to move.

[0139] In order to better understand the gripping device provided in the embodiment of the present application, based on the same inventive concept, an embodiment of the above-mentioned gripping device in actual application is provided here for illustration.

[0140] An embodiment of the present application provides a grasping device, which includes a mounting frame 10 and a plurality of grasping components 20. The plurality of grasping components 20 are connected to the mounting frame 10 and are spaced apart on the same side of the mounting frame 10. The plurality of grasping components 20 are used to grasp a plurality of components respectively.

[0141] The mounting frame 10 includes a first mounting member 11, a second mounting member 12, a driving component 13, a supporting assembly 14, a detection component 30 and a claw component 40. The first mounting member 11 and the second mounting member 12 are opposite to each other along a first direction X. The driving component 13 is connected between the first mounting member 11 and the second mounting member 12 and can drive the second mounting member 12 to move along the first direction X. A plurality of grabbing components 20 are connected to a side of the second mounting member 12 facing away from the first mounting member 11.

[0142] The support assembly 14 includes a connecting shaft 141, a first floating component 142 and a second floating component 143, and the second mounting component 12 is provided with a connecting hole 121. One end of the connecting shaft 141 along its own axial direction is fixedly connected to the first mounting component 11, and the other end is inserted into the connecting hole 121, and the second mounting component 12 can move in the axial direction relative to the connecting shaft 141. The first floating component 142 includes a fixed portion 1421 and a movable portion 1422 which are opposite to each other in the axial direction, and the movable portion 1422 is arranged to be movable in the circumferential direction of the connecting shaft 141 relative to the fixed portion 1421, the fixed portion 1421 is connected to the connecting shaft 141, and the movable portion 1422 is connected to the second mounting component 12. The second floating component 143 includes an elastic member 1431 and a sleeve 1432, the elastic member 1431 is sleeved on the connecting shaft 141 and connected between the first mounting component 11 and the second mounting component 12, and the sleeve 1432 is sleeved on the elastic member 1431.

[0143] The detection component 30 is connected to the mounting frame 10, and the detection component 30 and the grabbing component 20 are located on the same side of the mounting frame 10. The claw component 40 is connected to the mounting frame 10, and the claw component 40 and the grabbing component 20 are located on the same side of the mounting frame 10.

[0144] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A gripping device, characterized in that: include: Mounting frame; A plurality of grabbing components connected to the mounting frame and arranged at intervals on the same side of the mounting frame, the plurality of grabbing components being used to grab a plurality of components; The claw component is connected to the mounting frame, and the claw component and the grabbing component are located on the same side of the mounting frame.

2. The gripping device according to claim 1, characterized in that: The plurality of grasping components are used to grasp the plurality of components respectively and correspondingly.

3. The gripping device according to claim 1, characterized in that: The mounting frame includes a first mounting member, a second mounting member and a driving component. The first mounting member is opposite to the second mounting member along a first direction. The driving component is connected between the first mounting member and the second mounting member and can drive the second mounting member to move along the first direction. The multiple grabbing components are connected to a side of the second mounting member facing away from the first mounting member.

4. The gripping device according to claim 3, characterized in that: There are multiple driving components, and the multiple driving components are arranged at intervals along the edge of the mounting frame.

5. The gripping device according to claim 3, characterized in that: The mounting frame further comprises a supporting assembly, the supporting assembly comprises a connecting shaft extending along the first direction, and the second mounting member is provided with a connecting hole; One end of the connecting shaft along the first direction is fixedly connected to the first mounting member, the other end of the connecting shaft along the first direction is passed through the connecting hole, and the second mounting member can move relative to the connecting shaft along the first direction.

6. The gripping device according to claim 5, characterized in that: The support assembly also includes a first floating component, which includes a fixed portion and a movable portion relative to each other along the first direction, the movable portion being arranged to be movable along the circumferential direction of the connecting shaft relative to the fixed portion, the fixed portion being connected to the connecting shaft, and the movable portion being connected to the second mounting member.

7. The gripping device according to claim 6, characterized in that: The number of the first floating components is two, and the two first floating components are respectively arranged on two sides of the second mounting member along the first direction.

8. The gripping device according to claim 5, characterized in that: The support assembly further includes a second floating component, and the second floating component includes an elastic component, and the elastic component is sleeved on the connecting shaft and connected between the first mounting component and the second mounting component.

9. The gripping device according to claim 8, characterized in that: The second floating component further includes a sleeve, and the sleeve is sleeved on the elastic member.

10. The gripping device according to claim 5, characterized in that: There are multiple support assemblies, and the multiple support assemblies are arranged at intervals along the circumferential edge of the mounting frame.

11. The gripping device according to claim 1, characterized in that: The grabbing device further comprises a detection component, wherein the detection component is connected to the mounting frame, and the detection component and the grabbing component are located on the same side of the mounting frame.

12. The gripping device according to claim 1, characterized in that: The number of the claw components is multiple, and the multiple claw components are arranged around the multiple grabbing components.

13. The gripping device according to any one of claims 1 to 12, characterized in that: The multiple parts include an input shaft, an intermediate shaft, an output shaft and a housing of the reducer, and the multiple grasping components include two first grasping components, a second grasping component and a third grasping component; One of the two first grasping members is used to grasp the input shaft, the second grasping member is used to grasp the intermediate shaft, the other of the two first grasping members is used to grasp the output shaft, and the third grasping member is used to grasp the housing.

14. The gripping device according to claim 13, characterized in that The first grabbing component includes a first connecting member and a tensioning member, wherein the first connecting member is connected to the mounting frame, the tensioning member is connected to an end of the first connecting member away from the mounting frame, and the tensioning member is arranged to be movable along the radial direction of the first connecting member; The second grabbing component comprises a second connecting member and a clamping member, wherein the second connecting member is connected to the mounting frame, the clamping member is connected to an end of the second connecting member away from the mounting frame, and the clamping member is used for interference fit with a part of the intermediate shaft; The third grabbing component includes a third connecting member and a hook. The third connecting member is connected to the mounting frame. The hook is connected to an end of the third connecting member away from the mounting frame. The hook is movably arranged to be close to or away from the shell.

15. A reducer assembly device, characterized in that: include: The gripping device according to any one of claims 1 to 14; The robot is connected to the mounting frame.

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