Grabbing mechanism and grabbing device

Abstract

The utility model provides a grabbing mechanism and a grabbing device. The grabbing mechanism comprises a mounting frame and a grabbing mechanism, the first driving part is connected with the mounting frame; the bearing assembly is connected with the driving end of the first driving part, and the first driving part is used for driving the bearing assembly to reciprocate in the first direction; the grabbing belt is arranged on the bearing assembly in a sleeving manner; the bearing assembly reciprocates in the first direction so that the grabbing belt can make contact with the to-be-grabbed object and generate static friction force, and the grabbing belt is driven to rotate forwards and backwards. According to the grabbing mechanism, the outer portion of the bearing assembly is sleeved with the grabbing belt, the bearing assembly reciprocates in the first direction so that the grabbing belt can make contact with the to-be-grabbed object and generate the static friction force, under the action of the static friction force, the grabbing belt can rotate forwards and backwards relative to the bearing assembly, and meanwhile the grabbing belt keeps not moving relative to the to-be-grabbed object; and the surface damage of the to-be-grabbed object is avoided.

Description

Technical Field

[0001] This application relates to the technical field of clean board production equipment, and particularly relates to a grasping mechanism and a grasping device. Background Art

[0002] In modern industrial production, especially in fields such as medicine, biotechnology, food processing, and precision manufacturing, clean boards, as an important building material, have been widely used due to their good flatness, smoothness, and easy-to-clean characteristics. During the production and processing of clean boards, it is necessary to move the boards / products from one production line to another location for subsequent processing or stacking operations. A grasping device is used during the grasping process to improve the handling efficiency.

[0003] The existing grasping device includes a linear drive mechanism, a lifting mechanism, and a grasping mechanism. The linear drive mechanism is connected to the lifting mechanism and drives the lifting mechanism to perform linear reciprocating motion. The lifting mechanism is connected to the grasping mechanism and is responsible for adjusting the height of the grasping mechanism. The grasping mechanism includes a driving part and two sets of plug plates that are spaced apart and oppositely arranged. The driving part is connected to the two sets of plug plates, and the driving part is used to drive the two sets of plug plates to approach or move away from each other. When the two sets of plug plates approach each other, they can jointly grasp the board.

[0004] However, during the process of the plug plates grasping the board, due to the relative motion between the plug plates and the surface of the board, friction will be generated, which may cause scratches or abrasions on the surface of the board, thereby affecting the quality of the product. Summary of the Utility Model

[0005] The purpose of the embodiments of this application is to provide a grasping mechanism and a grasping device to solve the problem that the plug plates of the grasping mechanism wear the surface of the board and affect the quality of the board when contacting the board.

[0006] To solve the above technical problems, the embodiments of this application provide the following technical solutions:

[0007] The first aspect of this application provides a grasping mechanism, including:

[0008] A mounting frame;

[0009] A first driving part, connected to the mounting frame;

[0010] A bearing assembly, connected to the driving end of the first driving part, and the first driving part is used to drive the bearing assembly to reciprocate along a first direction;

[0011] A grasping belt, sleeved on the bearing assembly; when the bearing assembly reciprocates along the first direction, the grasping belt can contact the object to be grasped and generate static friction, driving the grasping belt to rotate forward and backward.

[0012] In some modified embodiments of the first aspect of the present application, the carrier assembly includes:

[0013] A carrier plate, connected to the driving end of the first driving portion. The grasping belt is sleeved on the carrier plate and rotatably connected to the carrier plate around a second direction. The carrier plate is perpendicular to a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other in pairs.

[0014] In some embodiments, the carrier assembly further includes:

[0015] A roller, located on at least one side of the carrier plate along the first direction. The roller is rotatably connected to the carrier plate around the second direction. The grasping belt is sleeved on the carrier plate and the roller; the rotation of the grasping belt around the second direction can drive the roller to rotate around the second direction.

[0016] In some embodiments, the carrier assembly further includes:

[0017] A limiting member, connected to the carrier plate; the limiting member is configured with a limiting groove, and the grasping belt is located in the limiting groove. The limiting groove is used to limit the sliding of the grasping belt along the second direction.

