Paw and welding equipment
By designing the hand claws and image acquisition components for detachable suction heads, the efficient assembly and welding of small-piece workpieces are solved, and efficient and precise automated production is achieved.
Patent Information
- Application Number
- CN202422219424.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-10
- Publication Date
- 2025-08-19
- Estimated Expiration
- 2034-09-10
AI Technical Summary
In the prior art, the assembly and welding of small-piece workpieces are low, and manual operation is prone to damage small parts, resulting in production efficiency and quality problems, and traditional clamping mechanical claws cannot effectively clamp small parts.
A hand claw is designed, including a base, clamping assembly, suction head and exhaust assembly, which adsorbs small workpieces through negative pressure, and can quickly disassemble and assemble the suction head, combining the image acquisition assembly and press-holding assembly to achieve precise assembly and welding.
It improves the assembly and welding efficiency of small-piece workpieces, reduces the risk of manual operation damage, improves production efficiency and product quality, reduces labor intensity and the frequency of cleaning and holding fixtures.
Smart Images
Figure CN223235394U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of mechanical automation technology, and in particular to a gripper and welding equipment. Background Art
[0002] During the production process, assembling two workpieces together and fixing them by welding is a common processing method. When producing electronic products, small parts are usually assembled into large parts, and then the small and large parts are welded together. Due to the small size or thin structure of small parts, it is impossible to use traditional clamping robot claws to pick up and assemble them. At present, the common method is to manually assemble small parts on large parts, and then use a holding fixture to hold the small and large parts, and then weld them. This method has low operating efficiency, high labor intensity, and low manual assembly accuracy. Operators are prone to damaging small parts when taking and placing small parts, resulting in reduced production yield; after multiple welding, weld scars are easily generated on the holding fixture, which will affect product quality, and the holding fixture needs to be cleaned regularly, resulting in low production efficiency. Utility Model Content
[0003] In view of the above, it is necessary to propose a gripper and a welding device, wherein the gripper can grasp the first workpiece, and the suction head of the gripper can be quickly disassembled and assembled to improve production efficiency, and the welding device can weld the first workpiece and the second workpiece.
[0004] An embodiment of the present application provides a gripper, comprising: a base; a clamping assembly connected to the base; a suction head detachably connected to the clamping assembly, the suction head comprising a suction surface for adsorbing a first workpiece and an air hole passing through the suction head, and one end of the air hole is arranged on the adsorption surface; and an exhaust assembly, comprising an exhaust head connected to the base and arranged adjacent to the clamping assembly, a gas channel being arranged inside the exhaust head, the exhaust head abutting the suction head and the gas channel being connected to one end of the air hole away from the adsorption surface; wherein the exhaust head is used to connect to an external exhaust device, so that the external exhaust device extracts air through the gas channel and the air hole, thereby causing the air hole at one end of the adsorption surface to generate negative pressure to adsorb the first workpiece.
[0005] The gripper, by providing a clamping assembly, can clamp or release the suction head, thereby enabling quick assembly and disassembly of the suction head. After several uses, the clamping assembly can remove the suction head and clamp a new one, allowing the operator to clean the removed suction head without affecting the use of the gripper, thereby improving work efficiency. The gas channel within the suction head of the vacuum assembly can be connected to the air hole within the suction head, thereby allowing an external vacuum device to extract air through the gas channel and the air hole, so that the air hole is located at one end of the suction surface of the suction head to generate negative pressure, thereby enabling the suction of the first workpiece.
[0006] In some embodiments, the clamping assembly includes a clamping drive connected to the base and two clamping fingers connected to the clamping drive and arranged opposite to each other, each clamping finger is provided with a clamping protrusion at one end away from the clamping drive, and the clamping protrusions on the two clamping fingers are arranged opposite to each other, and positioning grooves adapted to the clamping protrusions are provided on opposite sides of the suction head, and the clamping drive is used to drive the two clamping fingers to approach or move away from each other, so that when the two clamping fingers approach each other, each clamping protrusion is inserted into the corresponding positioning groove, thereby clamping and positioning the suction head, and releasing the suction head when the two clamping fingers move away from each other.
