Integrated grabbing device and workpiece grabbing system

Abstract

The utility model provides an integrated grabbing device and a workpiece grabbing system, the integrated grabbing device is moved to a required position through a multi-shaft driving assembly in the system, and the device is connected to a mounting support assembly through a first grabbing mechanism and a second grabbing mechanism of which the opening and closing axes are positioned on the same plane by an opening and closing driving assembly; the first grabbing mechanism and the second grabbing mechanism are used for grabbing different workpieces to be placed in a box to be assembled, and the shapes of the tail end of the clamping arm of the first grabbing mechanism and the tail end of the clamping arm of the second grabbing mechanism are matched with the shapes of the workpieces. Workpieces in different shapes are embedded into the tail ends of the clamping arms in different shapes through the first grabbing mechanism and the second grabbing mechanism, the grabbing capacity is improved, the application range is widened, and when the workpieces are placed, the second grabbing mechanism can be tightly attached to gaps between the workpieces and the box body to be pulled out and does not make contact with the box body, so that the clamping efficiency is improved. And unnecessary cost expenditure caused by contact between the grabbing mechanism and the box body is effectively avoided.

Description

Technical Field

[0001] The utility model relates to the field of grasping mechanisms, and in particular to an integrated grasping device and a workpiece grasping system. Background Art

[0002] With the rapid development of the intelligent industry, the battery, as the core component of various intelligent devices, has increasingly higher requirements for production efficiency and quality. During the production and assembly process of the battery, the grasping device, as a key component for performing grasping and handling tasks, has gradually received extensive attention and research.

[0003] During the power supply assembly process, it is necessary to place various components into the power supply box body according to the process. Among them, there are many grasping processes and the assembly process is complex. At the same time, the structures of the components involved in the assembly are different, and it is necessary to use a variety of grasping structures or even manual cooperation to complete the assembly.

[0004] When using the existing grasping device to grasp and place products, it will rub against the edge of the box body. Moreover, due to the variety of products and usually different product characteristics, such as different weights, shapes, etc., during the grasping process, the contact surface between the grasping mechanism and the product cannot be fitted, resulting in damage to the product or the box body, and increasing the installation cost. Summary of the Utility Model

[0005] The embodiment of the utility model discloses an integrated grasping device and a workpiece grasping system, which are used to solve the technical problem that in the existing grasping device, due to different product characteristics, the contact surface between the grasping mechanism and the product cannot be fitted, and during the placing process, it rubs against the edge of the box body, resulting in damage to the product or the box body and increasing the installation cost.

[0006] The embodiment of the utility model provides an integrated grasping device, which includes an installation support component, and at least one first grasping mechanism and at least one second grasping mechanism whose opening and closing axes are in the same plane;

[0007] The first grasping mechanism and the second grasping mechanism are connected to the installation support component, and are used to respectively grasp different workpieces and place them into the box body to be assembled;

[0008] The shapes of the ends of the clamping arms of the first grasping mechanism and the ends of the clamping arms of the second grasping mechanism respectively match the shapes of the workpieces.

[0009] Optionally, the first grasping mechanism and the second grasping mechanism are respectively connected to the installation support component through an opening and closing drive component.

[0010] Optionally, the clamping arms of the first grasping mechanism are obliquely centered relative to the opening and closing axis and approach relatively along the direction of the ends of the clamping arms;

[0011] The clamping surface of the clamping arm of the first grasping mechanism is provided with a first convex portion, and a second convex portion is provided below the first convex portion. A groove is formed between the first convex portion and the second convex portion, and the groove is used for fitting the workpiece to be grasped.

[0012] Optionally, a first lifting drive assembly is further provided between the opening and closing drive assembly of the first grasping mechanism and the mounting and supporting assembly;

[0013] Wherein, the output end of the first lifting drive assembly is connected to one side of the first mounting frame, and the opening and closing drive assembly of the first grasping mechanism is installed on the other side of the first mounting frame.

