Grabbing component and manipulator

Abstract

The utility model discloses a grabbing component and a manipulator. The grabbing component comprises a support, a limiting arm and a movable arm, a clamping space is formed between the movable arm and the limiting arm, and the movable arm is movably connected to the support so that the movable arm can have an opening position and a closing position. One of the support and the movable arm is provided with a guide part, the other one of the support and the movable arm is provided with a guide matching part, at least part of the guide part is obliquely arranged relative to the limiting arm, and the guide part is provided with a prefabricated position and a braking position arranged at an interval with the prefabricated position. In the process that the movable arm moves from the opening position to the closing position, the guiding matching piece moves along the guiding piece, and the guiding matching piece generates limiting damping with the guiding piece at the prefabricated position, so that the guiding matching piece is braked at the braking position, and the movable arm is braked at the closing position. The grabbing component is applied to the mechanical arm, deformation of products in the grabbing process can be avoided, the yield is increased, meanwhile, grabbing noise is reduced, and the working environment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a gripping component and a manipulator. Background Art

[0002] Refrigerators are common household appliances in people's lives. They mainly store food or other items by keeping them in a constant low-temperature cold state. With the development of intelligent factories, factories use automated production lines to produce and assemble refrigerators to improve the production efficiency and yield rate of refrigerators. Among them, the U-shell of the refrigerator constitutes the top wall and side wall of the refrigerator shell and is the main component of the refrigerator.

[0003] In order to facilitate the handling of U-shells, related technologies usually use a robot to grab the U-shells and place them at different stations of the automated production line. However, in the process of grabbing the U-shells by the robot, the U-shells are often deformed or scratched by the robot, which easily leads to the formation of U-shell waste and affects the subsequent assembly. In addition, in the process of grabbing the U-shells by the robot, the noise generated is relatively large and the working environment is poor. Utility Model Content

[0004] The present application provides a gripping component and a manipulator, which can prevent deformation of the product during the gripping process, improve the yield rate, reduce gripping noise, and improve the working environment.

[0005] The technical solutions adopted in this application are as follows:

[0006] According to the first aspect disclosed in the present application, there is provided a gripping component, comprising a bracket, a limiting arm and a movable arm arranged on the bracket. A clamping space is formed between the movable arm and the limiting arm, and the movable arm is movably connected to the bracket so that the movable arm has an open position for opening the clamping space and a closed position for closing the clamping space. Among them, one of the bracket and the movable arm is provided with a guide member, and the other is provided with a guide fitting member, at least a part of the guide member is inclined relative to the limiting arm, and the guide member has a prefabricated position and a braking position spaced apart from the prefabricated position. In the process of the movable arm moving from the open position to the closed position, the guide fitting member moves along the guide member, and the guide fitting member generates a limiting damping with the guide member at the prefabricated position, so that the guide fitting member is braked at the braking position to brake the movable arm at the closed position.

[0007] The grabbing component provided by the present application includes the following beneficial effects:

[0008] The present application provides a guide member and a guide fitting member between the movable arm and the bracket, and utilizes the limit damping generated by the guide member and the guide fitting member between the prefabricated position and the braking position to buffer the closing speed of the movable arm, thereby reducing the clamping impact force of the movable arm on the product, thereby avoiding clamping deformation of the product and reducing the scrap rate of the product. At the same time, by buffering the impact force of the movable arm on the product, the flapping noise generated by the movable arm on the product can also be reduced to improve the working environment.

[0009] In addition, it should be noted that the grabbing component provided in the present application is not limited to grabbing the U-shell of the refrigerator, but can also be used to grab any complete product or component that the user needs to grab, such as the air conditioner shell, water dispenser shell, mobile phone, computer or packaging box, and the present application does not impose any restrictions on this.

[0010] In some embodiments, in order to further reduce the impact force of the movable arm on the product, the bracket is provided with a slide groove spaced apart from the limit arm, and the movable arm moves along the slide groove to switch the open position and the closed position of the movable arm. Accordingly, in order to improve the structural compactness of the grabbing component, the slide groove can form a guide member, and the guide matching member is connected between the movable arm and the slide groove. The guide matching member can be set as a sliding structure such as a slider or a roller assembly, and this application does not limit it.

[0011] In some embodiments, the guide member is provided with a corner, and the corner is provided between the prefabricated position and the braking position. In the process of the movable arm moving from the open position to the closed position, at least part of the guide fitting member passes through the corner, so that the guide fitting member swings from the prefabricated position to the braking position, and the guide fitting member presses against the guide member to generate limit damping.