[0007] In some embodiments, the gripper further includes an image acquisition component connected to the base and spaced apart from the clamping component.
[0008] In some embodiments, the gripper further includes a pressing assembly, the pressing assembly including a pressing drive connected to the base and a pressing member connected to the pressing drive, the end of the pressing member away from the pressing drive corresponds to a side of the suction head away from the adsorption surface, and the pressing drive is used to drive the pressing member to press the suction head, thereby causing the suction head to press the first workpiece.
[0009] In some embodiments, a positioning piece is provided on the suction head, and the positioning piece is connected to a side of the suction head close to the pressing piece. The positioning piece is provided with a positioning hole adapted to the pressing piece. When the pressing assembly presses the suction head, the pressing piece is inserted into the positioning hole to position the suction head.
[0010] In some embodiments, the suction head is provided with an avoidance hole, and an extension direction of the avoidance hole is perpendicular to the plane where the adsorption surface is located.
[0011] In some embodiments, the gripper further includes an air blowing component, which is connected to the base and corresponds to the suction head, and the air blowing component is used to blow air to the suction head to clean the suction head.
[0012] In some embodiments, the suction assembly further includes an elastic connecting tube connected to the suction head, and the elastic connecting tube is used to elastically abut against the suction head.
[0013] In some embodiments, the base includes a connecting member and a floating seat, the floating seat is movably connected to the connecting member in a direction perpendicular to the adsorption surface, the connecting member is used to connect to an external driving device, and the floating seat is used to support the clamping assembly and the vacuum assembly.
[0014] An embodiment of the present application also provides a welding device, comprising: a feeding device for providing a first workpiece; a picking and placing device, comprising a moving mechanism and the gripper in the above embodiment, wherein the moving mechanism is arranged adjacent to the feeding device, and the gripper is connected to the output end of the moving mechanism; a positioning device, arranged adjacent to the picking and placing device, for carrying and positioning a second workpiece; and a welding device, arranged opposite to the positioning device; wherein the picking and placing device is used to take out the first workpiece from the feeding device and to assemble the first workpiece on the second workpiece located on the positioning device, and the welding device is used to weld the first workpiece and the second workpiece. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 A schematic structural diagram of the welding equipment provided in an embodiment of the present application.
[0016] Figure 2 A schematic diagram of the structure of the gripper provided in an embodiment of the present application.
[0017] Figure 3 for Figure 2 Schematic diagram of the exploded structure of the gripper shown.
[0018] Figure 4 for Figure 3 Schematic diagram of the exploded structure of the pipette tip shown.
[0019] Figure 5 for Figure 3 Another angle structural diagram of the suction head is shown.
[0020] Figure 6 for Figure 2 Another angle diagram of the structure of the gripper shown.
[0021] Figure 7 for Figure 1 The figure shows a schematic structural diagram of the feeding device, positioning device and welding device of the welding equipment from another angle.
[0022] Description of main component symbols
[0023] Welding equipment 1000
[0024] Gripper 100
[0025] Base 10
[0026] Connector 11
[0027] Floating seat 12
[0028] Connecting column 13
[0029] Clamping assembly 20
[0030] Clamping drive 21
[0031] Clamping Finger 22
[0032] Clamping protrusion 221
[0033] Tip 30
[0034] Adsorption surface 31
[0035] Air hole 32
[0036] Positioning groove 33
[0037] Positioning piece 34
[0038] Positioning hole 341
[0039] Avoidance hole 35
[0040] Air extraction component 40
[0041] Vacuum head 41
[0042] Elastic connecting tube 42
[0043] Image acquisition component 50
[0044] Pressing assembly 60
[0045] Pressing drive member 61
[0046] Pressing member 62
[0047] Blowing assembly 70
[0048] Feeding device 200
[0049] Material taking and unloading device 300
[0050] Mobile mechanism 310
[0051] Positioning device 400
[0052] Welding device 500
[0053] First workpiece 2000
[0054] Second workpiece 3000 DETAILED DESCRIPTION
[0055] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.