[0018] In some embodiments, the limiting member includes:

[0019] A limiting plate, opposite to the carrier plate along the third direction. The limiting plate is respectively connected to the driving end of the first driving portion and the carrier plate; the limiting plate is configured with the limiting groove, and a part of the grasping belt passes through the limiting groove. The limiting groove and the carrier plate can jointly limit the movement of the grasping belt along the third direction.

[0020] In some embodiments, it further includes:

[0021] A frame;

[0022] A lifting mechanism, respectively connected to the frame and the mounting frame. The lifting mechanism is used to drive the mounting frame to move along the third direction to offset the weight of the mounting frame.

[0023] In some embodiments, it further includes:

[0024] A second driving portion, arranged on the mounting frame;

[0025] Two groups of positioning components, both arranged at intervals from the carrier assembly; the two groups of positioning components are respectively connected to the driving end of the second driving portion. The second driving portion is used to synchronously drive the two groups of positioning components to approach or move away from each other along the first direction. The two groups of positioning components are used to respectively contact both sides of the object to be grasped along the first direction.

[0026] In some embodiments, the two sets of the positioning components are slidably connected along the first direction; and / or,

[0027] At least one set of the positioning components is slidably connected to the mounting bracket along the first direction.

[0028] In some embodiments, it further includes:

[0029] Two brackets, which are arranged at intervals and oppositely along the first direction, and both of the two brackets are connected to the driving end of the first driving part;

[0030] There are two sets of the bearing components, and one set of the bearing components is arranged on each of the two brackets; the first driving part is used to drive the bearing components on the two brackets to approach or move away from each other along the first direction.

[0031] The second aspect of the present application provides a grasping device, including:

[0032] A frame;

[0033] A lifting mechanism, which is arranged on the frame;

[0034] The grasping mechanism of the first aspect, and the mounting bracket of the grasping mechanism is connected to the lifting mechanism;

[0035] A linear driving mechanism, which is respectively connected to the lifting mechanism and the frame, and the linear driving mechanism is used to drive the lifting mechanism to reciprocate along a fourth direction, and the fourth direction is the same as or different from the first direction.

[0036] Compared with the prior art, the grasping mechanism provided in Embodiment 1 of the present application drives the bearing component to reciprocate along the first direction through the first driving part, so that the bearing component can approach and move away from the object to be grasped, thereby realizing the grasping and placing operations of the object to be grasped. Since the grasping belt is sleeved on the bearing component, when the bearing component reciprocates along the first direction, the grasping belt contacts the object to be grasped and generates static friction. The action of this static friction enables the grasping belt to rotate forward and backward relative to the bearing component while the grasping belt keeps no relative movement with the object to be grasped during the process of the bearing component continuing to reciprocate along the first direction, thereby effectively avoiding scratches and abrasions that may occur during the grasping process, and thus ensuring the quality of the object to be grasped. Description of the Drawings

[0037] By reading the following detailed description with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0038] Figure 1 Schematically shows the structural schematic diagram of the grasping device according to Embodiment 2 of the present application;

[0039] Figure 2 Schematically shows the structural schematic diagram of the grasping mechanism according to Embodiment 1 of the present application;

[0040] Figure 3 Schematically shows Figure 2 the partial enlarged view at E in;

[0041] Figure 4 Schematically shows the structural schematic diagram of the bearing plate and the roller of the bearing assembly of the grasping mechanism of the present application;

[0042] Figure 5 Schematically shows the structural schematic diagram of the bearing plate, the roller and the hoisting member of the bearing assembly of the grasping mechanism of the present application;

[0043] Figure 6 Schematically shows the structural schematic diagram of the limiting member and the hoisting member of the bearing assembly of the grasping mechanism of the present application;

[0044] Figure 7 Schematically shows the structural schematic diagram of the positioning portion of the grasping mechanism of the present application.