[0012] With such arrangement, the movement speed of the guide fitting slows down when passing through a corner, so as to buffer the speed of the guide fitting moving from the prefabricated position to the braking position, thereby slowing down the closing speed of the movable arm. At the same time, the moving direction of the guide fitting along the guide can be changed through the corner, that is, after the guide fitting moves along the guide to the prefabricated position, it swings into the braking position through the corner. In this way, the movable arm moves from the open position to the closed position along a composite path of first sliding and then rotating. Compared with the movement path of the movable arm along only rotating or sliding, it can not only reduce the movement length of the movable arm in a single direction and save the working space in this direction, but also weaken the movement inertia of the movable arm in a single direction to reduce the movement speed, thereby buffering the impact force of the movable arm on the product. In addition, with the help of the corner, the guide fitting can also be pressed against the guide to generate limit damping, further buffering the closing speed of the movable arm, so as to reduce the impact force of the movable arm on the product.

[0013] According to the second aspect disclosed in the present application, a manipulator is provided, comprising at least one of the above-mentioned grasping components. The manipulator provided in the present application grasps the product using the grasping components, which can avoid deformation of the product during the grasping process, improve the yield rate, and reduce grasping noise and improve the working environment. In addition, the manipulator provided in the present application can be provided with multiple grasping components, so as to grasp multiple positions of the product through the cooperation between the grasping components, so as to improve the grasping stability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the grabbing component of this application.

[0015] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0016] Figure 3 This is a schematic diagram of the structure of the bracket of this application.

[0017] Figure 4 This is a structural schematic diagram of the movable arm of this application in the open position.

[0018] Figure 5 This is a structural schematic diagram of the movable arm of the present application in a closed position.

[0019] Figure 6 This is a schematic diagram of the structure of the movable arm of this application.

[0020] Figure 7 This is a schematic diagram of the structure of the limit arm of this application.

[0021] Figure 8 This is a schematic diagram of the structure of the robot arm of this application.

[0022] Reference numerals:

[0023] 1-manipulator; 10-grabbing component; 11-bracket; 12-limiting arm; 12a-clamping end of the limiting arm; 13-movable arm; 13a-clamping end of the movable arm; 14-clamping space; 15-guide; 15a-prefabricated position; 15b-braking position; 151-corner; 152-first guide part; 153-second guide part; 16-guide matching part; 161-first matching part; 161a-first connecting shaft; 161b-first bearing; 162-second matching part; 162a-second connecting shaft; 162b-second bearing; 17-driving assembly; 171-limiting guide; 172-limiting connecting member; 173-driving member; 18-adsorption assembly; 19-pushing member; 20-driving system. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the present application to clearly and completely describe the technical solutions in the present application. It should be understood that the drawings in the present application are only for exemplary descriptions, and for those skilled in the art, the omission of certain well-known structures and their descriptions in the drawings is understandable. At the same time, in the description of the present application, if there are terms such as "upper", "lower", "left", "right" and the like indicating the orientation or position relationship, it is only based on the orientation or position relationship shown in the drawings, for the convenience of describing the simplified description of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Accordingly, the description of the present application involves similar descriptions such as "first", "second", etc., which are only used to distinguish different components, and cannot be understood as indicating or implying their relative importance, any order, or implicitly indicating the number of technical features indicated.

[0025] Refrigerators are common household appliances in people's lives. They mainly store food or other items by keeping them in a constant low-temperature cold state. With the development of intelligent factories, factories use automated production lines to produce and assemble refrigerators to improve the production efficiency and yield rate of refrigerators. Among them, the U-shell of the refrigerator constitutes the top wall and side wall of the refrigerator shell and is the main component of the refrigerator.

[0026] Related technology In order to facilitate the handling of U-shells, a manipulator is usually used to grab the U-shell so as to place the U-shell at different stations of the automated production line. The manipulator has one or more claws. During the handling process, the manipulator drives the claws to approach the U-shell along the driving path and grab the U-shell. However, the U-shell is usually made of iron sheets or other metal sheets by stamping and bending. The manipulator's claws will exert a large impact force on the U-shell during the process of grabbing the U-shell, which often causes defects such as side wall bending and deformation or surface scratches on the U-shell, forming a scrap U-shell, affecting the subsequent assembly of the U-shell and reducing the pass rate of the U-shell. At the same time, due to the large impact force exerted by the manipulator's claws on the U-shell, the working noise of the manipulator in handling the U-shell is large, and the working environment is relatively harsh.

[0027] Therefore, the present application provides a gripping component that can prevent the U-shell from deforming during the gripping process, improve the yield rate, reduce the gripping noise, and improve the working environment. In addition, it should be noted that the gripping component provided by the present application is not limited to gripping the U-shell of the refrigerator, but can also be used to grip any complete product or component that the user needs to grip, such as the air conditioner shell, the water dispenser shell, the mobile phone, the computer or the packaging box, and the present application does not limit this.

