Grabbing device

Abstract

The utility model provides a grabbing device. The grabbing device comprises a base, a direction adjusting device, a telescopic device, an angle adjusting device and a grabbing assembly. The direction adjusting device is rotationally arranged at the top of the base and used for adjusting the grabbing direction of the grabbing assembly. The telescopic device is arranged on the side, away from the base, of the direction adjusting device and used for adjusting the grabbing distance of the grabbing assembly, and the angle adjusting device is arranged on the side, away from the direction adjusting device, of the telescopic device and used for adjusting the grabbing angle of the grabbing assembly. The grabbing assembly comprises a support and suction cups, the first surface of the support is connected with the side, away from the direction adjusting device, of the angle adjusting device, and the multiple suction cups are arranged on the second surface of the support. By means of the direction adjusting device, the telescopic device and the angle adjusting device, the requirements of multiple machining technologies for sucking and grabbing workpieces in different directions, different distances and different angles and transferring and placing the workpieces are met no matter in the sucking and grabbing process or the transferring and placing process.

Description

Technical Field

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

[0002] As an important part of industrial automation, workpiece grasping plays a key role in the production line and is widely used in fields such as manufacturing, logistics distribution, and medical devices. Its main function is to improve production efficiency and automation by grasping, transporting, and preventing various workpieces.

[0003] In related technologies, for example, during the grasping and transfer of battery plates, mechanical devices can often only perform single-direction grasping and conveying, which can only meet the requirements of one processing technology. However, battery plates often need to be grasped and conveyed to different processing technologies, and single-direction grasping and conveying are difficult to meet the processing needs of multiple technologies. Summary of the Utility Model

[0004] In view of this, the purpose of the present utility model is to provide a grasping device to solve the problem in related technologies that it is difficult to meet the processing requirements of grasping workpieces from multiple directions to achieve multiple technologies.

[0005] Based on the above purpose, the present utility model provides a grasping device, including: a base, an azimuth adjustment device, a telescopic device, an angle adjustment device, and a grasping component;

[0006] The azimuth adjustment device is rotatably arranged on the top of the base for adjusting the grasping azimuth of the grasping component; the telescopic device is arranged on the side of the azimuth adjustment device away from the base for adjusting the grasping distance of the grasping component, and the angle adjustment device is arranged on the side of the telescopic device away from the azimuth adjustment device for adjusting the grasping angle of the grasping component;

[0007] The grasping component includes a bracket and a suction cup. The first surface of the bracket is connected to the side of the angle adjustment device away from the azimuth adjustment device, and multiple suction cups are arranged on the second surface of the bracket.

[0008] Optionally, the azimuth adjustment device includes: a connecting seat and a first motor;

[0009] The connecting seat is rotatably connected to the top of the base to form a first rotation surface, the first rotation surface is parallel to the plane where the top of the base is located, the first motor is fixedly arranged on the side of the connecting seat away from the base, and the output shaft of the first motor penetrates through the connecting seat and is fixedly connected to the base.

[0010] Optionally, the telescopic device includes: a first rotating arm, a second motor, a third motor, and a connecting arm;

[0011] The first end of the first rotating arm is rotatably connected to one side of the connecting seat away from the base to form a second rotating surface, and the second rotating surface forms a first angle with the first rotating surface. The second motor is fixedly arranged on the side of the connecting seat away from the first rotating arm, and the output shaft of the second motor penetrates through the connecting seat and is fixedly connected to the first end of the first rotating arm;

[0012] The second end of the first rotating arm is rotatably connected to the connecting arm to form a third rotating surface, and the third rotating surface is parallel to the second rotating surface. The third motor is fixedly arranged on the side of the connecting arm away from the first rotating arm, and the output shaft of the third motor penetrates through the connecting arm and is fixedly connected to the second end of the first rotating arm.

[0013] Optionally, the angle adjusting device includes: a second rotating arm and a fourth motor;

[0014] The first end of the second rotating arm is rotatably connected to the end of the connecting arm away from the first rotating arm to form a fourth rotating surface, and the fourth rotating surface forms a second angle with the third rotating surface. The fourth motor is fixedly arranged on the side of the connecting arm away from the first rotating arm, and the output shaft of the fourth motor penetrates through the connecting arm and is fixedly connected to the first end of the second rotating arm, and the extending direction of the output shaft of the fourth motor is parallel to the extending direction of the second rotating arm.