[0014] Optionally, the clamping arms of the second grasping mechanism are obliquely centered with respect to the opening and closing axis and approach relatively along the direction of the ends of the clamping arms;

[0015] The clamping surface of the clamping arm of the second grasping mechanism is a plane provided with a third convex portion.

[0016] Optionally, the second grasping mechanism includes a first clamping jaw and a second clamping jaw;

[0017] The clamping surfaces on the first clamping jaw and the second clamping jaw have different clamping surface structures.

[0018] Optionally, a second lifting drive assembly is further provided between the opening and closing drive assembly of the first clamping jaw and the mounting and supporting assembly;

[0019] Wherein, the output end of the second lifting drive assembly is connected to one side of the second mounting frame, and the opening and closing drive assembly of the first clamping jaw is installed on the other side of the second mounting frame;

[0020] The opening and closing drive assembly of the second clamping jaw is connected to the mounting and supporting assembly through a fixing frame.

[0021] Optionally, a plurality of suction cups are further provided between the clamping arms of the second grasping mechanism;

[0022] Each of the suction cups is connected to a vacuum generator through a vacuum pipeline for adsorbing the workpiece to be grasped;

[0023] The vacuum generator is installed outside the mounting and supporting assembly.

[0024] Optionally, the grasping weight of the first grasping mechanism is greater than the grasping weight of the second grasping mechanism.

[0025] Optionally, the opening and closing width of the second grasping mechanism is greater than the opening and closing width of the first grasping mechanism, and the second grasping mechanism has no contact with the edge of the box body to be assembled.

[0026] The present utility model also provides a workpiece grasping system, which includes a multi-axis driving component and the integrated grasping device as described in any one of the above items;

[0027] The multi-axis driving component is connected to the installation and support component of the integrated grasping device and is used to drive the integrated grasping device to move.

[0028] Optionally, it further includes a vision component;

[0029] The vision component is installed at one end of the installation and support component and is used to obtain the product information and position information of the workpiece.

[0030] It can be seen from the above technical solutions that the embodiments of the present utility model have the following advantages:

[0031] The embodiments of the present utility model provide an integrated grasping device and a workpiece grasping system. The multi-axis driving component in the system moves the integrated grasping device to the required position. The device is connected to the installation and support component through the first grasping mechanism and the second grasping mechanism whose opening and closing axes are in the same plane and are driven by the opening and closing driving component, and are used to respectively grasp different workpieces and place them in the box to be assembled; the shapes of the ends of the clamping arms of the first grasping mechanism and the second grasping mechanism respectively match the shapes of the workpieces; the opening and closing width of the second grasping mechanism is greater than that of the first grasping mechanism, and the second grasping mechanism has no contact with the edge of the box to be assembled under the maximum opening and closing width. By using the first grasping mechanism and the second grasping mechanism to fit different-shaped workpieces with the ends of the clamping arms of different shapes, it is possible to simultaneously grasp multiple special-shaped workpieces with different structures, improve the grasping ability and broaden the scope of application. When placing the workpieces, the second grasping mechanism can be drawn out closely against the gap between the workpiece and the box and has no contact with the box, effectively avoiding unnecessary cost expenditures caused by the contact between the grasping mechanism and the box. Description of the Drawings

[0032] 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 use in 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 also be obtained based on these drawings.

[0033] Figure 1 It is a schematic structural diagram of an integrated grasping device provided in the embodiments of the present utility model;

[0034] Figure 2 It is a schematic structural diagram of the first grasping mechanism provided in the embodiments of the present utility model;

[0035] Figure 3Schematic diagram of the structure of the first jaw in the second grasping mechanism provided in the embodiment of the present utility model;

[0036] Figure 4 Schematic diagram of the structure of the second jaw in the second grasping mechanism provided in the embodiment of the present utility model;

[0037] Figure 5 Schematic diagram of the suction cup setting position of an integrated grasping device provided in the embodiment of the present utility model;

[0038] Figure 6 Schematic diagram of the structure of a workpiece grasping system provided in the embodiment of the present utility model.