[0028] The grabbing component 10 provided in the present application will be described below.

[0029] See also Figures 1 to 3The present application provides a gripping component 10, comprising a bracket 11, a limiting arm 12 and a movable arm 13 disposed on the bracket 11. A clamping space 14 is formed between the movable arm 13 and the limiting arm 12, and the movable arm 13 is movably connected to the bracket 11, so that the movable arm 13 has an open position for opening the clamping space 14 and a closed position for closing the clamping space 14. Among them, one of the bracket 11 and the movable arm 13 is provided with a guide member 15, and the other is provided with a guide matching member 16, and at least a part of the guide member 15 is tilted relative to the limiting arm 12, and the guide member 15 has a prefabricated position 15a and a braking position 15b spaced from the prefabricated position 15a. In the process of the movable arm 13 moving from the open position to the closed position, the guide matching member 16 moves along the guide member 15, and the guide matching member 16 generates a limiting damping with the guide member 15 at the prefabricated position 15a, so that the guide matching member 16 is braked at the braking position 15b, so as to brake the movable arm 13 to the closed position.

[0030] See also Figure 4 and Figure 5 In the process of opening and closing the clamping space 14 formed by the movable arm 13 and the limiting arm 12, the guide fitting 16 can move along the guide member 15, and the limiting damping generated by the mutual cooperation between the guide fitting 16 and the guide member 15 adjusts the moving speed of the movable arm 13 from the open position to the closed position, thereby buffering the grabbing impact force of the movable arm 13 on the product to prevent the product from being deformed by grabbing, and at the same time can also reduce the impact and slapping noise of the movable arm 13 on the product.

[0031] Among them, the guide member 15 is provided with a prefabricated position 15a and a braking position 15b, and the prefabricated position 15a and the braking position 15b can be arranged at intervals along the extension direction of the guide member 15. When the guide fitting member 16 moves to the prefabricated position 15a along the guide member 15, a limiting damping can be generated between the guide fitting member 16 and the guide member 15, so that the moving speed of the guide fitting member 16 along the guide member 15 is slowed down, so that the guide fitting member 16 can stop at the braking position 15b of the guide member 15. And because the guide fitting member 16 and the guide member 15 are respectively arranged on the movable arm 13 and the bracket 11, the braking of the movable arm 13 in the closed position can be synchronously controlled by controlling the braking between the guide fitting member 16 and the guide member 15, so that the moving speed of the movable arm 13 closing the clamping space 14 can be reduced, thereby buffering the grabbing impact force of the movable arm 13 on the product to prevent the product from being deformed by grabbing, and at the same time, the impact and slapping noise of the movable arm 13 on the product can be reduced.

[0032] It should be noted that the distance between the prefabricated position 15a and the braking position 15b is equivalent to the braking distance of the guide fitting 15 along the guide 15. This braking distance can be adjusted based on the movement speed of the guide fitting 16 along the guide 15 and the size of the limit damping generated between the guide fitting 16 and the guide 15. In addition, since the braking position 15b of the guide 15 corresponds to the closed position of the movable arm 13, wherein the closed position of the movable arm 13 can be set according to the size of the product to be grasped, the braking position 15b of the guide 15 can also be adjusted accordingly, thereby adjusting the position of the prefabricated position 15a based on the braking position 15b. Therefore, the distance between the prefabricated position 15a and the braking position 15b only needs to satisfy the requirement that the movable arm 13 can be braked at the closed position of the movable arm 13 to avoid the movable arm 13 directly impacting the product surface. The specific value of the distance between the prefabricated position 15a and the braking position 15b is not limited in this application. At the same time, the guide member 15 and the guide matching member 16 can generate limiting damping through various methods such as magnetic limiting, surface friction limiting or surface extrusion limiting, and this application does not impose any restrictions.

[0033] See you later Figure 3 , the guide member 15 can be arranged on one of the bracket 11 and the movable arm 13, and the guide matching member 16 can be arranged on the other of the bracket 11 and the movable arm 13, and the present application does not make any limitation. As an example, the guide member 15 is arranged on the bracket 11, and the guide matching member 16 is arranged on the movable arm 13. Among them, the guide member 15 can be a structure with a guiding function such as a slide groove or a guide rail. The guide matching member 16 can be a structure that can move along the guide member 15, such as a slider or a roller assembly. Among them, the guide member 15 can be curved or straight, and the movable arm 13 can approach or move away from the limit arm 12 along a curved or straight path to adjust the opening and closing of the clamping space 14. At the same time, at least a portion of the guide member 15 is tilted relative to the limit arm 12. On the one hand, the tilted portion of the guide member 15 can be used to buffer the moving speed of the movable arm 13 to reduce the impact force of the movable arm 13 on the product. On the other hand, the tilted portion of the guide member 15 can be used to adjust the distance of the movable arm 13 relative to the limit arm 12 to adjust the closed position of the movable arm 13 relative to the limit arm 12, so as to adapt to the grabbing of products of different sizes. As an example, the tilted portion of the guide member 15 can be set to an arc shape or a straight line tilted shape, which is not limited in this application.