[0015] Optionally, the grasping assembly further includes a vacuum generator and a detection sensor;

[0016] The vacuum generator is arranged on the second rotating arm, the detection sensor is arranged on any one of the suction cups, the vacuum generator includes a solenoid valve, and the solenoid valve is electrically connected to the detection sensor; the vacuum generator is communicated with the suction cup through a pipeline.

[0017] Optionally, the second rotating surface is perpendicular to the first rotating surface.

[0018] Optionally, the fourth rotating surface is perpendicular to the third rotating surface.

[0019] Optionally, the second end of the second rotating arm is rotatably connected to the bracket.

[0020] Optionally, a control platform is arranged on the base, and the control platform is electrically connected to the first motor, the second motor, the third motor, the fourth motor and the vacuum generator respectively, and is used for controlling the first motor, the second motor, the third motor, the fourth motor and the vacuum generator to work.

[0021] Optionally, a plurality of fixing holes are arranged at the edge of the base for fixing the base on the workbench.

[0022] As can be seen from the above description, the grasping device provided by the present utility model enables the suction cup to perform multi-directional adsorption, grasping, and placing of workpieces relative to the base through the azimuth adjustment device, meeting the processing requirements of multiple processes. At the same time, through the telescopic device, adsorption, grasping, and placing of workpieces at different distances in each azimuth are realized. Finally, through the angle adjustment device, the angle of the workpiece is further adapted. Whether it is the process of adsorption and grasping or the process of transportation and placement, the requirements for the grasping angle and placement angle of the workpiece are met, which helps to meet the requirements for adsorption, grasping, transportation, and placement of workpieces in different azimuths, different distances, and different angles in multiple processing processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the three-dimensional structure of the embodiment of the present utility model;

[0025] Figure 2 Schematic diagram of the rear three-dimensional structure of the embodiment of the present utility model;

[0026] Figure 3 Schematic diagram of the front three-dimensional structure of the embodiment of the present utility model.

[0027] Illustration: 1. Base, 21. Connecting seat, 22. First motor, 31. First rotating arm, 32. Second motor, 33. Third motor, 34. Connecting arm, 41. Second rotating arm, 42. Fourth motor, 51. Bracket, 52. Suction cup, 53. Vacuum generator, 54. Detection sensor, 55. Solenoid valve, 11. Control platform, 12. Fixing hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In order to make the purpose, technical solutions, and advantages of the present utility model clearer and more understandable, the following will further describe the present utility model in detail with reference to specific embodiments and the accompanying drawings.

[0029] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present utility model should have the ordinary meanings understood by those with ordinary skills in the field to which this disclosure belongs. The "first", "second" and similar terms used in this disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0030] The following disclosure provides many different embodiments or examples for implementing different structures of the embodiments of the present utility model. To simplify the disclosure of the embodiments of the present utility model, the components and settings of specific examples are described below. Of course, the purpose of the examples is not to limit the embodiments of the present utility model. In addition, the embodiments of the present utility model may repeat reference numerals and / or reference letters in different instances. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0031] To better understand the purpose, structure and function of the present utility model, a grasping device of the present utility model will be further described in detail below with reference to the accompanying drawings.

[0032] Referring to Figures 1 to 3 As shown, a grasping device of the present utility model includes: a base 1, an azimuth adjusting device, a telescopic device, an angle adjusting device, and a grasping assembly.

[0033] The azimuth adjusting device is rotatably arranged on the top of the base 1 for adjusting the grasping azimuth of the grasping assembly; the telescopic device is arranged on one side of the azimuth adjusting device away from the base 1 for adjusting the grasping distance of the grasping assembly, and the angle adjusting device is arranged on the side of the telescopic device away from the azimuth adjusting device for adjusting the grasping angle of the grasping assembly.

[0034] The grasping assembly includes a bracket 51 and suction cups 52. The first surface of the bracket 51 is connected to the side of the angle adjusting device away from the azimuth adjusting device, and a plurality of suction cups 52 are arranged on the second surface of the bracket 51.

[0035] First, through the orientation adjustment device of the present utility model, the suction cup 52 can adsorb, grasp, transfer and place the workpiece relative to the base 1 in different orientations. Further, through the telescopic device, the adsorption, grasping, transfer and placement of the workpiece can be realized at different distances in each orientation. Finally, through the angle adjustment device, the angle of the workpiece can be further adapted. Whether in the process of adsorption and grasping or in the process of transfer and placement, the requirements for the grasping angle and placement angle of the workpiece are satisfied. The overall present utility model meets the requirements for the adsorption, grasping, transfer and placement of workpieces in different orientations, different distances and different angles.