[0045] Explanation of the reference numerals in the drawings:

[0046] 100, grasping mechanism; 1, mounting frame; 2, first driving portion; 3, bearing assembly; 31, bearing plate; 32, roller; 33, limiting member; 331, limiting plate; 3311, limiting groove; 332, clamping member; 34, bearing seat; 35, bearing; 36, connecting member; 37, hoisting member; 38, counter-sunk screw; 4, grasping belt; 5, frame; 6, lifting mechanism; 7, positioning portion; 71, second driving portion; 711, linear actuator; 712, rotating shaft; 713, gear; 714, rack; 7141, elongated hole; 72, positioning assembly; 721, positioning surface; 8, bracket; 200, frame; 300, lifting mechanism; 400, linear driving mechanism; A, first direction; B, second direction; C, third direction. Detailed implementation manners

[0047] Hereinafter, the exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0048] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which this application pertains.

[0049] During the production and processing of clean boards, it is necessary to move the boards from one production line to another, or transfer the final products out of the production line for stacking operations. These operations all rely on gripping devices.

[0050] After in-depth research, the inventor found that the gripping mechanism configured in the current gripping device inserts a plate to pick up the board / product. During the gripping process, the driving part of the gripping mechanism controls the plate to approach the object to be gripped, so that the plate can support the object to be gripped; during the placing process, the driving part of the gripping mechanism controls the plate to separate from the object to be gripped to achieve the placing operation. However, due to the relative movement between the plate and the object to be gripped during the working process, the plate may wear or scratch the surface of the board / product.

[0051] This application aims to invent a gripping mechanism. By sleeving a gripping belt 4 outside the bearing assembly 3, when the bearing assembly 3 moves along the first direction A, the gripping belt 4 can contact the object to be gripped and generate static friction. Under the action of the static friction, the gripping belt 4 can rotate relative to the bearing assembly 3, and at the same time, the gripping belt 4 keeps no relative movement with the object to be gripped, thereby avoiding damage to the surface of the object to be gripped.

[0052] Embodiment 1

[0053] As Figures 1 to 3 shown, Embodiment 1 of this application provides a gripping mechanism, including: a mounting frame 1, a first driving part 2, a bearing assembly 3 and a gripping belt 4; the first driving part 2 is connected to the mounting frame 1; the bearing assembly 3 is connected to the driving end of the first driving part 2, and the first driving part 2 is used to drive the bearing assembly 3 to reciprocate along the first direction A; the gripping belt 4 is sleeved on the bearing assembly 3; when the bearing assembly 3 moves along the reciprocating first direction A, the gripping belt 4 can contact the object to be gripped and generate static friction, driving the gripping belt 4 to rotate forward and backward.

[0054] The object to be gripped in this application can be a board, such as a finished or semi-finished product of a clean board; or, it can also be a book, a packing box, etc.

[0055] Specifically, the mounting frame 1 provides a stable support platform for the entire gripping structure. The specific shape and size of the mounting frame 1 can be specifically designed according to the application space.

[0056] The first driving part 2 is used to provide power to drive the carrying component 3 to reciprocate along the first direction A. The first driving part 2 can be connected to the mounting frame 1 by means of bolts, pins, etc., and the driving end of the first driving part 2 can be connected to the carrying component 3 by means of flange connection or clamping, etc. The first driving part 2 can be a linear motor, a servo motor, a hydraulic motor or a belt transmission mechanism, etc. In this application, the first driving part preferably adopts a belt transmission mechanism with flexible installation and convenient maintenance.

[0057] As a supporting structure for the grasping belt 4, the carrying component 3 can ensure the stability of the grasping belt 4 during the grasping process. The carrying component 3 needs to have a certain strength and rigidity to ensure the stability of the structure. The specific material selection and specific structure of the carrying component 3 can be specifically selected according to the object to be grasped. For example, the carrying component 3 can include four connecting rods and a reinforcing rod. The four connecting rods are connected end to end in sequence to form a rectangular enclosing structure, and the reinforcing rod is connected to the inner side of the enclosing structure. The grasping belt 4 can be sleeved on the outer sides of two opposite connecting rods.

[0058] The frictional force between the carrying component 3 and the grasping belt 4 needs to be less than the static frictional force between the object to be grasped and the grasping belt 4 to ensure that the grasping belt 4 can remain stationary with the object to be grasped and at the same time realize the rotation of the grasping belt 4 relative to the carrying component 3. A lubricating coating (such as a Teflon coating) can be provided on the outer surface of the carrying component 3 to reduce the frictional force; or, the outer surface of the carrying component 3 can be polished, etc.

