Gripping device and robot

Abstract

The utility model provides a grabbing device and a robot. The grabbing device comprises a machine body and a grabbing mechanism, the clamping jaw assembly is arranged on the machine body, at least one part of the clamping jaw assembly can move between a first position and a second position relative to the machine body, and under the condition that at least one part of the clamping jaw assembly is located at the first position, the clamping jaw assembly is in a clamping state and used for grabbing a first workpiece; under the condition that at least one part of the clamping jaw assembly is located at the second position, the clamping jaw assembly is in an open state and used for releasing the first work piece; the adsorption assembly is arranged on the machine body and used for adsorbing a second workpiece; and under the condition that the adsorption assembly adsorbs the second work piece, the clamping jaw assembly is in an open state.

Description

Technical Field

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

[0002] At present, competition in the automobile market is becoming increasingly fierce. In the related technology, the stacking of automobile factory panels needs to be done manually when the upper covers of the panels are installed and the stacking of the panels after folding is completed, which increases labor costs, leads to increased corporate costs, and low production efficiency. Utility Model Content

[0003] The embodiments of the utility model are intended to solve at least one of the technical problems existing in the prior art.

[0004] To this end, a first aspect of an embodiment of the utility model provides a gripping device.

[0005] A second aspect of the embodiments of the present utility model provides a robot.

[0006] In view of this, according to the first aspect of an embodiment of the utility model, a gripping device is provided, the gripping device comprising: a machine body; a jaw assembly, arranged on the machine body, at least a portion of the jaw assembly being able to move between a first position and a second position relative to the machine body, when at least a portion of the jaw assembly is in the first position, the jaw assembly is in a clamped state for gripping a first work piece, and when at least a portion of the jaw assembly is in the second position, the jaw assembly is in an open state for releasing the first work piece; an adsorption assembly, arranged on the machine body for adsorbing a second work piece; wherein, when the adsorption assembly adsorbs the second work piece, the jaw assembly is in an open state.

[0007] The gripping device provided by the embodiment of the utility model includes a body, a clamping jaw assembly and an adsorption assembly. Specifically, the clamping jaw assembly is arranged on the body, and at least a part of the clamping jaw assembly can move relative to the body so that the clamping jaw assembly can switch between a clamped state and an open state to achieve the gripping and release of the first workpiece.

[0008] Specifically, when the first work piece needs to be grasped, the clamping jaw assembly moves to a first position relative to the machine body. At this time, the clamping jaw assembly is in a clamping state to grasp the first work piece.

[0009] After the gripper assembly grasps the first work piece, the driving device of the robot drives the gripper assembly to move to the specified position. At this time, the gripper assembly moves to the second position relative to the body so that the gripper assembly opens and releases the first work piece, thereby moving the first work piece to the specified position.

[0010] Optionally, the first working piece includes a folded panel box, and the folded panel boxes can be stacked by grasping and releasing the first working piece through a clamping claw assembly to achieve automation.

[0011] The adsorption component is arranged on the machine body, and the adsorption component is used to adsorb the second workpiece. That is to say, the clamping claw component for grasping the first workpiece and the adsorption component for adsorbing the second workpiece are integrated, so that the grasping device can meet the grasping and stacking requirements of different types of workpieces, improve the automation effect, significantly reduce labor costs, improve production efficiency, and thus reduce enterprise costs.

[0012] Moreover, the grasping device has a simple structure and good stability and reliability, which is conducive to reducing the production cost of the robot with the grasping device.

[0013] Optionally, the second working piece includes an upper cover of the panel box, and the upper cover is adsorbed by an adsorption assembly. The driving device of the robot drives the grasping device to move to the target position. At this time, the adsorption assembly can cancel the adsorption of the upper cover, so that the upper cover can be moved to the target position.

[0014] When the adsorption component adsorbs the second workpiece, the clamping jaw assembly is in an open state, thereby avoiding interference between the clamping jaw assembly and the second workpiece adsorbed by the adsorption component due to the clamping jaw assembly being in a clamped state or the clamping jaw assembly being between the clamped state and the open state when the adsorption component adsorbs the second workpiece, thereby causing the adsorption component to fail to adsorb the second workpiece smoothly, or the second workpiece to fall off from the adsorption component during the process of the robot's driving device driving the grasping device to move the second workpiece to the specified position, thereby ensuring stable and reliable operation of the grasping device, further improving production efficiency, and improving automation effects.

[0015] In addition, the grabbing device provided by the above technical solution of the utility model also has the following additional technical features:

[0016] In some technical solutions, optionally, the adsorption assembly includes a bracket and a plurality of adsorption members, wherein the bracket is arranged on the machine body, the plurality of adsorption members are arranged on the bracket at intervals, and the plurality of adsorption members are used to adsorb the second workpiece.

[0017] In this technical solution, it is defined that the adsorption assembly includes a bracket and a plurality of adsorption members. Specifically, the bracket is arranged on the body, and the plurality of adsorption members are arranged on the bracket at intervals, thereby providing structural support for the plurality of adsorption members.

[0018] The plurality of adsorbing members can adsorb the second working member.

[0019] It is understandable that for second workpieces of different types or sizes, the positions that can be adsorbed may be different. By setting multiple adsorbents at intervals, second workpieces of different types or sizes can be matched, and multiple second workpieces or second workpieces of multiple sizes can be adsorbed separately, so that multiple second workpieces or second workpieces of multiple sizes can be sucked and stacked separately, improving the applicability of the robot with the gripping device, which is conducive to further reducing enterprise costs.

[0020] In some technical solutions, optionally, a plurality of adsorbents arranged at intervals along a first direction form a suction group, the number of the suction groups is multiple, and the plurality of suction groups are arranged at intervals along a second direction; wherein the first direction is different from the second direction.

[0021] In this technical solution, it is defined that the suction group includes multiple suction members arranged along the first direction, and the number of suction groups is multiple, and the multiple suction groups are arranged at intervals along the second direction, that is, the multiple suction members can be arranged at intervals along multiple directions, so that multiple types or multiple sizes of second workpieces can be further matched, and multiple second workpieces or multiple sizes of second workpieces can be adsorbed separately, so that multiple second workpieces or multiple sizes of second workpieces can be adsorbed and stacked separately, which improves the applicability of the robot with the grasping device, and is conducive to further reducing the cost of the enterprise. It also improves the automation effect, significantly reduces labor costs, and improves production efficiency.

[0022] Optionally, the first direction includes a first horizontal direction, and the second direction includes a second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular.

[0023] In some technical solutions, optionally, at least one adsorption member includes a suction cup.