[0039] Reference numerals: 1 - mounting support assembly, 21 - first grasping mechanism, 211 - first mounting frame, 212 - first lifting drive assembly, 2111 - first convex part, 2112 - second convex part, 22 - second grasping mechanism, 221 - first jaw, 2211 second mounting frame, 2212 - second lifting drive assembly, 2213 - third convex part, 222 - second jaw, 223 - suction cup, 2221 - fixing frame, 2222 - suction cup mounting frame, 3 - opening and closing drive mechanism, 4 - vacuum generator, 5 - multi-axis drive assembly, 6 - integrated grasping device, 7 - vision component. Detailed implementation manners

[0040] In the existing assembly process, there are usually a wide variety of products involved in the assembly, and they usually have different product characteristics, such as different weights, shapes, etc. It is required that the grasping device needs to meet the grasping requirements of various products, and the product shape may be irregular, resulting in the inability of the contact surface between the grasping device and the product to fit, leading to the problem of unstable grasping. After the grasping device grasps the product, it needs to move it into a box or a case. During the component installation process, it is necessary to fit and assemble at the corresponding positions. The gap between the reserved component (or product) and the box is small, and the existing grasping device touches the edge of the box, resulting in unnecessary cost increase.

[0041] Therefore, the embodiment of the present utility model discloses an integrated grasping device and a workpiece grasping system. By improving the clamping arms of the grasping mechanism, it solves the technical problem that in the existing grasping device, due to different product characteristics, the contact surface between the grasping mechanism and the product cannot fit, and it generates friction with the edge of the box during the lowering process, resulting in damage to the product or the box and increasing the installation cost.

[0042] Please refer to Figure 1 , the schematic diagram of the structure of an integrated grasping device provided in the embodiment of the present utility model.

[0043] An embodiment of the present utility model provides an integrated grasping device, which includes an installation and support assembly 1, and at least one first grasping mechanism 21 and at least one second grasping mechanism 22 whose opening and closing axes are in the same plane; the first grasping mechanism 21 and the second grasping mechanism 22 are connected to the installation and support assembly 1 and are used to respectively grasp different workpieces and place them in a box to be assembled; the shapes of the ends of the clamping arms of the first grasping mechanism 21 and the second grasping mechanism 22 respectively match the shapes of the workpieces. The integrated grasping device is not limited to only one first grasping mechanism 21 and only one second grasping mechanism 22, and can be set according to actual needs.

[0044] The opening and closing axis refers to the midline between the two end clamping arms of the first grasping mechanism 21 and the second grasping mechanism 22.

[0045] The installation and support assembly 1 refers to a structure that installs different types of mechanisms or components through a certain connection relationship, and mainly plays a role in supporting, fixing or connecting other components, such as adapter plates, support frames, support seats, connecting pieces, etc.

[0046] In the embodiment of the present utility model, the opening and closing axes of the first grasping mechanism 21 and the second grasping mechanism 22 are in the same plane, and the two are respectively connected to the installation and support assembly 1, and can be connected to other devices through the installation and support assembly 1 to integrally move the integrated grasping device. Among them, both the first grasping mechanism 21 and the second grasping mechanism 22 include at least two clamping arms, and the shapes of the ends of the clamping arms of the two respectively match the shapes of the workpieces, so that when the first grasping mechanism 21 or the second grasping mechanism 22 grasps different workpieces, it can closely fit the surface of the workpiece to ensure the clamping effect.

[0047] Optionally, the first grasping mechanism 21 and the second grasping mechanism 22 are respectively connected to the installation and support assembly 1 through an opening and closing drive assembly 3.