[0059] The grasping belt 4 is used to cooperate with the carrying component 3, contact the object to be grasped during the grasping process and generate static frictional force, so that the grasping belt 4 rotates relative to the carrying component 3 and remains stationary relative to the object to be grasped. The grasping belt 4 is in a ring shape. The direction in which the grasping belt 4 rotates around the carrying component 3 can not be perpendicular to the first direction A to realize the grasping operation in a specific space. At this time, the carrying component 3 can be configured with a groove, and the grasping belt 4 can be sleeved in the groove to restrict the rotation path of the grasping belt 4, and a part of the grasping belt 4 extends out of the groove for contacting the object to be grasped.

[0060] A lubricating coating can be provided on the inner surface of the grasping belt 4, or polished, etc. to reduce the frictional force with the carrying component 3. The outer surface of the grasping belt can be textured, or a composite material with a high coefficient of friction (such as rubber, polyurethane, etc.) can be added to increase the frictional force with the object to be grasped.

[0061] Compared with the prior art, the grasping mechanism provided in Embodiment 1 of the present application drives the bearing assembly 3 to reciprocate along the first direction A through the first driving part 2, so that the bearing assembly 3 can approach and move away from the object to be grasped, thereby realizing the grasping and placing operations of the object to be grasped. Since the grasping belt 4 is sleeved on the bearing assembly 3, when the bearing assembly 3 reciprocates along the first direction A, the grasping belt 4 contacts the object to be grasped and generates static friction. The action of this static friction enables the grasping belt 4 to rotate forward and backward relative to the bearing assembly 3 while the grasping belt 4 maintains no relative movement with the object to be grasped during the process of the bearing assembly 3 continuing to reciprocate along the first direction A, thereby effectively avoiding scratches and abrasions that may occur during the grasping process, and thus ensuring the quality of the object to be grasped.

[0062] To ensure the stability of the bearing assembly 3, as Figures 2 to 4 shown, in some embodiments, the bearing assembly 3 includes:

[0063] A bearing plate 31, connected to the driving end of the first driving part 2, the grasping belt 4 is sleeved on the bearing plate 31 and the bearing plate 31 is rotatably connected around the second direction B, the bearing plate 31 is perpendicular to the third direction C, and the first direction A, the second direction B and the third direction C are perpendicular to each other in pairs.

[0064] Specifically, the two first side surfaces of the bearing plate 31 along the first direction A can be mirror-symmetrically arranged along the second direction B, and the two first side surfaces can be curved surfaces. The inner surface of the grasping belt 4 can contact the two first side surfaces and the two surfaces of the bearing plate 31 along the third direction C to ensure that the grasping belt 4 can rotate around the second direction B relative to the bearing plate 31 under the action of the static friction between the grasping belt 4 and the object to be grasped, improving the stability and reliability of the grasping mechanism. And, since the first direction A and the second direction B are perpendicular, grooves can be not designed in actual design to reduce the manufacturing cost and maintenance difficulty. The second side surface of the bearing plate 31 along the second direction B can be connected to the driving end of the first driving part 2.

[0065] As Figures 2 to 5 shown, in some embodiments, the bearing assembly 3 further includes:

[0066] A roller 32, located on at least one side of the bearing plate 31 along the first direction A, the roller 32 is rotatably connected to the bearing plate 31 around the second direction B, and the grasping belt 4 is sleeved on the bearing plate 31 and the roller 32; the rotation of the grasping belt 4 around the second direction B can drive the roller 32 to rotate around the second direction B.

[0067] Specifically, the axial direction of the roller 32 is consistent with the second direction B. The bearing assembly 3 may further include a bearing seat 34 and a bearing 35. The bearing seat 34 may be fixedly connected to the bearing plate 31, and both ends of the roller 32 may be rotatably connected to the bearing seat 34 through the bearings 35 around the second direction B; alternatively, the bearing assembly 3 may further include an adjusting member, the adjusting member is respectively connected to the bearing plate 31 and the bearing seat 34, and the adjusting member is used to adjust and maintain the distance between the bearing seat 34 and the bearing plate 31 along the first direction A, so as to tension the grasping belt 4. The adjusting member may be a bolt or an adjusting screw, etc. Or,