[0024] In this technical solution, it is defined that at least one adsorption part includes a suction cup, that is, the suction cup can be used to adsorb and release the second workpiece, absorb and stack the second workpiece, realize automation, reduce labor costs, and improve production efficiency.

[0025] Moreover, the suction cup has a simple structure, is easy to implement adsorption and release operations, is easy to control, and is beneficial to reducing the production cost of the grasping device.

[0026] Optionally, at least one adsorbing member further comprises a negative pressure device and a pipeline, and two ends of the pipeline are respectively connected to the negative pressure device and the suction cup, so that the suction cup can be controlled by the negative pressure device to adsorb or release the second working member. The structure is simple and easy to control.

[0027] In some technical schemes, optionally, the jaw assembly includes a driving assembly, a first jaw and a second jaw, wherein the driving assembly is arranged on the machine body, and the first jaw and the second jaw are respectively rotatably arranged on the machine body and are respectively connected to the driving assembly, and the driving assembly can drive at least one of the first jaw and the second jaw to rotate relative to the machine body to change the distance between the clamping end of the first jaw and the clamping end of the second jaw; wherein, when at least one of the first jaw and the second jaw is in the first position, the clamping end of the first jaw and the clamping end of the second jaw are at a first distance, and the jaw assembly is in a clamped state; when at least one of the first jaw and the second jaw is in the second position, the clamping end of the first jaw and the clamping end of the second jaw are at a second distance, the jaw assembly is in an open state, and the second distance is greater than the first distance.

[0028] In the technical solution, it is defined that the clamping jaw assembly includes a driving assembly, a first clamping jaw and a second clamping jaw. Specifically, the driving assembly is arranged on the machine body, and the driving assembly is connected to the first clamping jaw and the second clamping jaw. Specifically, under the drive of the driving assembly, the first clamping jaw and / or the second clamping jaw can rotate relative to the machine body. At the same time, during the rotation of the first clamping jaw and the second clamping jaw relative to the machine body, the distance between the clamping end of the first clamping jaw and the clamping end of the second clamping jaw can be changed.

[0029] Specifically, when it is necessary to grasp the first work piece, the driving assembly drives the first jaw and / or the second jaw to rotate to a first position relative to the machine body. At this time, there is a first distance between the clamping end of the first jaw and the clamping end of the second jaw, and the jaw assembly is in a clamping state to achieve grasping of the first work piece.

[0030] After the gripper assembly grasps the first workpiece, the robot's driving device drives the gripping device to move to a specified position, and then the driving assembly drives the first gripper and / or the second gripper to rotate to a second position relative to the body. At this time, the clamping end of the first gripper and the clamping end of the second gripper have a second spacing greater than the first spacing, and the gripper assembly opens to release the first workpiece, thereby moving the first workpiece to the specified position.

[0031] In the case where the first working piece includes a folded coaming box, the folded coaming boxes can be stacked by grasping and releasing the first working piece through the clamping claw assembly, thereby realizing automation.

[0032] The gripper assembly for grasping the first workpiece and the adsorption assembly for adsorbing the second workpiece are integrated, so that the grasping device can meet the grasping and stacking requirements of different types of workpieces, improve the automation effect, significantly reduce labor costs, improve production efficiency, and thus reduce enterprise costs. In addition, the grasping device has a simple structure, good stability and reliability, which is conducive to reducing the production cost of the robot with the grasping device.

[0033] In some technical solutions, optionally, the gripping device also includes a detection member, which is disposed on the machine body and electrically connected to the driving component. The detection member is used to detect the width of the first working piece. The driving component can drive at least one of the first jaw and the second jaw to rotate according to the detection result of the detection member to adjust the distance between the clamping end of the first jaw and the clamping end of the second jaw.

[0034] In this technical solution, it is defined that the grasping device also includes a detection member. Specifically, the detection member is arranged on the machine body, and the detection member is electrically connected to the driving assembly.

[0035] The detection piece can detect the width of the first work piece and send the detection result to the driving component. The driving component controls the rotation angle of the first jaw and / or the second jaw according to the width of the first work piece detected by the detection piece, and then adjusts the distance between the clamping end of the first jaw and the clamping end of the second jaw, so as to match a variety of first work pieces of different widths, and then make the grasping device compatible with the grasping and stacking of a variety of first work pieces of different widths, further improving the applicability of the robot with the grasping device, which is conducive to further reducing enterprise costs.

[0036] In some technical solutions, optionally, the driving component includes a driving member and a transmission component, wherein the driving member is arranged on the machine body, and the transmission component is connected to the driving member, the first clamp and the second clamp, and the driving member can drive at least one of the first clamp and the second clamp to rotate relative to the machine body through the transmission component.

[0037] In this technical solution, it is defined that the driving assembly includes a driving member and a transmission assembly. Specifically, the driving member is arranged on the machine body, and the transmission assembly is connected to the driving member, the first jaw and the second jaw. The driving member can drive at least one of the first jaw and the second jaw to rotate relative to the machine body through the transmission assembly. At the same time, during the rotation of the first jaw and the second jaw relative to the machine body, the distance between the clamping end of the first jaw and the clamping end of the second jaw can be changed.

[0038] Specifically, when it is necessary to grasp the first work piece, the driving member drives the first jaw and / or the second jaw to rotate to a first position relative to the machine body through the transmission assembly. At this time, there is a first distance between the clamping end of the first jaw and the clamping end of the second jaw, and the jaw assembly is in a clamping state to achieve grasping of the first work piece.

[0039] After the gripper assembly grasps the first workpiece, the robot's driving device drives the gripping device to move to a specified position, and the driving member drives the first gripper and / or the second gripper to rotate to a second position relative to the body through the transmission assembly. At this time, the clamping end of the first gripper and the clamping end of the second gripper have a second spacing greater than the first spacing, and the gripper assembly opens to release the first workpiece, thereby achieving the goal of moving the first workpiece to the specified position.

[0040] It can be understood that the driving member is electrically connected to the detecting member.

[0041] Optionally, the driving member comprises a motor, wherein the motor comprises a servo motor.

[0042] Optionally, the first clamping jaw and the second clamping jaw can rotate simultaneously, or the first clamping jaw and the second clamping jaw can rotate separately. The specific configuration can be made according to actual needs.

[0043] In some technical schemes, optionally, the transmission assembly includes a first transmission member, a second transmission member and a third transmission member, wherein the first transmission member is connected to the driving member, the second transmission member is connected to the first transmission member, the third transmission member is connected to the second transmission member, and is rotationally connected to the first clamp and the second clamp.

[0044] In this technical solution, it is defined that the transmission assembly includes a first transmission member, a second transmission member and a third transmission member, and the first transmission member is connected to the driving member, that is, the first transmission member can move under the drive of the driving member.