[0034] In some embodiments, when the guide member 15 is set as a slide slot, the width of the slide slot in the direction from the open position of the movable arm 13 to the closed position can be gradually reduced, or the outer wall size of the guide matching member 16 can be gradually increased, so that the extrusion force between the inner wall of the slide slot and the guide matching member 16 is gradually increased, thereby generating a limit damping to brake the guide matching member 16 at the braking position 15b, thereby achieving the braking of the movable arm 13. Of course, a limit structure such as a bump can also be set on the inner wall of the slide slot or the outer wall of the guide matching member 16, and the limit damping is generated by the mutual extrusion between the bumps, which will not be elaborated in this application.

[0035] Therefore, the present application sets a guide member 15 and a guide fitting member 16 between the movable arm 13 and the bracket 11, and uses the limit damping generated by the guide member 15 and the guide fitting member 16 between the prefabricated position 15a and the braking position 15b to buffer the closing speed of the movable arm 13, thereby reducing the grabbing impact force of the movable arm 13 on the product, realizing flexible grabbing, avoiding grabbing deformation of the product, and reducing the scrap rate of the product. At the same time, by buffering the impact force of the movable arm 13 on the product, the impact and slapping noise generated by the movable arm 13 on the product can also be reduced to improve the working environment.

[0036] See also Figure 4 and Figure 5 In some embodiments, in order to facilitate the formation of a clamping space 14 between the limit arm 12 and the movable arm 13, the present application takes the length direction of the limit arm 12 as an example (the length direction of the limit arm 12 can be set along the X direction in the figure), and at least part of the length of the limit arm 12 exceeds the setting of the bracket 11 to form the clamping end 12a of the limit arm. Correspondingly, when the movable arm 13 moves to the closed position of the clamping space 14 relative to the bracket 11, at least part of the length of the movable arm 13 exceeds the setting of the bracket 11 to form the clamping end 13a of the movable arm. In this way, in the closed position of the movable arm 13, the clamping end 12a of the limit arm is arranged opposite to the clamping end 13a of the movable arm, and the clamping space 14 can be formed between the clamping end 12a of the limit arm and the clamping end 13a of the movable arm. When the product is located in the clamping space 14 of the grabbing component 10, the product can be grabbed and transplanted to the desired position through the cooperation of the limit arm 12 and the movable arm 13. As an example, the limiting arm 12 and the movable arm 13 can be respectively set to a rod shape or a plate shape, etc., which is not limited in the present application.

[0037] In some embodiments, in order to facilitate the adjustment of the opening and closing of the clamping space 14 of the grasping component 10, the movable arm 13 is movably connected to the bracket 11. The movable arm 13 can rotate or slide relative to the bracket 11, so that the movable arm 13 has an open position for opening the clamping space 14 and a closed position for closing the clamping space 14. Among them, the closed position of the movable arm 13 can be adjusted according to the size of the product to be grasped, and it is not required to be a position where the movable arm 13 and the limiting arm 12 are completely close to each other.

[0038] As an example, the movable arm 13 is rotatably connected to the bracket 11. At this time, by adjusting the rotation angle of the movable arm 13, the movable arm 13 can be made to approach or move away from the limit arm 12. At this time, the open position of the movable arm 13 can be the maximum angle position of the movable arm 13 relative to the limit arm 12 or a certain optional angle position during the opening process. The closed position of the movable arm 13 can be the minimum angle position of the movable arm 13 relative to the limit arm 12 or a certain optional angle position during the closing process. The specific value of the rotation angle of the movable arm 13 is not limited in this application, and the user can adjust it according to the size of the actual product.

[0039] As an example, the movable arm 13 is configured to be slidably connected to the bracket 11. The bracket 11 is provided with a slide groove spaced apart from the limiting arm 12, and the movable arm 13 moves along the slide groove relative to the bracket 11 to switch the open position and the closed position of the movable arm 13. Accordingly, in order to improve the structural compactness of the grasping component 10, the slide groove can form a guide member 15, and the guide matching member 16 is connected between the movable arm 13 and the slide groove to drive the movable arm 13 to move along the guide member 15 relative to the bracket 11. The guide matching member 16 can be configured as a sliding structure such as a slider or a roller assembly, which will not be described in detail in this application.

[0040] In this way, by driving the guide fitting 16 to move along the guide member 15, the movable arm 13 can be directly driven to move relative to the limit arm 12, so as to adjust the opening and closing of the clamping space 14. In addition, such an arrangement makes the driving method of the grabbing component 10 more concise.