[0068] The bearing assembly 3 may further include a connecting member 36 and a fixed shaft. The axis of the fixed shaft is consistent with the axial direction of the roller 32. The connecting member 36 may be clamped, riveted or integrally formed with the bearing plate 31. The fixed shaft is fixedly connected to the connecting member 36, and both ends of the roller 32 may be rotatably connected to the fixed shaft around the second direction B. For example, there may be one fixed shaft, and the roller 32 may be provided with a through hole penetrating along the second direction B, and the roller 32 is sleeved outside the fixed shaft through the through hole; or, there may be two fixed shafts, and both end faces of the roller 32 are recessed inward to form mounting grooves, and both ends of the roller 32 are respectively rotatably connected to a fixed shaft through one mounting groove around the second direction B, etc.

[0069] There may be one roller 32; or, there may be two rollers 32, and the two rollers 32 are respectively arranged on both sides of the bearing plate 31 along the first direction A. In this application, it is preferred that there are two rollers 32 to provide more uniform support and balance for the grasping belt 4, and at the same time, it is more conducive to the rotation of the grasping belt 4. When there are two rollers 32, the installation methods of the two rollers 32 may be the same or different. When the roller 32 is arranged on the first side of the bearing plate 31 along the first direction A, the roller 32 may be connected to the bearing plate 31 through the connecting member 36 and the fixed shaft to prevent the bearing assembly 3 from interfering with the contact between the grasping belt 4 and the object to be grasped. The first side of the bearing plate 31 along the first direction A is closer to the object to be grasped than the second side.

[0070] Such as Figure 3 and Figure 6 As shown, in some embodiments, the bearing assembly 3 further includes:

[0071] A limiting member 33, connected to the bearing plate 31; the limiting member 33 is configured with a limiting groove 3311, the grasping belt 4 is located in the limiting groove 3311, and the limiting groove 3311 is used to limit the grasping belt 4 from sliding along the second direction B.

[0072] Specifically, the limiting member 33 may include a first baffle and a second baffle. The first baffle and the second baffle are respectively located on both sides of the carrier plate 31 in the second direction B, and the first baffle and the second baffle are arranged in parallel; both the first baffle and the second baffle are connected to the carrier plate 31. For example, the first baffle may be rectangular, and the first baffle may be connected to at least one surface of the carrier plate 31 along the third direction C; alternatively, the first baffle may be annular, the outer contour of the first baffle is adapted to the carrier plate 31, the first baffle is sleeved outside the carrier plate 31 and is fixedly connected to the carrier plate 31 by means of gluing, clamping, etc. The second baffle may have the same shape as the first baffle or may be different. The first baffle, the second baffle and the carrier plate 31 together form a limiting groove 3311 for restricting the movement path of the grasping belt 4 and ensuring the stability of the grasping mechanism.

[0073] As Figure 3 and Figure 6 shown, in some embodiments, the limiting member 33 includes:

[0074] A limiting plate 331, opposite to the carrier plate 31 along the third direction C, the limiting plate 331 is respectively connected to the driving end of the first driving portion 2 and the carrier plate 31; the limiting plate 331 configures the limiting groove 3311, and a part of the grasping belt 4 passes through the limiting groove 3311, and the limiting groove 3311 and the carrier plate 31 can jointly limit the movement of the grasping belt 4 along the third direction C.

[0075] Specifically, the limiting plate 331 may be located on the second side of the carrier plate 31, and the limiting plate 331 is located between the two rollers 32 to enhance the limiting effect on the grasping belt 4. The limiting plate 331 may be connected to the side surface of the carrier plate 31 along the second direction B by bolts or pins.

[0076] The number of the limiting plates 331 may be one or two. When the number of the limiting plates 331 is two, the two limiting plates 331 may be arranged in parallel and opposite along the third direction C, the grasping belt 4 is located between the two limiting plates 331, and one limiting plate 331 is connected to the driving end of the first driving portion 2; at least one limiting plate 331 configures the limiting groove 3311; alternatively, the limiting member 33 may further include two clamping members 332, the two clamping members 332 are respectively connected to the two second side surfaces of the carrier plate 31, and the two limiting plates 331 jointly clamp the two clamping members 332 by bolts or pins, etc., to enhance the structural stability.