[0036] The workpiece is adsorbed, grasped, transferred and placed through the adsorption force of the suction cup 52, avoiding rigid contact with the workpiece during the grasping and transfer processes and causing damage to the workpiece.

[0037] In some optional embodiments, the purpose of the present utility model is to adsorb, grasp, transfer and place the battery plate to meet the multi-directional grasping requirements of multiple processing technologies for the battery plate.

[0038] In some embodiments, the orientation adjustment device includes: a connecting seat 21 and a first motor 22. The connecting seat 21 is rotatably connected to the top of the base 1 to form a first rotation surface, and the first rotation surface is parallel to the plane where the top of the base 1 is located. The first motor 22 is fixedly arranged on the side of the connecting seat 21 away from the base 1, and the output shaft of the first motor 22 passes through the connecting seat and is fixedly connected to the base 1.

[0039] When the first motor 22 works, it drives the connecting seat 21 to rotate relative to the base 1. Since the first rotation surface is parallel to the plane where the top of the base 1 is located, the suction cup 52 of the grasping assembly can be adjusted in a 360° orientation relative to the plane where the bottom of the base 1 is located. This enables the suction cup 52 to adsorb, grasp, transfer and place the workpiece within a 360° orientation relative to the base 1, reducing the orientation dead angle.

[0040] In some embodiments, the telescopic device includes: a first rotating arm 31, a second motor 32, a third motor 33 and an adapter arm 34. The first end of the first rotating arm 31 is rotatably connected to the side of the connecting seat 21 away from the base 1 to form a second rotation surface, and the second rotation surface forms a first angle with the first rotation surface. The second motor 32 is fixedly arranged on the side of the connecting seat 21 away from the first rotating arm 31, and the output shaft of the second motor passes through the connecting seat 21 and is fixedly connected to the first end of the first rotating arm 31.

[0041] The second end of the first rotating arm 31 is rotatably connected to the adapter arm 34 to form a third rotation surface, and the third rotation surface is parallel to the second rotation surface. The third motor 33 is fixedly arranged on the side of the adapter arm 34 away from the first rotating arm 31, and the output shaft of the third motor 33 passes through the adapter arm 34 and is fixedly connected to the second end of the first rotating arm 31.

[0042] In this embodiment, the second motor 32 operates to drive the rotation of the first end of the first rotating arm 31, causing the first rotating arm 31 to move away from or closer to the base 1, and causing the suction cup 52 to move away from or closer to the base 1, thereby realizing the adjustment of the grasping distance of the suction cup 52. The second motor 32 further operates to drive the connecting arm 34 to rotate relative to the second end of the first rotating arm 31, causing the connecting arm 34 to move away from or closer to the base 1, and further causing the suction cup 52 to move away from or closer to the base 1, realizing the adjustment of the grasping distance of the suction cup 52.

[0043] It can be understood that when the second motor 32 and the third motor 33 operate to drive the first rotating arm 31 and the connecting arm 34 to rotate and adjust the grasping distance of the suction cup 52, the angle of the plane formed by the suction cup 52 is also adjusted. By making the third rotating surface parallel to the second rotating surface, the second motor 32 and the third motor 33 can more effectively adjust the angle of the plane formed by the suction cup 52. The second rotating surface forms a first angle with the first rotating surface, that is, the setting directions of the first motor 22 and the second motor 32 form a first angle, so that the first motor 22 and the second motor 32 do not block or interfere with each other, which is beneficial to heat dissipation during the operation of the first motor 22 and the second motor 32.

[0044] In some embodiments, the second rotating surface is perpendicular to the first rotating surface.

[0045] In some embodiments, the angle adjustment device includes: a second rotating arm 41 and a fourth motor 42; the first end of the second rotating arm 41 is rotatably connected to the end of the connecting arm 34 away from the first rotating arm 31 to form a fourth rotating surface, the fourth rotating surface forms a second angle with the third rotating surface, the fourth motor 42 is fixedly arranged on the side of the connecting arm 34 away from the first rotating arm 31, and the output shaft of the fourth motor 42 passes through the connecting arm 34 and is fixedly connected to the first end of the second rotating arm 41. The fourth motor 42 operates to drive the second rotating arm 41 to rotate, and adjusts the angle of the plane formed by the suction cup 52 through the rotation of the output shaft of the fourth motor 42, facilitating the adsorption, grasping, transfer and placement of workpieces at different angles. The fourth rotating surface forms a second angle with the third rotating surface, that is, the setting directions of the fourth motor 42 and the third motor 33 form a second angle, so that the first motor 22 and the second motor 32 do not block or interfere with each other, which is beneficial to heat dissipation during the operation of the first motor 22 and the second motor 32.