[0041] It is understandable that when the movable arm 13 and the bracket 11 are arranged to be slidably connected, the open position of the movable arm 13 can be the farthest position of the movable arm 13 relative to the limit arm 12 or a position in the process of moving away. The closed position of the movable arm 13 can be the closest position of the movable arm 13 relative to the limit arm 12 or a position in the process of approaching.

[0042] See also Figures 3 to 5In some embodiments, in order to further reduce the impact force of the movable arm 13 on the product, the guide member 15 is provided with a corner 151, and the corner 151 is provided between the prefabricated position 15a and the braking position 15b. In the process of the movable arm 13 moving from the open position to the closed position, at least part of the guide matching member 16 passes through the corner 151, so that the guide matching member 16 swings from the prefabricated position 15a to the braking position 15b, and the guide matching member 16 presses against the guide member 15 to generate limit damping.

[0043] In this way, the guide fitting 16 slows down when passing the corner 151, so as to buffer the speed of the guide fitting 16 moving from the prefabricated position 15a to the braking position 15b, thereby slowing down the closing speed of the movable arm 13. At the same time, the moving direction of the guide fitting 16 along the guide member 15 can be changed through the corner 151, that is, after the guide fitting 16 moves to the prefabricated position 15a along the guide member 15, it swings into the braking position 15b through the corner 151. In this way, the movable arm 13 moves from the open position to the closed position along a composite path of sliding first and then rotating. Compared with the moving path of the movable arm 13 only rotating or sliding, it can not only reduce the moving length of the movable arm 13 in a single direction and save the working space in this direction, but also weaken the moving inertia of the movable arm 13 in a single direction to reduce the moving speed, thereby buffering the impact force of the movable arm 13 on the product. In addition, with the help of the corner 151, the guide fitting 16 can also be pressed against the guide member 15 to generate limit damping, further buffering the closing speed of the movable arm 13.

[0044] It should be noted that the pressure between the guide fitting 16 and the guide member 15 may be generated by the corner 151 of the guide fitting 16 or by the two ends of the guide fitting 16 and the parts of the guide member 15 located on both sides of the corner 151, and this application does not impose any limitation on this.

[0045] See you later Figure 3 In some embodiments, the guide member 15 includes a first guide portion 152 and a second guide portion 153 connected to the first guide portion 152. The first guide portion 152 and the second guide portion 153 are arranged to be inclined to each other or arranged in an arc-shaped transition to cooperate to form a corner 151, so that the prefabricated position 15a and the braking position 15b are respectively located in the first guide portion 152 and the second guide portion 153.

[0046] As an example, the first guide portion 152 is spaced apart from the limit arm 12, and the extension direction of the first guide portion 152 is the same as the extension direction of the limit arm 12. The second guide portion 153 extends obliquely along the direction in which the first guide portion 152 points to the limit arm 12, and the corner 151 is less than 180 degrees and not less than 90 degrees. Among them, the guide member 15 is configured as a slide groove, and when the limit arm 12 is configured in the vertical direction, the first guide portion 152 can be configured as a vertical groove, and the second guide portion 153 can be configured as an oblique groove inclined toward the limit arm 12. In this way, when the guide fitting 16 moves along the guide member 15, part of the guide fitting 16 can smoothly pass through the corner 151 to brake at the braking position 15b.

[0047] In addition, in other embodiments, the present application does not limit the tilting direction of the second guide portion 153. As an example, when grabbing a thinner or smaller product, the tilting direction of the guide member 15 can be tilted toward the limit arm 12, so that the movable arm 13 gradually approaches the limit arm 12 during the process of moving from the open position to the closed position to grab the product. When grabbing a thicker or larger product, the tilting direction of the guide member 15 can also be tilted away from the limit arm 12, so that the movable arm 13 gradually moves away from the limit arm 12 during the process of moving from the open position to the closed position to grab the product.

[0048] See also Figure 4 and Figure 5 In some embodiments, the guide matching member 16 is provided with two, namely, a first matching portion 161 and a second matching portion 162, which are fixed to the movable arm 13 and spaced apart along the length direction of the movable arm 13. In the process of the movable arm 13 moving from the open position to the closed position, when the first matching portion 161 moves along the first guide portion 152 to the prefabricated position 15a, the second matching portion 162 enters the second guide portion 153 through the corner 151 and brakes at the braking position 15b.