[0077] When the grasping mechanism of the present application is applied to the grasping of the plates or finished products of the manual clean board, since the weight of the plates / finished products is relatively large (possibly reaching more than 400 catties), in order to reduce the energy consumption of the lifting mechanism 300 when lifting the plates / finished products and at the same time extend the service life of the lifting mechanism 300, as Figure 1As shown, in some embodiments, it further includes:

[0078] a frame 5;

[0079] a lifting mechanism 6, respectively connected to the frame 5 and the mounting bracket 1, and the lifting mechanism 6 is used to drive the mounting bracket 1 to move along the third direction C to offset the weight of the mounting bracket 1.

[0080] Specifically, the lifting mechanism 6 can be connected to the frame 5 and the mounting bracket 1 by means of bolts, buckles, etc. The lifting mechanism 6 can be a cylinder, a hydraulic cylinder or other linear drive mechanisms, etc., and preferably a cylinder to reduce costs. During use, the cylinder can move synchronously and at the same speed as the lifting mechanism 300, so as to provide sufficient lifting force to offset the weight of the mounting bracket 1.

[0081] Such as Figure 1 and Figure 7 As shown, in some embodiments, it further includes:

[0082] a positioning part, including:

[0083] a second driving part 71, arranged on the mounting bracket 1;

[0084] two groups of positioning components 72, both arranged at intervals from the bearing component 3; the two groups of positioning components 72 are respectively connected to the driving ends of the second driving part 71, and the second driving part 71 is used to synchronously drive the two groups of positioning components 72 to approach or move away from each other along the first direction A, and the two groups of positioning components 72 are used to respectively contact both sides of the object to be grabbed along the first direction A.

[0085] Specifically, the second driving part 71 can include two linear actuators, each linear actuator is arranged on the mounting bracket 1 at intervals along the first direction A, and each linear actuator is connected to a group of positioning components 72. The linear actuator can be a cylinder, a hydraulic cylinder or a linear motor, etc.; or,

[0086] To ensure the precise control of the two sets of positioning components 72, the second driving part 71 includes: a motor, a rotating shaft 712, a gear 713, and two racks 714; the motor is arranged on the mounting frame 1, the gear 713 is rotatably arranged on the mounting frame 1 around the second direction B, and the gear 713 is connected to the driving end of the motor through the rotating shaft 712; the two racks 714 are arranged at intervals and in parallel along the third direction C, the length directions of the two racks 714 are the same as the first direction A, and the two racks 714 are both meshed with the gear 713; each rack 714 is connected to a set of positioning components 72, and the two racks 714 can both be slidably connected to the mounting frame 1 along the first direction A to ensure the structural stability; the motor is used to drive the gear 713 to rotate forward and backward around the second direction B, and drive the two sets of positioning components 72 to approach or move away from each other along the first direction A through the two racks 714; alternatively, the motor can also be replaced with a linear actuator 711. At this time, the linear actuator 711 is connected to one rack 714 to drive the other rack 714 to move in the opposite direction through the transmission of the gear 713.

[0087] The two sets of positioning components 72 can have opposite positioning surfaces 721 along the first direction A. The positioning surfaces 721 of the two sets of positioning components 72 are used to jointly contact the two side surfaces of the object to be grasped along the first direction A to achieve positioning and deviation correction. Before the grasping belt 4 grasps, the two sets of positioning components 72 can be driven to move so that the two sets of positioning components 72 respectively contact the two side surfaces of the object to be grasped along the first direction A, so as to realize the positioning of the object to be grasped, which is beneficial to subsequent accurate grasping.

[0088] The number of positioning parts can also be one. Or, when the object to be grasped has a certain length along the second direction B, there can also be multiple positioning parts. The multiple positioning parts can be arranged at intervals along the second direction B, and the multiple positioning parts can share one motor. At this time, the rotating shafts 712 of the multiple positioning parts can be connected through couplings.

[0089] To further ensure the structural stability of the whole and at the same time ensure the movement paths of the two sets of positioning components 72, as Figure 7 shown, in some embodiments, the two sets of the positioning components 72 are slidably connected along the first direction A; and / or,

[0090] At least one set of the positioning components 72 is slidably connected to the mounting frame 1 along the first direction A.