[0048] The opening and closing drive assembly 3 can be composed of a drive mechanism, a transmission mechanism and a corresponding control system, etc. The drive mechanism provides power, which is transmitted to the first grasping mechanism 21 or the second grasping mechanism 22 through the transmission mechanism, so as to directly contact the object to be grasped through the first grasping mechanism 21 or the second grasping mechanism 22 to generate a clamping force. At the same time, the control system can be used to control the working parameters of the opening and closing drive assembly 3, such as the magnitude of the clamping force, the clamping amplitude and the clamping time, etc. The drive mechanism can include mechanical, hydraulic and pneumatic types, for example, power is provided by power sources such as motors, hydraulic pumps or air pumps.

[0049] Optionally, the grasping weight of the first grasping mechanism 21 is greater than the grasping weight of the second grasping mechanism 22.

[0050] When the device performs a grasping action on different workpieces, the end of the clamping arm of the first grasping mechanism 21 has a groove formed by a first convex portion 2111 and a second convex portion 2112. By matching the shape of the groove with the surface shape of the workpiece, it can engage with the workpiece to adapt to heavy workpieces. The clamping surface at the end of the clamping arm of the second grasping mechanism 22 is flat. When grasping the workpiece and placing it into the box to be assembled, after the second grasping mechanism 22 places the workpiece, it can open and close slightly and then withdraw closely along the surface of the workpiece. After the first grasping mechanism 21 places the workpiece, it can open and close greatly. First, the second convex portion 2112 is withdrawn along the plane, and then it is lifted along the edge of the box to complete the workpiece assembly.

[0051] Optionally, the opening and closing width of the second grasping mechanism 22 is greater than that of the first grasping mechanism 21, and the second grasping mechanism 22 has no contact with the edge of the box to be assembled.

[0052] Among them, the opening and closing width of the second grasping mechanism 22 is greater than that of the first grasping mechanism 21, and during the process of the second grasping mechanism 22 grasping the workpiece and placing it into the box to be assembled, it has no contact with the edge of the box to be assembled, avoiding interference caused by the opening and closing of the grasping mechanism to the edge of the box and damaging the box.

[0053] In addition, to extend the service life of the device, components such as the first grasping mechanism 21 and the second grasping mechanism 22 that have a high number of contacts with the workpiece can be made of steel material, and their clamping surfaces can be specially treated, such as spraying a protective agent, scribing textures, etc., to increase the roughness of the clamping surface and prevent the workpiece from sliding and falling during the clamping process.

[0054] Optionally, the clamping arms of the first grasping mechanism 21 are obliquely centered relative to the opening and closing axis and approach relatively along the direction of the end of the clamping arm; the clamping surface of the clamping arm of the first grasping mechanism 21 is provided with a first convex portion 2111; a second convex portion 2112 is provided below the first convex portion 2111, and a groove is formed between the first convex portion 2111 and the second convex portion 2112 for fitting the grasped workpiece.

[0055] Please refer to Figure 2 , in an example of the present utility model, the two clamping arms of the first grasping mechanism 21 are obliquely installed at the power output ends on the opposite sides of the opening and closing drive mechanism relative to the opening and closing axis. At the same time, a first convex portion 2111 is provided on the clamping surface on the opposite side of the end of the clamping arm. A second convex portion 2112 is connected below the first convex portion 2111, and a groove is formed between the first convex portion 2111 and the second convex portion 2112 to clamp the grasped workpiece and fit the structure of the grasped workpiece to avoid damaging it.

[0056] In addition, the shape and length of the second convex portion 2112 are different from those of the first convex portion 2111. The protruding length of the first convex portion 2111 is greater than that of the second convex portion 2112, and the second convex portion 2112 is obliquely disposed with respect to the opening.

[0057] Furthermore, a first lifting drive assembly 212 is provided between the opening and closing drive assembly of the first grasping mechanism 21 and the mounting and supporting assembly 1. The output end of the first lifting drive assembly 212 is connected to one side of the first mounting bracket 211, and the opening and closing drive assembly of the first grasping mechanism 21 is mounted on the other side of the first mounting bracket 211.