[0049] It should be noted that the length direction of the movable arm 13 can be set to Figure 6 In the X direction, along the length direction of the movable arm 13, the second matching portion 162 can be arranged between the first matching portion 161 and the clamping end 13a of the movable arm, so that when the first matching portion 161 moves to the prefabricated position 15a, the second matching portion 162 can pass through the corner 151 and enter the second guide portion 153, and through the pressure between the first matching portion 161 and the second matching portion 162 and the guide member 15, a locking position is formed between the guide matching member 16 and the guide member 15 to brake the movable arm 13. At the same time, the spacing distance between the first matching portion 161 and the second matching portion 162 is not limited by this application, and can be adjusted according to the size of the product, thereby adjusting the closed position of the movable arm 13.

[0050] See you later Figure 1 and Figure 2 In some embodiments, in order to facilitate driving the movable arm 13 to move along the bracket 11, the grasping component 10 also includes a driving assembly 17. The driving assembly 17 includes a limiting guide 171, a limiting connection member 172 and a driving member 173. Among them, the limiting guide 171 is fixed to the bracket 11 and is arranged relative to the first guide portion 152. The limiting connection member 172 is slidably connected between the limiting guide 171 and the first matching portion 161. The driving member 173 is used to drive the limiting connection member 172 to perform linear reciprocating motion along the limiting guide member 171. In the process of the movable arm 13 moving from the open position to the closed position, the driving member 173 drives the first matching portion 161 to move to the prefabricated position 15a through the limiting connection member 172.

[0051] With such arrangement, when the grabbing component 10 grabs a product, the driving member 173 drives the limiting connecting member 172 to move along the limiting guiding member 171, so that the limiting connecting member 172 drives the first matching portion 161 to move along the first guiding portion 152. When the limiting connecting member 172 moves to the limiting position corresponding to the limiting guiding member 171, the first matching portion 161 also moves to the prefabricated position 15a. At this time, since the second matching portion 162 is between the first matching portion 161 and the clamping end 13a of the movable arm, the second matching portion 162 can swing and tilt through the corner 151 to enter the second guiding portion 153, thereby driving the movable arm 13 to rotate and tilt relative to the bracket 11 to approach the limiting arm 12, thereby cooperating with the limiting arm 12 to grab the product.

[0052] It should be noted that the limit guide 171 can extend along the extension direction of the first guide portion 152, and the limit connector 172 is hinged to the first matching portion 161. The limit position corresponding to the limit connector 172 and the limit guide 171 can be the end position of the limit guide 171, the end of the movement stroke of the drive member 173 or other limit positions. The limit connector 172 and the limit guide 171 can be limited by various methods such as extrusion, gear or magnetic attraction, which is not limited in this application. The drive member 173 can be a screw drive system 20, a linear motor, a slider guide system, a pneumatic or hydraulic drive system 20. This application is not limited.

[0053] It should also be noted that when the above-mentioned driving component 17 is set, the guide matching member 16 can be quickly moved to the prefabricated position 15a under the action of the driving component 17, and the driving stroke of the driving component 17 is used to brake the first matching portion 161 at the prefabricated position 15a, and a brake is formed between the second matching portion 162 and the guide member 15 to brake at the braking position 15b, so that the movable arm 13 can approach the limit arm 12 first quickly and then slowly, which can not only make the movable arm 13 close quickly but also reduce the impact of the movable arm 13 on the product, so as to improve the grasping efficiency and grasping quality, and improve the product yield rate.

[0054] In addition, when the above-mentioned driving assembly 17 is provided, in addition to utilizing the limit damping between the guide fitting 16 and the guide member 15 to brake the movable arm 13, the driving assembly 17 can also be driven to form a limit on the moving distance of the guide fitting 16 along the guide member 15 to brake the movable arm 13. At this time, the driving member 173, the limit guide member 171, the limit connecting member 172, the guide fitting 16 and the guide member 15 can be regarded as a connecting rod assembly, so that the relative position of each rod in the connecting rod assembly is changed to form a limit dead point, thereby braking the movable arm 13 in the closed position to buffer the impact force of the movable arm 13 on the product.

[0055] See also Figure 6 In some embodiments, in order to facilitate the driving assembly 17 to drive the guide fitting 16 to move smoothly along the guide member 15, the first fitting portion 161 and / or the second fitting portion 162 is configured to be in rolling connection with the guide member 15.

[0056] It should be noted that the first matching portion 161 and the second matching portion 162 can be respectively configured as roller assemblies. The first matching portion 161 includes a first connecting shaft 161a and a first bearing 161b, the first connecting shaft 161a is hinged to the movable arm 13, and the first bearing 161b is connected between the first connecting shaft 161a and the guide member 15. The second matching portion 162 includes a second connecting shaft 162a and a second bearing 162b, the second connecting shaft 162a is fixed to the movable arm 13, and the second bearing 162b is connected between the second connecting shaft 162a and the guide member 15. Thus, the friction between the guide matching member 16 and the guide member 15 is reduced by the bearing, so that the guide matching member 16 can slide smoothly along the guide member 15 to quickly brake the movable arm 13.