[0091] Specifically, two racks 714 may each be formed with a strip-shaped hole 7141 running through in the second direction B, and the length direction of the strip-shaped hole 7141 is consistent with the first direction A. One positioning component 72 is fixedly connected to one rack 714, and one positioning component 72 is slidably connected to the other rack 714 along the first direction A through the strip-shaped hole 7141; the other positioning component 72 is fixedly connected to the other rack 714, and the other positioning component 72 is slidably connected to one rack 714 along the first direction A through the strip-shaped hole 7141.

[0092] As Figure 1 and Figure 2 shown, in some embodiments, it further includes:

[0093] Two brackets 8, spaced apart and opposite to each other along the first direction A, and both of the two brackets 8 are connected to the driving end of the first driving part 2;

[0094] There are two groups of the carrying components 3, and one group of the carrying components 3 is arranged on each of the two brackets 8; the first driving part 2 is used to drive the carrying components 3 on the two brackets 8 to approach or move away from each other along the first direction A.

[0095] Specifically, each group of carrying components 3 may include one carrying component 3 or multiple carrying components 3. When the object to be grabbed has a certain length along the second direction B, in order to ensure the stability of grabbing, it is preferable that each group of carrying components 3 includes multiple carrying components 3. The multiple carrying components 3 in each group may be arranged at intervals along the second direction B, and the multiple carrying components 3 of the two groups of carrying components 3 may be opposite to each other one by one along the first direction A.

[0096] The carrying component 3 may further include a hoisting member 37 and a top screw 38. The limiting plate 331 may be fixedly connected to the hoisting member 37. The hoisting member 37 may be slidably connected to the bracket 8 along the second direction B. The top screw 38 is connected to the hoisting member 37 and the bracket 8 to limit the sliding of the hoisting member 37, so as to provide the applicability of the grabbing mechanism.

[0097] When the first driving part 2 selects a belt transmission mechanism, the two brackets 8 may be respectively connected to both sides of the belt of the belt transmission mechanism along the third direction C to achieve synchronous approaching or moving away between the two.

[0098] Embodiment 2

[0099] As Figure 1 shown, a grabbing device according to Embodiment 2 of the present application includes:

[0100] A frame 200;

[0101] A lifting mechanism 300, arranged on the frame 200;

[0102] The grasping mechanism 100 described in Embodiment 1, and the mounting frame 1 of the grasping mechanism 100 is connected to the lifting mechanism 300;

[0103] A linear driving mechanism 400 is respectively connected to the lifting mechanism 300 and the frame 200. The linear driving mechanism 400 is used to drive the lifting mechanism 300 to reciprocate in a fourth direction, and the fourth direction is the same as or different from the first direction A.

[0104] The grasping device provided in Embodiment 2 of the present application can be applied to grasping a plate / product conveyed by a roller conveyor line. The width direction of the roller conveyor line is the first direction A, the conveying direction of the roller conveyor line is the second direction B, and the height direction of the roller conveyor line is the third direction C; alternatively, the grasping device of the present application can also be applied to grasping stacked plates / products. At this time, the plates / products need to have slots along the first direction A to enable the grasping belt 4 sleeved on the bearing assembly 3 of the grasping mechanism 100 to extend into the slots, so that the upper surface of the grasping belt 4 can contact the object to be grasped.

[0105] Specifically, the lifting mechanism 300 can be connected to the frame 200 through a frame 5. The lifting mechanism 300 can be a lifting gearbox, a hydraulic cylinder or a cylinder, etc. The linear driving mechanism 400 can be a belt transmission mechanism, a rack and pinion transmission mechanism, etc. The number of the lifting mechanisms 300 can be selected according to the weight of the object to be grasped. When the number of the lifting mechanisms 300 is multiple, the multiple lifting mechanisms 300 can be arranged at intervals along the second direction B.