[0058] As Figure 1 and Figure 2 shown, since the overall movement of the integrated grasping device can usually only move the first grasping mechanism 21 and the second grasping mechanism 22 to the same plane, it is difficult to grasp workpieces at different heights simultaneously. For this reason, a first lifting drive assembly 212 can be provided between the opening and closing drive assembly of the first grasping mechanism 21 and the mounting and supporting assembly 1, and the opening and closing drive assembly of the first grasping mechanism 21 is mounted on the lower side of the first mounting bracket 211. The lifting operation of the first grasping mechanism 21 is realized through the first lifting drive assembly 212 to cooperate with the opening and closing drive assembly 3 to grasp workpieces at different heights.

[0059] In an example of the present utility model, the clamping arms of the second grasping mechanism 22 are obliquely disposed in a centered manner with respect to the opening and closing axis and approach each other in the direction of the ends of the clamping arms; the clamping surface of the clamping arms of the second grasping mechanism 22 is a plane provided with a third convex portion 2213.

[0060] As Figure 3 shown, in this embodiment, the clamping arms of the second grasping mechanism 22 are obliquely mounted at both ends of its opening and closing drive assembly in a centered manner with respect to the opening and closing axis, and at the same time the clamping arms approach each other along the ends of the clamping arms. The clamping surface of the second grasping mechanism 22 is a plane with a third convex portion 2213, and the third convex portion 2213 is provided on the upper part of the plane and is used in cooperation with the plane to fit the surface of the workpiece to be grasped.

[0061] To further improve the clamping ability, textures can be engraved on the plane or anti-slip glue can be attached.

[0062] Optionally, the second grasping mechanism 22 includes a first clamping jaw 221 and a second clamping jaw 222; the clamping surfaces on the first clamping jaw 221 and the second clamping jaw 222 have different clamping surface structures.

[0063] As Figure 1 、 Figure 3 and Figure 4As shown, in this embodiment, the second grasping mechanism 22 includes a first jaw 221 and a second jaw 222 that are separately connected to the opening and closing drive assembly 3. The clamping surfaces at the ends of the clamping arms of the first jaw 221 and the second jaw 222 may be provided with different textures and shapes. For example, the positions of the third protrusions 2213 on the clamping surface of the first jaw 221 and the third protrusions 2213 on the second jaw 222 are different, and the protruding lengths are different.

[0064] Optionally, a second lifting drive assembly 2212 is further provided between the opening and closing drive assembly of the first jaw 221 and the mounting support assembly 1; wherein, the output end of the second lifting drive assembly 2212 is connected to one side of the second mounting bracket 2211, and the opening and closing drive assembly of the first jaw 221 is installed on the other side of the second mounting bracket 2211; the opening and closing drive assembly of the second jaw 222 is connected to the mounting support assembly 1 through a fixing bracket 2221.

[0065] To improve the grasping flexibility of the second grasping mechanism 22, the first jaw 221 can be connected to the output end of the second lifting drive assembly 2212 through the second mounting bracket 2211 to respond to the power output of the second lifting drive assembly 2212, driving the first jaw 221 to lift, and the second lifting drive assembly 2212 is connected to the mounting support assembly 1.

[0066] Among them, the structures of the first lifting drive assembly 212 and the second lifting drive assembly 2212 are similar, and both include a power mechanism such as a hydraulic press, an electric motor or a cylinder and a transmission mechanism. The lifting power is provided to the first grasping mechanism 21 or the first jaw 221 through the transmission mechanism to complete the lifting operation of the mechanism.

[0067] As Figure 4 shown, in this embodiment, both the first drive mechanism and the first jaw 221 can grasp workpieces at different heights. To reduce costs, the switch drive assembly of the second jaw 222 can be directly installed on the fixing bracket 2221 and connected to the mounting support assembly 1 through the fixing bracket 2221. When grasping a workpiece, first grasp the workpiece with the second jaw 222, and then adjust the grasping heights of the first grasping mechanism 21 and the first jaw 221 to grasp the workpiece.