[0057] See also Figure 7 In some embodiments, the limit arm 12 is used to cooperate with the movable arm 13 to grab the product. Alternatively, when the limit arm 12 is provided with an adsorbent such as an adhesive, a suction cup or a magnetic adsorbent, the limit arm 12 can also directly grab the product. In this case, the movable arm 13 can be used to assist the limit arm 12 in grabbing the product, so that the movable arm 13 makes the product and the adsorbent on the limit arm 12 fit more firmly, thereby improving the reliability of grabbing the product.

[0058] As an example, the gripping component 10 further includes at least one adsorption component 18, and at least one adsorption component 18 is disposed on the side of the limiting arm 12 facing the clamping space 14. In this way, when the gripping component 10 grabs the product, the gripping component 10 can first move the limiting arm 12 close to one side of the product, and use the adsorption component 18 such as a vacuum suction cup to first adsorb the product, so as to improve the gripping stability of the limiting arm 12 on the product. Afterwards, the movable arm 13 is moved relative to the bracket 11, so that the movable arm 13 is close to the other side of the product relative to the limiting arm 12, so as to use the movable arm 13 to cooperate with the limiting arm 12 to grip the product, and at the same time, the fit between the product and the adsorption component 18 is made tighter, further improving the gripping stability of the product.

[0059] In some embodiments, the present application does not limit the connection method between the limit arm 12 and the bracket 11. The limit arm 12 can be fixed to the bracket 11 by bolts, clamping, welding or integrated molding. Of course, in order to facilitate the adjustment of the distance between the limit arm 12 and the product, the limit arm 12 can also slide or rotate relative to the bracket 11. It is not limited to the limit arm 12 being hinged to the bracket 11. The limit arm 12 is slidably connected to the bracket 11 through a slide rail or a slide groove, etc., and various connection methods are not described in detail in this application. In addition, when the limit arm 12 is installed to the bracket 11, a number of protrusions can be provided on the limit arm 12, so that the protrusions can be clamped with the bracket 11 to simplify the installation. At the same time, when the bracket 11 is provided with a strip hole, the protrusion on the limit arm 12 can also be used to slide along the strip hole on the bracket 11 to adjust the installation position or use position of the limit arm 12.

[0060] See you later Figure 6 In some embodiments, in order to improve the fitting effect between the adsorption component 18 and the product, a pushing member 19 is provided on the side of the movable arm 13 facing the clamping space 14. The pushing member 19 protrudes from the movable arm 13 in a direction from the outside of the clamping space 14 to the inside of the clamping space 14, and the pushing member 19 is arranged one by one with the adsorption component 18.

[0061] In this way, when the movable arm 13 approaches the product, the pushing member 19 can be used to push the product further toward the adsorption assembly 18 of the limiting arm 12, so that the pushing member 19 and the adsorption assembly 18 are always in contact with the opposite sides of the product to avoid a large gap between the product and the grasping component 10, thereby improving the grasping stability of the grasping component 10 on the product. The pushing member 19 can be adjusted in shape according to the surface structure of the product, for example, the pushing member 19 can be set to a variety of shapes such as a wedge or a triangle, so that the pushing member 19 can fit the product better, and this application does not limit it.

[0062] See you later Figure 3In some embodiments, the bracket 11 is used to install the limit arm 12 and the movable arm 13 so that a clamping space 14 is formed between the limit arm 12 and the movable arm 13. The bracket 11 can also be used to install the grasping component 10 to an external device such as a manipulator 1 or a mobile station, so that the grasping component 10 can be used in a variety of scenarios. The bracket 11 can be in a variety of shapes such as a shell, a plate or a rod, and this application does not limit it. At the same time, a plurality of strip holes can be provided on the bracket 11 to facilitate the movement of the limit arm 12 and the movable arm 13 along the bracket 11 respectively to adjust the opening and closing of the clamping space 14.

[0063] See also Figure 8 , the present application also provides a manipulator 1, comprising at least one of the above-mentioned grasping components 10. Therefore, the manipulator 1 of the present application utilizes the above-mentioned grasping components 10 to grasp the product, which can avoid deformation of the product during the grasping process, improve the yield rate, and reduce the grasping noise and improve the working environment. In addition, the manipulator 1 provided by the present application can be provided with a plurality of grasping components 10, so as to grasp multiple positions of the product through the cooperation between the grasping components 10, so as to improve the grasping stability of the product. In addition, the manipulator 1 has a drive system 20, and the drive element of the grasping component 10 can be connected to the drive system 20, so that the manipulator 1 controls the movement of the grasping component 10 through its own drive system 20. At the same time, the drive system 20 can also drive the grasping component 10 as a whole to perform horizontal movement, lifting movement or rotation, so that the grasping component 10 can grasp and place the product and transplant the product to the corresponding workstation. For other structures of the manipulator 1, this application does not elaborate.