[0106] The grasping device provided in Embodiment 2 of the present application includes the grasping mechanism 100 provided in Embodiment 1. The grasping mechanism 100 drives the bearing assembly 3 to reciprocate in the first direction A through the first driving part 2, so that the bearing assembly 3 can approach and move away from the object to be grasped, thereby realizing the grasping and placing operations of the object to be grasped. Since the grasping belt 4 is sleeved on the bearing assembly 3, when the bearing assembly 3 reciprocates in the first direction A, the grasping belt 4 contacts the object to be grasped and generates static friction. The action of this static friction enables the grasping belt 4 to rotate forward and backward relative to the bearing assembly 3 while the grasping belt 4 keeps no relative movement with the object to be grasped during the process of the bearing assembly 3 continuing to reciprocate in the first direction A, thereby effectively avoiding scratches and abrasions that may occur during the grasping process, and thus ensuring the quality of the object to be grasped.

[0107] As mentioned above, only the specific embodiments of the present application are described, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A gripping mechanism, characterized in that: include: Mounting frame; A first driving unit connected to the mounting frame; A bearing assembly connected to the driving end of the first driving part, wherein the first driving part is used to drive the bearing assembly to reciprocate along a first direction; The grabbing belt is sleeved on the bearing assembly; the bearing assembly can reciprocate along the first direction to make the grabbing belt contact with the object to be grabbed and generate static friction, thereby driving the grabbing belt to rotate forward and reverse.

2. The gripping mechanism according to claim 1, characterized in that: The bearing assembly comprises: The carrying plate is connected to the driving end of the first driving part, the grabbing belt is sleeved on the carrying plate and is connected to the carrying plate for rotation around the second direction, the carrying plate is perpendicular to the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

3. The gripping mechanism according to claim 2, characterized in that: The bearing assembly further comprises: The roller is located on at least one side of the supporting plate along the first direction. The roller is connected to the supporting plate for rotation around the second direction. The grabbing belt is sleeved on the supporting plate and the roller. The grabbing belt rotates around the second direction to drive the roller to rotate around the second direction.

4. The gripping mechanism according to claim 2, characterized in that: The bearing assembly further comprises: A limiting member is connected to the carrying plate; the limiting member is configured with a limiting groove, the grabbing belt is located in the limiting groove, and the limiting groove is used to limit the grabbing belt from sliding along the second direction.

5. The gripping mechanism according to claim 4, characterized in that: The limiting member comprises: A limiting plate is opposite to the supporting plate along the third direction, and the limiting plate is respectively connected to the driving end of the first driving part and the supporting plate; the limiting plate is configured with the limiting groove, and part of the grabbing belt passes through the limiting groove, and the limiting groove and the supporting plate can jointly limit the movement of the grabbing belt along the third direction.

6. The gripping mechanism according to claim 2, characterized in that: Also includes: frame; A lifting mechanism is connected to the frame and the mounting frame respectively, and the lifting mechanism is used to drive the mounting frame to move along the third direction to offset the weight of the mounting frame.

7. The gripping mechanism according to any one of claims 1 to 6, characterized in that: Also includes: A second driving unit is arranged on the mounting frame; Two groups of positioning components are arranged at intervals from the bearing component; the two groups of positioning components are respectively connected to the driving end of the second driving part, and the second driving part is used to synchronously drive the two groups of positioning components to approach or move away from each other along the first direction, and the two groups of positioning components are used to respectively contact the two sides of the object to be grasped along the first direction.

8. The gripping mechanism according to claim 7, characterized in that: The two groups of positioning components are slidably connected along the first direction; and / or, At least one group of the positioning components is slidably connected to the mounting frame along the first direction.

9. The gripping mechanism according to any one of claims 1 to 6, characterized in that: Also includes: Two brackets are spaced apart and arranged opposite to each other along the first direction, and both of the two brackets are connected to the driving end of the first driving part; There are two groups of the bearing components, and one group of the bearing components is arranged on each bracket; the first driving part is used to drive the bearing components on the two brackets to move closer to or away from each other along the first direction.

10. A gripping device, characterized in that: include: frame; A lifting mechanism, arranged on the frame; The gripping mechanism according to any one of claims 1 to 9, wherein the mounting frame of the gripping mechanism is connected to the lifting mechanism; A linear drive mechanism is connected to the lifting mechanism and the frame respectively, and is used to drive the lifting mechanism to reciprocate along a fourth direction, and the fourth direction is the same as or different from the first direction.

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