[0046] In some embodiments, the fourth rotating surface is perpendicular to the third rotating surface.

[0047] In some embodiments, the grasping assembly further includes a vacuum generator 53 and a detection sensor 54. The vacuum generator 53 is arranged on the second rotating arm 41, the detection sensor 54 is arranged on any one of the suction cups 52, the vacuum generator 53 includes an electromagnetic valve 55, the electromagnetic valve 55 is electrically connected to the detection sensor 54, and the vacuum generator 53 is communicated with the suction cup 52 through a pipeline.

[0048] During the process of adsorbing and grasping the workpiece, when the suction cup 52 adheres to the workpiece, the detection sensor 54 senses the workpiece. By activating the solenoid valve 55, the vacuum generator 53 is connected to the suction cup 52, enabling the suction cup 52 to start adsorption. Then the workpiece is adsorbed and grasped. After transferring the adsorbed and grasped workpiece to the set position, by closing the solenoid valve 55, the connection between the vacuum generator 53 and the suction cup 52 is cut off, and the suction cup 52 closes the adsorption to complete the placement of the workpiece.

[0049] It can be understood that the vacuum generator 53 and the suction cup 52 utilize the negative pressure principle to realize the opening and closing of the adsorption of the suction cup 52.

[0050] In some embodiments, the contours formed by multiple suction cups 52 are adapted to the contour of the workpiece, achieving effective adsorption and grasping of the workpiece surface by the suction cups 52.

[0051] In some embodiments, the second end of the second rotating arm 41 is rotatably connected to the bracket 51. Exemplarily, the second end of the second rotating arm 41 is rotatably connected to the bracket 51 through a universal ball. The second rotating arm 41 is driven to rotate by the fourth motor 42 to adjust the grasping angle of the plane formed by the suction cups 52, so that the plane formed by the suction cups 52 can adapt to the surface contour of the workpiece. For example, when the workpiece is rectangular and the two ends along the length direction are in the X-axis direction, by driving the second rotating arm 41 to rotate with the fourth motor 42, the two ends of the plane formed by the suction cups 52 can also be distributed left and right along the length direction. However, there may be an angle between the plane formed by the suction cups 52 and the surface of the workpiece. By using the rotational connection between the second end of the second rotating arm 41 and the bracket 51, when the suction cups 52 approach the workpiece plane, the rotational connection enables the plane formed by the suction cups 52 to fit the plane of the workpiece, achieving effective adsorption and grasping of the workpiece.

[0052] In some embodiments, a control platform 11 is provided on the base 1. The control platform 11 includes at least a control interface and is electrically connected to the first motor 22, the second motor 32, the third motor 33, the fourth motor 42, and the vacuum generator 53 respectively, for controlling the operation of the first motor 22, the second motor 32, the third motor 33, the fourth motor 42, and the vacuum generator 53. The control of the first motor 22, the second motor 32, the third motor 33, the fourth motor 42, and the vacuum generator 53 can be realized by using the control interface on the control platform 11 to respectively adjust the grasping orientation, grasping distance, grasping angle, and grasping time of the suction cups 52. It should be noted that the control can be realized in real time through the control interface of the control platform 11, or it can be preset through the control interface to achieve automatic grasping.

[0053] In some embodiments, a plurality of fixing holes 12 are provided at the edge of the base 1 for fixing the base 1 on the workbench. By fixing the base 1 on the workbench, the entire grasping device is fixed on the workbench, and the multi-directional grasping requirements of the workpiece to meet multiple processing technologies are realized by adjusting the grasping orientation, grasping distance, and grasping angle of the suction cup 52.

[0054] The working principle of the grasping device according to the embodiment of the present application:

[0055] The first motor 22 works to drive the connecting seat 21 to rotate, so that the suction cup 52 realizes the adsorption, grasping, transfer, and placement of the workpiece in different orientations through the rotation of the connecting seat 21. The second motor 32 and the third motor 33 work to drive the first rotating arm 31, the connecting arm 34, and the second rotating arm 41 to rotate, so that the suction cup 52 extends away from the base 1 or shortens close to the base 1 to adsorb, grasp, transfer, and place the workpiece at different distances. Finally, the fourth motor 42 works to drive the second rotating arm 41 to rotate, driving the suction cup 52 on the bracket 51 to rotate, adjusting the angle of the plane formed by the suction cups 52 to make the plane formed by the suction cups 52 adapt to the plane of the workpiece. When the suction cup 52 adheres to the workpiece, the detection sensor 54 senses the workpiece, and the solenoid valve 55 on the vacuum generator 53 is activated to open the suction cup 52 to adsorb and grasp the workpiece. The workpiece is transferred to the set position under the cooperation of the first motor 22, the second motor 32, the third motor 33, and the fourth motor 42, and the solenoid valve 55 on the vacuum generator 53 is closed to close the suction cup 52 to complete the transfer and placement of the workpiece.