[0045] The second transmission member is connected to the first transmission member, that is, the second transmission member can be driven to move during the movement of the first transmission member.

[0046] The third transmission member is connected to the second transmission member, and the third transmission member is rotationally connected to the first clamp and the second clamp, that is, the movement of the second transmission member can drive the third transmission member to move, thereby driving the first clamp and the second clamp to rotate relative to the machine body.

[0047] By setting the first transmission member, the second transmission member and the third transmission member, power transmission is achieved, and then under the drive of the driving member, the first jaw and / or the second jaw can rotate relative to the machine body, so that the jaw assembly can switch between a clamped state and an open state, and then the first workpiece is grasped and released, thereby realizing automation, reducing labor costs and improving production efficiency.

[0048] Optionally, the first transmission member includes a screw rod and a nut, wherein the screw rod is connected to the driving member, and the nut is connected to the screw rod and the second transmission member, and the driving member can drive the screw rod to rotate so that the nut drives at least a part of the second transmission member to move, and then drives the third transmission member to move, and the movement of the third transmission member can drive the first clamp and / or the second clamp to rotate relative to the machine body.

[0049] Optionally, the lead screw comprises a double helical lead screw.

[0050] In some technical solutions, optionally, the second transmission member includes a cylinder, the cylinder includes a piston, the piston is connected to the first transmission member and the third transmission member, and the first transmission member can drive the piston to extend and retract to drive the third transmission member to move.

[0051] In this technical solution, it is defined that the second transmission member includes a cylinder, specifically, the cylinder includes a piston, and the piston is connected to the first transmission member and the third transmission member. Specifically, under the drive of the driving member, the first transmission member can drive the piston to extend and retract, thereby driving the third transmission member to move. By using the cylinder as a transmission member, the structure is simple and easy to control.

[0052] In detail, when it is necessary to grasp the first work piece, the driving member drives the first transmission member to move, and the first transmission member drives the piston to extend or retract, thereby driving the first jaw and / or the second jaw to rotate relative to the machine body to a first position through the third transmission member. At this time, there is a first distance between the clamping end of the first jaw and the clamping end of the second jaw, and the jaw assembly is in a clamping state to achieve the grasping of the first work piece.

[0053] After the gripper assembly grasps the first workpiece, the robot's driving device drives the gripping device to move to the specified position, and the driving member drives the first transmission member to move in the opposite direction, and the first transmission member drives the piston to retract or extend, thereby driving the first gripper and / or the second gripper to rotate relative to the machine body to the second position through the third transmission member. At this time, the second spacing between the clamping end of the first gripper and the clamping end of the second gripper is greater than the first spacing, and the gripper assembly opens to release the first workpiece, thereby realizing moving the first workpiece to the specified position.

[0054] In some technical solutions, optionally, the cylinder includes a locking cylinder; wherein, when the jaw assembly is in a clamped state or an open state, the locking cylinder is locked; when at least a part of the jaw assembly moves relative to the body, the locking cylinder is unlocked.

[0055] In the technical solution, it is defined that the cylinder includes a locking cylinder. Specifically, when the clamping jaw assembly is in a clamped state or an open state, the locking cylinder is locked. That is, when the clamping jaw assembly grasps the first workpiece, or when the clamping jaw assembly releases the first workpiece, the locking cylinder is locked, so that the clamping jaw assembly remains in a clamped state or an open state, preventing the first workpiece from falling off due to the loosening of the first clamping jaw or the second clamping jaw when the clamping jaw assembly grasps the first workpiece, thereby ensuring stable and reliable operation of the grasping device.

[0056] Moreover, since the clamping jaw assembly is in an open state when the adsorption assembly adsorbs the second workpiece, interference between the clamping jaw assembly and the second workpiece is avoided. By providing a locking cylinder, when the adsorption assembly adsorbs the second workpiece, the clamping jaw assembly is in an open state, and the locking cylinder is locked, so that the clamping jaw assembly remains in an open state, avoiding the first clamping jaw or the second clamping jaw from loosening and interfering with the second workpiece during the process of grasping or moving the second workpiece, thereby improving the safety of the grasping device, further improving the reliability of the grasping device, and improving production efficiency.

[0057] In some technical schemes, optionally, the third transmission member includes a rack; either the first clamp and the second clamp includes a clamp body, a connecting shaft and a gear, wherein one end of the connecting shaft is connected to the clamp body, the gear is connected to the other end of the connecting shaft, and the gear is meshed with the rack.

[0058] In this technical solution, it is defined that either the first clamping jaw or the second clamping jaw includes a clamping jaw body, a connecting shaft and a gear. Specifically, both ends of the connecting shaft are respectively connected to the clamping jaw body and the gear, and the gear is meshed with the rack.

[0059] Specifically, when it is necessary to grasp the first work piece, the driving member drives the first transmission member to move, and the first transmission member drives the rack to move through the second transmission member. Since the rack is meshed with the gear, the gear is driven to rotate, and then the gear drives the claw body to rotate to the first position through the connecting shaft. At this time, there is a first distance between the clamping end of the first jaw and the clamping end of the second jaw, and the jaw assembly is in a clamping state to achieve the grasping of the first work piece.

[0060] After the gripper assembly grasps the first workpiece, the robot's driving device drives the gripping device to move to the specified position, and the driving member drives the first transmission member to move in the opposite direction, and the first transmission member drives the rack to move in the opposite direction through the second transmission member. Since the rack is meshed with the gear, the gear is driven to rotate in the opposite direction, and then the gear drives the gripper body to rotate to the second position through the connecting shaft. At this time, the second spacing between the clamping end of the first jaw and the clamping end of the second jaw is larger than the first spacing, and the gripper assembly opens to release the first workpiece, thereby realizing moving the first workpiece to the specified position.

[0061] Optionally, there is one rack, which is respectively meshed with the gear of the first jaw and the gear of the second jaw, so that when the first transmission member drives the piston of the cylinder to extend or retract under the drive of the driving member, the rack drives the gear of the first jaw and the gear of the second jaw to rotate simultaneously, thereby switching the jaw assembly between a clamped state and an open state, thereby achieving the grasping and release of the first working workpiece.

[0062] Optionally, there are two racks, which are respectively meshed with the gear of the first clamp and the gear of the second clamp. There are also two cylinders, whose pistons are respectively connected to the two racks, so that when the first transmission member drives the pistons of the two cylinders to extend or retract respectively under the drive of the driving member, the two racks respectively drive the gear of the first clamp and the gear of the second clamp to rotate, thereby switching the clamp assembly between the clamping state and the opening state, thereby realizing the grasping and releasing of the first working piece.