[0068] Among them, the clamping arms of the first jaw 221 or the second jaw 222 can be set as three-jaw chucks to adapt to the grasping of circular or arc-shaped workpieces.

[0069] Optionally, a plurality of suction cups 223 are further provided between the clamping arms of the second grasping mechanism 22; each suction cup 223 is connected to a vacuum generator 4 through a vacuum pipeline for adsorbing the grasped workpiece; the vacuum generator 4 is installed outside the mounting support assembly 1.

[0070] Please refer to Figure 1 and Figure 5, a plurality of suction cups 223 may also be provided between the clamping arms of the second grasping mechanism 22. When the second grasping mechanism 22 grasps the workpiece, each suction cup 223 is activated to perform vacuum adsorption on the workpiece, further preventing the workpiece from falling. In addition, when placing the workpiece into the box to be assembled, the first clamping jaw 221 can be first lifted to a certain height by the second lifting assembly, and the opening and closing drive assembly 3 releases the first clamping jaw 221 and the second clamping jaw 222. At this time, the workpiece is adsorbed and fixed by the suction cup 223 and placed into the box to be assembled, which can further prevent the box from being damaged due to interference between the clamping jaw and the box.

[0071] Among them, each suction cup 223 can be connected to the vacuum generator 4 separately or together through a vacuum pipeline. The vacuum generator 4 can be installed outside the installation support assembly 1 or outside the first mounting bracket 211 of the first grasping mechanism 21. The vacuum generator 4 can be an integrated structure, mainly composed of multiple components such as a vacuum pump, a vacuum container, a vacuum degree detector, and a vacuum pipeline. These components work together to extract air through the vacuum pipeline, thereby creating the required vacuum environment. In addition, the sizes of the suction cups 223 can be partially different and arranged in an array to provide different adsorption forces. The vacuum pipeline can be accommodated in the suction cup mounting bracket 2222, and there is no connection between the suction cup mounting bracket 2222 and the second grasping mechanism 22.

[0072] Optionally, the first grasping mechanism 21 can be fitted with the workpiece through a groove, while the second grasping mechanism 22 is fitted with the surface of the workpiece by clamping, and it is necessary to cooperate with the suction cup 223 for vacuum adsorption. The grasping weight of the first grasping mechanism 21 is greater than that of the second grasping mechanism 22.

[0073] In this embodiment, the first grasping mechanism 21 extends out alone under the drive of the first lifting drive assembly 212, grasps the first workpiece of the corresponding shape from the tray and places it on the transfer platform. Then, the first clamping jaw 221 extends out alone under the drive of the second lifting drive assembly 2212, and successively grasps the second workpiece and the third workpiece of the corresponding shape from the tray and places them on the transfer platform. At this time, the second clamping jaw 222 does not move. Then, the first workpiece, the second workpiece, and the third workpiece on the transfer platform are shaped so that they are arranged in the order required by the box to be assembled, for example, arranged in a line. After the shaping is completed, the first clamping jaw 221 and the second clamping jaw 222 in the first grasping mechanism 21 and the second grasping mechanism 22 are opened simultaneously, grasping the first workpiece, the second workpiece, and the third workpiece. At the same time, the vacuum suction cups 223 in the second grasping mechanism 22 perform vacuum adsorption on the second workpiece and the third workpiece to improve the grasping stability, and the three workpieces are transferred from the transfer platform to the box to be assembled and then withdrawn to complete the assembly.