Claims

1. A gripping component, characterized in that: include: Bracket (11); A limiting arm (12) is arranged on the bracket (11); as well as A movable arm (13) is formed with the limiting arm (12) to form a clamping space (14), and the movable arm (13) is movably connected to the bracket (11) so that the movable arm (13) has an open position for opening the clamping space (14) and a closed position for closing the clamping space (14); Wherein, one of the bracket (11) and the movable arm (13) is provided with a guide member (15), and the other is provided with a guide matching member (16); at least a portion of the guide member (15) is tilted relative to the limit arm (12), and the guide member (15) has a prefabricated position (15a) and a braking position (15b) spaced apart from the prefabricated position (15a); In the process of the movable arm (13) moving from the open position to the closed position, the guide fitting (16) moves along the guide member (15), and the guide fitting (16) generates limited damping with the guide member (15) at the prefabricated position (15a), so that the guide fitting (16) is braked at the braking position (15b), so as to brake the movable arm (13) at the closed position.

2. The gripping member according to claim 1, characterized in that: The bracket (11) is provided with a slide groove spaced apart from the limiting arm (12), and the movable arm (13) moves along the slide groove to switch the open position and the closed position of the movable arm (13); The slide groove forms the guide member (15), and the guide matching member (16) is connected between the movable arm (13) and the slide groove to drive the movable arm (13) to move along the slide groove.

3. The gripping member according to claim 2, characterized in that: The guide member (15) is provided with a corner (151), and the corner (151) is provided between the prefabricated position (15a) and the braking position (15b); During the process of the movable arm (13) moving from the open position to the closed position, at least part of the guide fitting (16) passes through the corner (151), so that the guide fitting (16) swings from the prefabricated position (15a) into the braking position (15b), and the guide fitting (16) presses against the guide member (15) to generate limit damping.

4. The gripping member according to claim 3, characterized in that: The guide member (15) comprises a first guide portion (152) and a second guide portion (153) connected to the first guide portion (152); the first guide portion (152) and the second guide portion (153) are arranged to be inclined with respect to each other or arranged to be in an arc-shaped transition so as to cooperate to form the corner (151); the prefabricated position (15a) and the braking position (15b) are respectively located at the first guide portion (152) and the second guide portion (153).

5. The gripping member according to claim 4, characterized in that: The first guide portion (152) is spaced apart from the limiting arm (12), and the extension direction of the first guide portion (152) is the same as the extension direction of the limiting arm (12); the second guide portion (153) extends obliquely along the direction in which the first guide portion (152) points to the limiting arm (12), and the corner (151) is less than 180 degrees and not less than 90 degrees.

6. The gripping member according to claim 4, characterized in that: The guide matching parts (16) are provided with two, namely a first matching part (161) and a second matching part (162), which are fixed to the movable arm (13) and spaced apart along the length direction of the movable arm (13); During the process of the movable arm (13) moving from the open position to the closed position, the first matching portion (161) moves along the first guide portion (152) to the prefabricated position (15a), so that the second matching portion (162) enters the second guide portion (153) through the corner (151) and brakes at the braking position (15b).

7. The gripping member according to claim 6, characterized in that The first matching portion (161) and / or the second matching portion (162) are configured to be in rolling connection with the guide member (15).

8. The gripping member according to claim 6, characterized in that: The gripping component further comprises a driving assembly (17), wherein the driving assembly (17) comprises: A position limiting guide member (171) is fixedly mounted on the bracket (11) and is arranged relative to and spaced from the first guide portion (152); A position-limiting connecting member (172) connected between the position-limiting guiding member (171) and the first matching portion (161); A driving member (173) for driving the limiting connecting member (172) to perform linear reciprocating motion along the limiting guiding member (171); During the process of the movable arm (13) moving from the open position to the closed position, the driving member (173) drives the first matching portion (161) to move to the prefabricated position (15a) via the limiting connecting member (172).

9. The gripping member according to any one of claims 1 to 8, characterized in that: The gripping component (10) further comprises at least one adsorption component (18), wherein the at least one adsorption component (18) is arranged on a side of the limiting arm (12) facing the clamping space (14).

10. The gripping member according to claim 9, characterized in that A pushing member (19) is provided on one side of the movable arm (13) facing the clamping space (14); the pushing member (19) is protruding from the movable arm (13) in a direction pointing from the outside of the clamping space (14) to the inside of the clamping space (14); and the pushing member (19) is provided in a one-to-one correspondence with the adsorption assembly (18).

11. A robot, characterized in that: The invention comprises the gripping component according to any one of claims 1 to 10.

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