[0063] In some technical solutions, optionally, the grasping device further includes a guide rail, the guide rail is disposed on the machine body, and at least a portion of the third transmission member is disposed on the guide rail and can move on the guide rail.

[0064] In this technical solution, it is defined that the grasping device also includes a guide rail. Specifically, the guide rail is arranged on the machine body, at least a part of the third transmission member is arranged on the guide rail, and the third transmission member can move on the guide rail, thereby defining the movement track and movement range of the third transmission member, and preventing the first clamping jaw and / or the second clamping jaw from being unable to rotate effectively due to the deviation of the movement of the third transmission member, thereby causing the first workpiece to fail to be grasped or released. It can further improve automation efficiency and reduce enterprise costs.

[0065] According to the second aspect of the utility model, there is provided a robot, comprising a gripping device as provided by any of the above technical solutions, and thus having all the beneficial technical effects of the gripping device, which will not be described in detail herein.

[0066] Additional aspects and advantages of the present invention will be given in the following description, and some will become apparent from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0068] Figure 1 One of the structural schematic diagrams of a grabbing device according to an embodiment of the utility model is shown;

[0069] Figure 2 A second structural schematic diagram of a grabbing device according to an embodiment of the utility model is shown;

[0070] Figure 3 A third structural schematic diagram of a grabbing device according to an embodiment of the utility model is shown;

[0071] Figure 4 A fourth structural schematic diagram of a grabbing device according to an embodiment of the utility model is shown;

[0072] Figure 5 A schematic structural diagram of a second working piece according to an embodiment of the utility model is shown.

[0073] in, Figures 1 to 5 The corresponding relationship between the reference numerals and the component names is as follows:

[0074] 100 gripping device, 110 machine body, 120 jaw assembly, 121 driving assembly, 122 first jaw, 123 second jaw, 124 clamping end, 130 adsorption assembly, 131 bracket, 132 adsorption member, 133 suction group, 134 suction cup, 140 driving member, 151 first transmission member, 152 second transmission member, 153 third transmission member, 154 screw rod, 155 cylinder, 156 rack, 160 jaw body, 170 connecting shaft, 180 gear, 190 guide rail, 300 second working member. DETAILED DESCRIPTION

[0075] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0076] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0077] Refer to the following Figures 1 to 5 To describe the grasping device 100 and the robot provided according to some embodiments of the present utility model.

[0078] In one embodiment according to the present application, Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, a gripping device 100 is proposed, and the gripping device 100 includes: a body 110; a jaw assembly 120, which is arranged on the body 110, and at least a part of the jaw assembly 120 can move between a first position and a second position relative to the body 110. When at least a part of the jaw assembly 120 is in the first position, the jaw assembly 120 is in a clamped state for gripping a first work piece, and when at least a part of the jaw assembly 120 is in the second position, the jaw assembly 120 is in an open state for releasing the first work piece; an adsorption assembly 130, which is arranged on the body 110 and is used to adsorb a second work piece 300; wherein, when the adsorption assembly 130 adsorbs the second work piece 300, the jaw assembly 120 is in an open state.

[0079] The gripping device 100 provided in the embodiment of the utility model includes a body 110, a clamping jaw assembly 120 and an adsorption assembly 130. Specifically, the clamping jaw assembly 120 is arranged on the body 110, and at least a part of the clamping jaw assembly 120 can move relative to the body 110 so that the clamping jaw assembly 120 can switch between a clamped state and an open state to achieve the gripping and release of the first workpiece.

[0080] Specifically, when the first work piece needs to be grasped, the clamping jaw assembly 120 moves to the first position relative to the machine body 110 . At this time, the clamping jaw assembly 120 is in a clamping state to grasp the first work piece.

[0081] After the gripper assembly 120 grips the first work piece, the driving device of the robot drives the gripping device 100 to move to the specified position. At this time, the gripper assembly 120 moves to the second position relative to the body 110, so that the gripper assembly 120 opens and releases the first work piece, thereby moving the first work piece to the specified position.

[0082] Optionally, the first working piece includes a folded panel box, and the first working piece is grasped and released by the clamping claw assembly 120, so that the folded panel boxes can be stacked to achieve automation.

[0083] The adsorption component 130 is arranged on the body 110, and the adsorption component 130 is used to adsorb the second workpiece 300. That is to say, the clamping claw component 120 for grasping the first workpiece and the adsorption component 130 for adsorbing the second workpiece 300 are integrated, so that the grasping device 100 can meet the grasping and stacking requirements of different types of workpieces, improve the automation effect, significantly reduce labor costs, improve production efficiency, and thus reduce enterprise costs.

[0084] Moreover, the gripping device 100 has a simple structure and good stability and reliability, which is beneficial to reducing the production cost of the robot having the gripping device 100 .

[0085] Optionally, the second working piece 300 includes an upper cover of the panel box, and the upper cover is adsorbed by the adsorption component 130. The driving device of the robot drives the grasping device 100 to move to the target position. At this time, the adsorption component 130 can cancel the adsorption of the upper cover, so that the upper cover can be moved to the target position.

[0086] When the adsorption component 130 adsorbs the second work piece 300, the clamping jaw assembly 120 is in an open state, thereby preventing interference between the clamping jaw assembly 120 and the second work piece 300 adsorbed by the adsorption component 130 due to the clamping jaw assembly 120 being in a clamped state or the clamping jaw assembly 120 being between the clamped state and the open state when the adsorption component 130 adsorbs the second work piece 300, thereby preventing the adsorption component 130 from successfully adsorbing the second work piece 300, or the second work piece 300 from falling off the adsorption component 130 when the robot's driving device drives the grasping device 100 to move to move the second work piece 300 to a specified position, thereby ensuring stable and reliable operation of the grasping device 100, further improving production efficiency, and improving automation effects.

[0087] like Figure 2 As shown, in some embodiments, optionally, the adsorption assembly 130 includes a bracket 131 and a plurality of adsorption members 132 , wherein the bracket 131 is disposed on the body 110 , and the plurality of adsorption members 132 are disposed at intervals on the bracket 131 , and the plurality of adsorption members 132 are used to adsorb the second workpiece 300 .

[0088] In this embodiment, it is defined that the adsorption assembly 130 includes a bracket 131 and a plurality of adsorption members 132 . Specifically, the bracket 131 is disposed on the body 110 , and the plurality of adsorption members 132 are disposed on the bracket 131 at intervals, thereby providing structural support for the plurality of adsorption members 132 .

[0089] The plurality of suction members 132 can suction the second working member 300 .