[0074] An embodiment of the present utility model provides an integrated grasping device. The first grasping mechanism and the second grasping mechanism with the opening and closing axes in the same plane are connected to the installation and support assembly through the opening and closing drive assembly, and are used to respectively grasp different workpieces and place them in the box to be assembled. The shapes of the ends of the clamping arms of the first grasping mechanism and the ends of the clamping arms of the second grasping mechanism respectively match the shapes of the workpieces. The opening and closing width of the second grasping mechanism is greater than that of the first grasping mechanism, and the second grasping mechanism has no contact with the edge of the box to be assembled at the maximum opening and closing width. By using the first grasping mechanism and the second grasping mechanism to fit different-shaped workpieces with the ends of the clamping arms of different shapes, it is possible to simultaneously grasp multiple irregular-shaped workpieces with different structures, improve the grasping ability and broaden the scope of application. When placing the workpieces, the second grasping mechanism can be drawn out closely along the gap between the workpiece and the box and has no contact with the box, effectively avoiding unnecessary cost expenditures caused by the contact between the grasping mechanism and the box.

[0075] Please refer to Figure 6 , Figure 6 which shows a partial structural schematic diagram of a workpiece grasping system provided by an embodiment of the present utility model.

[0076] An embodiment of the present utility model also provides a workpiece grasping system, which includes a multi-axis drive assembly 5 and an integrated grasping device 6 as described in any embodiment of the present utility model. The multi-axis drive assembly 5 is connected to the installation and support assembly 1 of the integrated grasping device 6 and is used to drive the integrated grasping device 6 to move.

[0077] The multi-axis drive assembly 5 refers to a mechanism that realizes multi-degree-of-freedom motion by controlling the motion of multiple mechanical axes. It mainly consists of multiple drivers, motors, transmission devices, and control systems, etc. Based on the power output of the driver, the motion transmission of the transmission device, and the command adjustment of the control system. When the control system issues a command, the driver receives the command and converts it into a current or voltage signal to drive the motor to move. The motion of the motor is transmitted to the mechanical axis through the transmission device, pushing the mechanical axis to perform corresponding motions. The control system precisely controls the driver and the transmission device according to the preset path, speed, and torque requirements to realize the multi-degree-of-freedom motion of the multi-axis structure, so that the integrated grasping device 6 can be moved to different positions to grasp workpieces and load the workpieces into the box to be assembled.

[0078] In this embodiment, the power output end of the multi-axis drive assembly 5 is connected to the installation and support assembly 1 of the integrated grasping device 6. By responding to the control command of the multi-axis drive assembly 5, the integrated grasping device 6 is driven to move to different positions. After the integrated grasping device 6 moves to the target position, the grasping actions of the first grasping mechanism 21 and the second grasping mechanism 22 are executed to grasp different-shaped workpieces for assembly.

[0079] Optionally, the system further includes a vision component 7; the vision component 7 is installed at one end of the installation support component 1 and is used to obtain the product information and position information of the workpiece.

[0080] In this embodiment, the workpiece grasping system may further include a vision component 7, which can be installed at one end of the installation support component 1 to obtain the product information and position information of any workpiece to be grasped.

[0081] The product information refers to the information used to characterize the basic attributes of the workpiece, such as product shape, size, surface texture, and the type of workpiece to which it belongs.

[0082] It is also possible to obtain the vision information of the position where the integrated grasping device 6 is located to determine the three-dimensional coordinate position where the integrated grasping device 6 is located. In addition, the vision component 7 can also upload the vision information to the control end. After the control end receives the vision information, it can optimize the movement route of the integrated grasping device 6 according to its corresponding three-dimensional position, such as executing a path optimization algorithm, or determining whether the position of the integrated grasping device 6 needs to be reset according to the three-dimensional position.

[0083] The embodiment of the present utility model provides a workpiece grasping system, which mainly includes a multi-axis driving component and an integrated grasping device. The multi-axis driving component is connected to the installation support component in the integrated grasping device, and moves in response to a control instruction through the multi-axis driving component, so as to move the integrated grasping device to different positions, and then the integrated grasping device performs a grasping action or a placing action on the workpiece at the corresponding position, thereby completing the grasping and assembly of the workpiece. It can grasp workpieces of different shapes or different weights at the same time, and can shape the position of the workpiece, increasing the diversity of its uses while ensuring the grasping stability of the workpiece.

[0084] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including the element.