[0056] Those of ordinary skill in the art should understand that the discussion of any embodiment above is only exemplary, and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0057] The embodiments of the present invention are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omission, modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A gripping device, characterized in that: include: Base, azimuth adjustment device, telescopic device, angle adjustment device and grabbing assembly; The azimuth adjustment device is rotatably arranged on the top of the base, and is used to adjust the grabbing azimuth of the grabbing assembly; the telescopic device is arranged on a side of the azimuth adjustment device away from the base, and is used to adjust the grabbing distance of the grabbing assembly; the angle adjustment device is arranged on a side of the telescopic device away from the azimuth adjustment device, and is used to adjust the grabbing angle of the grabbing assembly; The grabbing assembly comprises a bracket and a suction cup, wherein a first surface of the bracket is connected to a side of the angle adjustment device away from the azimuth adjustment device, and a second surface of the bracket is provided with a plurality of suction cups.

2. The gripping device according to claim 1, characterized in that: The azimuth adjustment device comprises: a connecting seat and a first motor; The connecting seat is rotatably connected to the top of the base to form a first rotating surface, the first rotating surface is parallel to the plane where the top of the base is located, the first motor is fixedly arranged on a side of the connecting seat away from the base, and the output shaft of the first motor passes through the connecting seat and is fixedly connected to the base.

3. The gripping device according to claim 2, characterized in that: The telescopic device comprises: a first rotating arm, a second motor, a third motor and a connecting arm; The first end of the first rotating arm is rotatably connected to a side of the connecting seat away from the base to form a second rotating surface, the second rotating surface is at a first angle to the first rotating surface, the second motor is fixedly arranged on a side of the connecting seat away from the first rotating arm, and the output shaft of the second motor passes through the connecting seat and is fixedly connected to the first end of the first rotating arm; The second end of the first rotating arm is rotatably connected to the connecting arm to form a third rotating surface, and the third rotating surface is parallel to the second rotating surface. The third motor is fixedly arranged on a side of the connecting arm away from the first rotating arm, and the output shaft of the third motor passes through the connecting arm and is fixedly connected to the second end of the first rotating arm.

4. The gripping device according to claim 3, characterized in that: The angle adjustment device comprises: a second rotating arm and a fourth motor; The first end of the second rotating arm is rotatably connected to an end of the connecting arm away from the first rotating arm to form a fourth rotating surface, and the fourth rotating surface is at a second angle to the third rotating surface. The fourth motor is fixedly arranged on a side of the connecting arm away from the first rotating arm, and the output shaft of the fourth motor passes through the connecting arm and is fixedly connected to the first end of the second rotating arm, and the extension direction of the output shaft of the fourth motor is parallel to the extension direction of the second rotating arm.

5. The gripping device according to claim 4, characterized in that: The grabbing assembly also includes a vacuum generator and a detection sensor; The vacuum generator is arranged on the second rotating arm, the detection sensor is arranged on any one of the suction cups, the vacuum generator comprises a solenoid valve, and the solenoid valve is electrically connected to the detection sensor; the vacuum generator is connected to the suction cup through a pipeline.

6. The gripping device according to claim 3, characterized in that: The second rotation plane is perpendicular to the first rotation plane.

7. The gripping device according to claim 5, characterized in that: The fourth rotation plane is perpendicular to the third rotation plane.

8. The gripping device according to claim 7, characterized in that: The second end of the second rotating arm is rotatably connected to the bracket.

9. The gripping device according to claim 5, characterized in that: A control platform is provided on the base, and the control platform is electrically connected to the first motor, the second motor, the third motor, the fourth motor and the vacuum generator respectively, and is used to control the operation of the first motor, the second motor, the third motor, the fourth motor and the vacuum generator.

10. The gripping device according to claim 1, characterized in that: A plurality of fixing holes are arranged on the edge of the base for fixing the base on the workbench.

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