[0090] It is understandable that the positions that can be adsorbed may be different for different types or sizes of second workpieces 300. By setting a plurality of adsorbing members 132 at intervals, it is possible to match second workpieces 300 of different types or sizes, and realize the separate adsorption of multiple second workpieces 300 or multiple sizes of second workpieces 300, thereby performing separate absorption and stacking of multiple second workpieces 300 or multiple sizes of second workpieces 300, improving the applicability of the robot with the gripping device 100, and helping to further reduce the enterprise cost.

[0091] like Figure 2As shown, in some embodiments, optionally, a plurality of adsorbents 132 arranged at intervals along a first direction form a suction group 133, the number of suction groups 133 is multiple, and the plurality of suction groups 133 are arranged at intervals along a second direction; wherein the first direction is different from the second direction.

[0092] In this embodiment, it is defined that the suction group 133 includes a plurality of suction members 132 arranged along the first direction, and the number of the suction groups 133 is multiple, and the plurality of suction groups 133 are arranged at intervals along the second direction, that is, the plurality of suction members 132 can be arranged at intervals along multiple directions, so that the second workpieces 300 of multiple types or multiple sizes can be further matched, and the plurality of second workpieces 300 or the plurality of sizes of the second workpieces 300 can be adsorbed separately, so that the plurality of second workpieces 300 or the plurality of sizes of the second workpieces 300 can be adsorbed and stacked separately, thereby improving the applicability of the robot with the grasping device 100, which is conducive to further reducing the enterprise cost. It also improves the automation effect, significantly reduces the labor cost, and improves the production efficiency.

[0093] Optionally, the first direction includes a first horizontal direction, and the second direction includes a second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular.

[0094] like Figure 1 As shown, in some embodiments, optionally, at least one adsorbent 132 includes a suction cup 134 .

[0095] In this embodiment, at least one adsorption member 132 is defined to include a suction cup 134, that is, the suction cup 134 can be used to adsorb and release the second workpiece 300, so that the second workpiece 300 can be sucked and stacked, thereby achieving automation, reducing labor costs, and improving production efficiency.

[0096] Moreover, the suction cup 134 has a simple structure, is easy to implement adsorption and release operations, is easy to control, and is beneficial to reducing the production cost of the grasping device 100.

[0097] Optionally, at least one adsorbing member 132 further includes a negative pressure device and a pipeline, and both ends of the pipeline are respectively connected to the negative pressure device and the suction cup 134, so that the suction cup 134 can be controlled by the negative pressure device to adsorb or release the second working member 300. The structure is simple and easy to control.

[0098] like Figure 1 and Figure 4As shown, in some embodiments, optionally, the clamping jaw assembly 120 includes a driving assembly 121, a first clamping jaw 122, and a second clamping jaw 123, wherein the driving assembly 121 is disposed on the machine body 110, and the first clamping jaw 122 and the second clamping jaw 123 are rotatably disposed on the machine body 110, and are respectively connected to the driving assembly 121, and the driving assembly 121 can drive at least one of the first clamping jaw 122 and the second clamping jaw 123 to rotate relative to the machine body 110 to change the clamping end 124 of the first clamping jaw 122 and the clamping end 124 of the second clamping jaw 123. wherein, when at least one of the first jaw 122 and the second jaw 123 is in the first position, there is a first spacing between the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123, and the jaw assembly 120 is in a clamped state; when at least one of the first jaw 122 and the second jaw 123 is in the second position, there is a second spacing between the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123, and the jaw assembly 120 is in an open state, and the second spacing is greater than the first spacing.

[0099] In this embodiment, it is defined that the clamping jaw assembly 120 includes a driving assembly 121, a first clamping jaw 122, and a second clamping jaw 123. Specifically, the driving assembly 121 is disposed on the machine body 110, and the driving assembly 121 is connected to the first clamping jaw 122 and the second clamping jaw 123. Specifically, under the drive of the driving assembly 121, the first clamping jaw 122 and / or the second clamping jaw 123 can rotate relative to the machine body 110. At the same time, during the rotation of the first clamping jaw 122 and the second clamping jaw 123 relative to the machine body 110, the spacing between the clamping end 124 of the first clamping jaw 122 and the clamping end 124 of the second clamping jaw 123 can be changed.

[0100] Specifically, when it is necessary to grasp the first work piece, the driving assembly 121 drives the first jaw 122 and / or the second jaw 123 to rotate to a first position relative to the body 110. At this time, there is a first distance between the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123, and the jaw assembly 120 is in a clamping state to achieve grasping of the first work piece.

[0101] After the jaw assembly 120 grasps the first work piece, the robot's driving device drives the grasping device 100 to move to the specified position, and the driving assembly 121 drives the first jaw 122 and / or the second jaw 123 to rotate to the second position relative to the body 110. At this time, the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123 are spaced a second distance greater than the first distance, and the jaw assembly 120 opens to release the first work piece, thereby moving the first work piece to the specified position.

[0102] In the case where the first work piece includes a folded coaming box, the first work piece is grasped and released by the clamping jaw assembly 120, so that the folded coaming boxes can be stacked to achieve automation.

[0103] The gripper assembly 120 for grasping the first workpiece and the adsorption assembly 130 for adsorbing the second workpiece 300 are integrated, so that the grasping device 100 can meet the grasping and stacking requirements of different types of workpieces, improve the automation effect, significantly reduce labor costs, improve production efficiency, and thus reduce enterprise costs. In addition, the grasping device 100 has a simple structure, good stability and reliability, which is conducive to reducing the production cost of the robot having the grasping device 100.

[0104] In some embodiments, optionally, the gripping device 100 also includes a detection member, which is disposed on the body 110 and is electrically connected to the driving component 121, and the detection member is used to detect the width of the first working piece. The driving component 121 can drive at least one of the first jaw 122 and the second jaw 123 to rotate according to the detection result of the detection member to adjust the distance between the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123.

[0105] In this embodiment, it is defined that the grasping device 100 further includes a detection member. Specifically, the detection member is disposed on the body 110 , and the detection member is electrically connected to the driving assembly 121 .

[0106] The detection member can detect the width of the first work piece and send the detection result to the driving component 121. The driving component 121 controls the rotation angle of the first clamp 122 and / or the second clamp 123 according to the width of the first work piece detected by the detection member, and then adjusts the distance between the clamping end 124 of the first clamp 122 and the clamping end 124 of the second clamp 123, so as to match a variety of first work pieces of different widths, thereby making the grasping device 100 compatible with the grasping and stacking of a variety of first work pieces of different widths, further improving the applicability of the robot with the grasping device 100, and helping to further reduce enterprise costs.

[0107] like Figure 1 and Figure 2 As shown, in some embodiments, optionally, the driving component 121 includes a driving member 140 and a transmission component, wherein the driving member 140 is disposed on the body 110, and the transmission component is connected to the driving member 140, the first clamp 122 and the second clamp 123, and the driving member 140 can drive at least one of the first clamp 122 and the second clamp 123 to rotate relative to the body 110 through the transmission component.