[0085] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0086] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An integrated grasping device, characterized in that, It includes an installation support component (1), and at least one first grasping mechanism (21) and at least one second grasping mechanism (22) whose opening and closing axes are in the same plane; The first grasping mechanism (21) and the second grasping mechanism (22) are connected to the installation support component (1) and are used to respectively grasp different workpieces and place them in a box to be assembled; The shapes of the ends of the clamping arms of the first grasping mechanism (21) and the ends of the clamping arms of the second grasping mechanism (22) respectively match the shapes of the workpieces.

2. The integrated grasping device according to claim 1, wherein, The first grasping mechanism (21) and the second grasping mechanism (22) are respectively connected to the installation support component (1) through an opening and closing drive component (3).

3. The integrated grasping device according to claim 1, wherein The clamping arms of the first grasping mechanism (21) are obliquely centered relative to the opening and closing axis and approach each other in the direction of the ends of the clamping arms; The clamping surface of the clamping arm of the first grasping mechanism (21) is provided with a first convex part (2111), and a second convex part (2112) is provided on the lower side of the first convex part (2111). A groove is formed between the first convex part (2111) and the second convex part (2112), and the groove is used to fit the workpiece to be grasped.

4. The integrated grasping device according to claim 2 or 3, characterized in that, A first lifting drive component (212) is further provided between the opening and closing drive component of the first grasping mechanism (21) and the installation support component (1); Among them, the output end of the first lifting drive component (212) is connected to one side of the first mounting frame (211), and the opening and closing drive component of the first grasping mechanism (21) is installed on the other side of the first mounting frame (211).

5. The integrated grasping device according to claim 1, wherein The clamping arms of the second grasping mechanism (22) are obliquely centered relative to the opening and closing axis and approach each other in the direction of the ends of the clamping arms; The clamping surface of the clamping arm of the second grasping mechanism (22) is a plane provided with a third convex part (2213).

6. The integrated grasping device according to claim 2, wherein The second grasping mechanism (22) includes a first clamping jaw (221) and a second clamping jaw (222); The clamping surfaces on the first clamping jaw (221) and the second clamping jaw (222) have different clamping surface structures.

7. The integrated grasping device according to claim 6, characterized in that, A second lifting drive component (2212) is further provided between the opening and closing drive component of the first clamping jaw (221) and the installation support component (1); Among them, the output end of the second lifting drive component (2212) is connected to one side of the second mounting frame (2211), and the opening and closing drive component of the first clamping jaw (221) is installed on the other side of the second mounting frame (2211); The opening and closing drive component of the second clamping jaw (222) is connected to the installation support component (1) through a fixing frame (2221).

8. The integrated grasping device according to claim 1 or 5 or 6 or 7, characterized in that A plurality of suction cups (223) are further provided between the clamping arms of the second grasping mechanism (22); Each of the suction cups (223) is connected to a vacuum generator (4) through a vacuum pipeline and is used to adsorb the workpiece to be grasped; The vacuum generator (4) is installed outside the installation support component (1).

9. The integrated grasping device according to claim 1, characterized in that, The grasping weight of the first grasping mechanism (21) is greater than the grasping weight of the second grasping mechanism (22).

10. The integrated grasping device according to claim 1, characterized in that, The opening and closing width of the second grasping mechanism (22) is greater than that of the first grasping mechanism (21), and the second grasping mechanism (22) is not in contact with the edge of the box body to be assembled.

11. A workpiece gripping system, characterized in that, It includes a multi-axis drive assembly (5) and an integrated grasping device (6) as described in any one of claims 1-10; The multi-axis drive assembly (5) is connected to the installation and support assembly (1) of the integrated grasping device (6) and is used to drive the integrated grasping device (6) to move.

12. The workpiece gripping system according to claim 11, characterized in that, It further includes a vision component (7); The vision component (7) is installed at one end of the installation and support assembly (1) and is used to obtain the product information and position information of the workpiece.

Images