[0108] In this embodiment, it is defined that the driving assembly 121 includes a driving member 140 and a transmission assembly. Specifically, the driving member 140 is arranged on the body 110, and the transmission assembly is connected to the driving member 140, the first clamp 122 and the second clamp 123. The driving member 140 can drive at least one of the first clamp 122 and the second clamp 123 to rotate relative to the body 110 through the transmission assembly. At the same time, during the rotation of the first clamp 122 and the second clamp 123 relative to the body 110, the distance between the clamping end 124 of the first clamp 122 and the clamping end 124 of the second clamp 123 can be changed.

[0109] Specifically, when it is necessary to grasp the first work piece, the driving member 140 drives the first jaw 122 and / or the second jaw 123 to rotate to a first position relative to the body 110 through the transmission assembly. At this time, there is a first distance between the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123, and the jaw assembly 120 is in a clamping state to achieve grasping of the first work piece.

[0110] After the jaw assembly 120 grasps the first work piece, the robot's driving device drives the grasping device 100 to move to the specified position, and the driving member 140 drives the first jaw 122 and / or the second jaw 123 to rotate to the second position relative to the body 110 through the transmission assembly. At this time, the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123 are spaced a second distance greater than the first distance, and the jaw assembly 120 opens to release the first work piece, thereby moving the first work piece to the specified position.

[0111] It can be understood that the driving member 140 is electrically connected to the detecting member.

[0112] Optionally, the driving member 140 includes a motor, wherein the motor includes a servo motor.

[0113] Optionally, the first clamping jaw 122 and the second clamping jaw 123 may rotate simultaneously, or the first clamping jaw 122 and the second clamping jaw 123 may rotate separately. The specific configuration may be based on actual needs.

[0114] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, optionally, the transmission assembly includes a first transmission member 151, a second transmission member 152 and a third transmission member 153, wherein the first transmission member 151 is connected to the driving member 140, the second transmission member 152 is connected to the first transmission member 151, the third transmission member 153 is connected to the second transmission member 152, and is rotatably connected to the first clamp 122 and the second clamp 123.

[0115] In this embodiment, it is defined that the transmission assembly includes a first transmission member 151 , a second transmission member 152 and a third transmission member 153 , and the first transmission member 151 is connected to the driving member 140 , that is, the first transmission member 151 can move under the drive of the driving member 140 .

[0116] The second transmission member 152 is connected to the first transmission member 151 , that is, the second transmission member 152 can be driven to move during the movement of the first transmission member 151 .

[0117] The third transmission member 153 is connected to the second transmission member 152, and the third transmission member 153 is rotationally connected to the first clamp 122 and the second clamp 123. That is, during the movement of the second transmission member 152, the third transmission member 153 can be driven to move, thereby driving the first clamp 122 and the second clamp 123 to rotate relative to the body 110.

[0118] By setting the first transmission member 151, the second transmission member 152 and the third transmission member 153, power transmission is achieved, and then under the drive of the driving member 140, the first jaw 122 and / or the second jaw 123 can rotate relative to the body 110, so that the jaw assembly 120 can switch between a clamped state and an open state, and then grasp and release the first workpiece, thereby realizing automation, reducing labor costs and improving production efficiency.

[0119] Optionally, the first transmission member 151 includes a screw rod 154 and a nut, wherein the screw rod 154 is connected to the driving member 140, and the nut is connected to the screw rod 154 and the second transmission member 152. The driving member 140 can drive the screw rod 154 to rotate, so that the nut drives at least a part of the second transmission member 152 to move, and then drives the third transmission member 153 to move. The movement of the third transmission member 153 can drive the first clamp 122 and / or the second clamp 123 to rotate relative to the body 110.

[0120] Optionally, the screw 154 includes a double-helical screw 154 .

[0121] like Figure 4 As shown, in some embodiments, optionally, the second transmission member 152 includes a cylinder 155, and the cylinder 155 includes a piston, and the piston is connected to the first transmission member 151 and the third transmission member 153. The first transmission member 151 can drive the piston to extend and retract to drive the third transmission member 153 to move.

[0122] In this embodiment, it is defined that the second transmission member 152 includes a cylinder 155. Specifically, the cylinder 155 includes a piston, and the piston is connected to the first transmission member 151 and the third transmission member 153. Specifically, under the drive of the driving member 140, the first transmission member 151 can drive the piston to extend and retract, thereby driving the third transmission member 153 to move. By using the cylinder 155 as a transmission component, the structure is simple and easy to control.

[0123] In detail, when it is necessary to grasp the first work piece, the driving member 140 drives the first transmission member 151 to move, and the first transmission member 151 drives the piston to extend or retract, thereby driving the first clamping jaw 122 and / or the second clamping jaw 123 to rotate to the first position relative to the body 110 through the third transmission member 153. At this time, there is a first distance between the clamping end 124 of the first clamping jaw 122 and the clamping end 124 of the second clamping jaw 123, and the clamping jaw assembly 120 is in a clamping state to achieve grasping of the first work piece.

[0124] After the jaw assembly 120 grasps the first workpiece, the robot's driving device drives the grasping device 100 to move to the specified position, and the driving member 140 drives the first transmission member 151 to move in the opposite direction. The first transmission member 151 drives the piston to retract or extend, thereby driving the first jaw 122 and / or the second jaw 123 to rotate to the second position relative to the body 110 through the third transmission member 153. At this time, the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123 are spaced a second distance greater than the first distance, and the jaw assembly 120 opens to release the first workpiece, thereby moving the first workpiece to the specified position.

[0125] In some embodiments, optionally, the cylinder 155 includes a locking cylinder; wherein, when the jaw assembly 120 is in a clamped state or an open state, the locking cylinder is locked; when at least a portion of the jaw assembly 120 moves relative to the body 110, the locking cylinder is unlocked.

[0126] In this embodiment, the cylinder 155 is defined to include a locking cylinder. Specifically, when the clamping jaw assembly 120 is in a clamped state or an open state, the locking cylinder is locked. That is, when the clamping jaw assembly 120 grabs the first work piece, or when the clamping jaw assembly 120 releases the first work piece, the locking cylinder is locked, so that the clamping jaw assembly 120 is kept in the clamped state or the open state, preventing the first work piece from falling off due to the loosening of the first clamping jaw 122 or the second clamping jaw 123 when the clamping jaw assembly 120 grabs the first work piece, thereby ensuring the stable and reliable operation of the grasping device 100.

[0127] Moreover, since the clamping jaw assembly 120 is in an open state when the adsorption assembly 130 adsorbs the second working piece 300, interference between the clamping jaw assembly 120 and the second working piece 300 is avoided. By providing a locking cylinder, when the adsorption assembly 130 adsorbs the second working piece 300, the clamping jaw assembly 120 is in an open state, and the locking cylinder is locked, so that the clamping jaw assembly 120 is kept in an open state, avoiding the first clamping jaw 122 or the second clamping jaw 123 from loosening and interfering with the second working piece 300 during the process of grasping or moving the second working piece 300, thereby improving the safety of the grasping device 100, further improving the reliability of the grasping device 100, and improving production efficiency.

[0128] like Figure 4 As shown, in some embodiments, optionally, the third transmission member 153 includes a rack 156; either the first clamp 122 or the second clamp 123 includes a clamp body 160, a connecting shaft 170 and a gear 180, wherein one end of the connecting shaft 170 is connected to the clamp body 160, the gear 180 is connected to the other end of the connecting shaft 170, and the gear 180 is meshed with the rack 156.

[0129] In this embodiment, it is defined that either the first clamping jaw 122 or the second clamping jaw 123 includes a clamping body 160 , a connecting shaft 170 and a gear 180 . Specifically, both ends of the connecting shaft 170 are respectively connected to the clamping body 160 and the gear 180 , and the gear 180 is meshed with the rack 156 .

[0130] Specifically, when it is necessary to grasp the first work piece, the driving member 140 drives the first transmission member 151 to move, and the first transmission member 151 drives the rack 156 to move through the second transmission member 152. Since the rack 156 is meshed with the gear 180, the gear 180 is driven to rotate, and then the gear 180 drives the claw body 160 to rotate to the first position through the connecting shaft 170. At this time, the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123 are at a first distance, and the jaw assembly 120 is in a clamping state to achieve the grasping of the first work piece.

[0131] After the gripper assembly 120 grips the first work piece, the robot's driving device drives the gripping device 100 to move to the specified position, and the driving member 140 drives the first transmission member 151 to move in the opposite direction, and the first transmission member 151 drives the rack 156 to move in the opposite direction through the second transmission member 152. Since the rack 156 is meshed with the gear 180, the gear 180 is driven to rotate in the opposite direction, and the gear 180 drives the gripper body 160 to rotate to the second position through the connecting shaft 170. At this time, the clamping end 124 of the first gripper 122 and the clamping end 124 of the second gripper 123 are at a second spacing greater than the first spacing, and the gripper assembly 120 opens to release the first work piece, thereby moving the first work piece to the specified position.

[0132] Optionally, there is one rack 156, which is respectively meshed with the gear 180 of the first jaw 122 and the gear 180 of the second jaw 123, so that when the first transmission member 151 drives the piston of the cylinder 155 to extend or retract under the drive of the driving member 140, the rack 156 drives the gear 180 of the first jaw 122 and the gear 180 of the second jaw 123 to rotate simultaneously, thereby switching the jaw assembly 120 between a clamped state and an open state, thereby realizing the grasping and release of the first working piece.

[0133] Optionally, there are two racks 156, which are respectively meshed with the gear 180 of the first clamping jaw 122 and the gear 180 of the second clamping jaw 123. There are also two cylinders 155, and the pistons of the two cylinders 155 are respectively connected to the two racks 156, so that when the first transmission member 151 drives the pistons of the two cylinders 155 to extend or retract respectively under the drive of the driving member 140, the two racks 156 respectively drive the gear 180 of the first clamping jaw 122 and the gear 180 of the second clamping jaw 123 to rotate, thereby switching the clamping jaw assembly 120 between the clamping state and the open state, so as to achieve the grasping and releasing of the first working piece.

[0134] like Figure 4 As shown, in some embodiments, optionally, the grasping device 100 further includes a guide rail 190 , the guide rail 190 is disposed on the body 110 , and at least a portion of the third transmission member 153 is disposed on the guide rail 190 and can move on the guide rail 190 .

[0135] In this embodiment, it is defined that the grasping device 100 also includes a guide rail 190. Specifically, the guide rail 190 is arranged on the machine body 110, at least a part of the third transmission member 153 is arranged on the guide rail 190, and the third transmission member 153 can move on the guide rail 190, thereby defining the movement track and movement range of the third transmission member 153, and preventing the first clamping jaw 122 and / or the second clamping jaw 123 from being unable to effectively rotate due to the deviation of the movement of the third transmission member 153, thereby causing the first workpiece to fail to be grasped or released. The automation efficiency can be further improved and the enterprise cost can be reduced.

[0136] According to a second aspect of the utility model, a robot is provided, comprising a gripping device 100 as provided in any of the above embodiments, and thus possessing all the beneficial technical effects of the gripping device 100, which will not be described in detail herein.

[0137] In a specific embodiment, the multifunctional robot gripper (gripping device 100) can not only suck various panel box covers (second working piece 300), but also grasp and stack folded panel boxes (first working piece).

[0138] Function 1: Suction of the upper cover of the coaming box (the second working piece 300)

[0139] The robot gripper group suction cup (adsorption component 130) is used to adsorb the upper cover of different types of panel box products, such as Figure 2 and Figure 3 As shown, the five groups of suction cups 134 are distributed according to the different upper covers of the coaming box, and the suction cups 134 are adsorbed. After the adsorption is completed, the robot drives the gripper (grasping device 100) to place the upper cover at the designated position;

[0140] Function 2: Grasping the folded panel box (first working piece)

[0141] The robot gripper is connected to the double helical screw (first transmission member 151) via a servo motor (driving member 140), and the gripper (first gripper 122) and the gripper (second gripper 123) are respectively connected to the double helical screw. The rotation of the servo motor controls the opening and clamping of the first gripper 122 and the second gripper 123, and is compatible with the gripping of products of different widths.

[0142] The working principle of the first clamping jaw 122 and the second clamping jaw 123 is as follows: the locking cylinder (cylinder 155) pushes the rack 156 mounted on the guide rail 190 to make a linear motion, and the clamping claw (claw body 160) is mounted on the shaft (connecting shaft 170). A gear 180 is mounted on the shaft and meshes with the rack 156. The extension and retraction of the cylinder 155 can push the gear 180 on the shaft to rotate, thereby driving the rotation of the shaft connected to the gear 180 and the claw (claw body 160).

[0143] When the multifunctional robot gripper (grasping device 100) sucks the upper cover (second working piece 300), the working states of the first gripper 122 and the second gripper 123 are Figure 1 The multifunctional robot gripper grabs the folded panel box by driving the double screw rod through the servo motor to control the opening and clamping of the first gripper 122 and the second gripper 123 connected to the double screw rod.

[0144] Specifically, when it is necessary to grasp the first work piece, the driving member 140 drives the first transmission member 151 to move, and the first transmission member 151 drives the rack 156 to move through the second transmission member 152. Since the rack 156 is meshed with the gear 180, the gear 180 is driven to rotate, and then the gear 180 drives the claw body 160 to rotate to the first position through the connecting shaft 170. At this time, the clamping end 124 of the first jaw 122 and the clamping end 124 of the second jaw 123 are at a first distance, and the jaw assembly 120 is in a clamping state to achieve the grasping of the first work piece.

[0145] After the gripper assembly 120 grips the first work piece, the robot's driving device drives the gripping device 100 to move to the specified position, and the driving member 140 drives the first transmission member 151 to move in the opposite direction, and the first transmission member 151 drives the rack 156 to move in the opposite direction through the second transmission member 152. Since the rack 156 is meshed with the gear 180, the gear 180 is driven to rotate in the opposite direction, and the gear 180 drives the gripper body 160 to rotate to the second position through the connecting shaft 170. At this time, the clamping end 124 of the first gripper 122 and the clamping end 124 of the second gripper 123 are at a second spacing greater than the first spacing, and the gripper assembly 120 opens to release the first work piece, thereby moving the first work piece to the specified position.

[0146] That is, the gripper assembly 120 for grasping the first workpiece and the adsorption assembly 130 for adsorbing the second workpiece 300 are integrated, so that the grasping device 100 can meet the grasping and stacking requirements of different types of workpieces, improve the automation effect, significantly reduce labor costs, improve production efficiency, and thus reduce enterprise costs. Moreover, the grasping device 100 has a simple structure, good stability and reliability, which is conducive to reducing the production cost of the robot having the grasping device 100.

[0147] Moreover, when the adsorption component 130 adsorbs the second work piece 300, the clamping jaw assembly 120 is in an open state, thereby preventing interference between the clamping jaw assembly 120 and the second work piece 300 adsorbed by the adsorption component 130 due to the clamping jaw assembly 120 being in a clamped state or the clamping jaw assembly 120 being between the clamped state and the open state when the adsorption component 130 adsorbs the second work piece 300, thereby preventing the adsorption component 130 from successfully adsorbing the second work piece 300, or the second work piece 300 from falling off the adsorption component 130 when the robot's driving device drives the grasping device 100 to move to move the second work piece 300 to a specified position, thereby ensuring stable and reliable operation of the grasping device 100, further improving production efficiency, and improving automation effects.

[0148] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" 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. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0149] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0150] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gripping device, characterized in that: include: Body; a clamping jaw assembly, arranged on the machine body, wherein at least a portion of the clamping jaw assembly can move between a first position and a second position relative to the machine body, wherein when at least a portion of the clamping jaw assembly is in the first position, the clamping jaw assembly is in a clamping state for grasping a first work piece, and when at least a portion of the clamping jaw assembly is in the second position, the clamping jaw assembly is in an open state for releasing the first work piece; An adsorption component, disposed on the machine body, for adsorbing a second workpiece; Wherein, when the adsorption assembly adsorbs the second workpiece, the clamping jaw assembly is in an open state.

2. The gripping device according to claim 1, characterized in that: The adsorption assembly comprises: A bracket, arranged on the body; A plurality of adsorption members are arranged at intervals on the bracket, and the plurality of adsorption members are used for adsorbing the second working member.

3. The gripping device according to claim 2, characterized in that: The plurality of adsorbents arranged at intervals along the first direction form a suction group, the number of the suction groups is multiple, and the plurality of the suction groups are arranged at intervals along the second direction; The first direction is different from the second direction.

4. The gripping device according to claim 2, characterized in that: At least one of the adsorbents comprises a suction cup.

5. The gripping device according to any one of claims 1 to 4, characterized in that The clamping jaw assembly comprises: A driving assembly, arranged on the machine body; A first clamping jaw and a second clamping jaw are rotatably disposed on the machine body, respectively, and are respectively connected to the driving assembly, wherein the driving assembly can drive at least one of the first clamping jaw and the second clamping jaw to rotate relative to the machine body to change the distance between the clamping end of the first clamping jaw and the clamping end of the second clamping jaw; Wherein, when at least one of the first clamping jaw and the second clamping jaw is in the first position, a first distance is formed between the clamping end of the first clamping jaw and the clamping end of the second clamping jaw, and the clamping jaw assembly is in a clamping state; When at least one of the first jaw and the second jaw is in the second position, there is a second distance between the clamping end of the first jaw and the clamping end of the second jaw, the jaw assembly is in an open state, and the second distance is greater than the first distance.

6. The gripping device according to claim 5, characterized in that: Also includes: A detection member is provided on the machine body and is electrically connected to the driving assembly. The detection member is used to detect the width of the first working member. The driving assembly can drive at least one of the first jaw and the second jaw to rotate according to the detection result of the detection member to adjust the distance between the clamping end of the first jaw and the clamping end of the second jaw.

7. The gripping device according to claim 5, characterized in that: The drive assembly comprises: A driving member, disposed on the machine body; The transmission assembly is connected to the driving member, the first clamping jaw and the second clamping jaw. The driving member can drive at least one of the first clamping jaw and the second clamping jaw to rotate relative to the machine body through the transmission assembly.

8. The gripping device according to claim 7, characterized in that: The transmission assembly comprises: A first transmission member connected to the driving member; a second transmission member connected to the first transmission member; The third transmission member is connected to the second transmission member and is rotationally connected to the first clamping jaw and the second clamping jaw.

9. The gripping device according to claim 8, characterized in that: The second transmission member includes a cylinder, the cylinder includes a piston, the piston is connected to the first transmission member and the third transmission member, and the first transmission member can drive the piston to extend and retract to drive the third transmission member to move.

10. The gripping device according to claim 9, characterized in that: The cylinder comprises a locked cylinder; Wherein, when the clamping jaw assembly is in a clamped state or an open state, the locking cylinder is locked; The locking cylinder is unlocked when at least a portion of the jaw assembly moves relative to the body.

11. The gripping device according to claim 8, characterized in that: The third transmission member comprises a rack; Either of the first clamping jaw and the second clamping jaw comprises: Claw body; A connecting shaft, one end of which is connected to the claw body; A gear is connected to the other end of the connecting shaft, and the gear is meshed with the rack.

12. The gripping device according to claim 8, characterized in that: Also includes: A guide rail is arranged on the machine body, and at least a part of the third transmission member is arranged on the guide rail and can move on the guide rail.

13. A robot, characterized in that: Comprising a gripping device as claimed in any one of claims 1 to 12.

Images