[0056] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0057] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.
[0058] The embodiments of the present application are further described below with reference to the accompanying drawings.
[0059] See Figure 1 and Figure 2 The present embodiment provides a gripper 100 for grasping a first workpiece 2000, which may be a sheet-like structure. The gripper 100 includes a base 10, a clamping assembly 20, a suction head 30, and an exhaust assembly 40. In this embodiment, the gripper 100 grasps the first workpiece 2000 and assembles it onto a second workpiece 3000, which may be a keyboard housing, a laptop computer housing, a tablet housing, or the like.
[0060] Specifically, see Figure 1 、 Figure 2 and Figure 3 The base 10 can be connected to an external moving device. The external moving device can be the moving mechanism 310 mentioned below, or a robotic arm, a linear module, etc., which can drive the base 10 to move. No limitation is made here.
[0061] The clamping assembly 20 is connected to the base 10 . It can be understood that the clamping assembly 20 moves with the base 10 .
[0062] Please also see Figure 4 and Figure 5 The suction head 30 is detachably connected to the clamping assembly 20. The suction head 30 includes a suction surface 31 for sucking the first workpiece 2000 and an air hole 32 extending through the suction head 30, with one end of the air hole 32 disposed on the suction surface 31. The suction head 30 may be a plate-like or block-like structure, and the suction surface 31 may be a planar structure, which facilitates stable suction of the first workpiece 2000. The number of air holes 32 may be one or more, and they may allow gas to circulate and have one end disposed on the suction surface 31, without limitation. When the number of air holes 32 is two or more, the ends of the multiple air holes 32 located on the suction surface 31 all correspond to the first workpiece 2000, so that when the suction head 30 abuts the first workpiece 2000, each air hole 32 can suck the first workpiece 2000. In this embodiment, the number of air holes 32 is set to two, and the two air holes 32 are symmetrically disposed.
[0063] The vacuum assembly 40 includes a vacuum head 41 connected to the base 10 and positioned adjacent to the clamping assembly 20. A gas channel (not shown) is provided within the vacuum head 41. The vacuum head 41 abuts the suction tip 30, and the gas channel communicates with the end of the air hole 32 facing away from the suction surface 31. It will be understood that when the clamping assembly 20 clamps the suction tip 30, the vacuum head 41 abuts the suction tip 30, at which point the gas channel communicates with the air hole 32. The number of vacuum heads 41 matches the number of air holes 32, and they correspond one-to-one. When the clamping assembly 20 clamps the suction tip 30, the gas channel in each vacuum head 41 communicates with a corresponding air hole 32.
[0064] The vacuum head 41 is used to connect to an external vacuum device (not shown) so that the external vacuum device can extract air through the gas channel and the air hole 32 , thereby generating negative pressure at one end of the air hole 32 located at the adsorption surface 31 to adsorb the first workpiece 2000 .
[0065] The gripper 100 provided in the embodiment of the present application can clamp or release the suction head 30 by providing a clamping assembly 20, thereby achieving rapid assembly and disassembly of the suction head 30. After several uses, the clamping assembly 20 can remove the suction head 30 and clamp a new suction head 30. The operator can clean the removed suction head 30 without affecting the use of the gripper 100, thereby improving the operation efficiency. The gas channel in the suction head 41 of the suction assembly 40 can be connected to the air hole 32 in the suction head 30, thereby allowing an external suction device to extract air through the gas channel and the air hole 32, so that the air hole 32 is located at one end of the suction surface 31 of the suction head 30 to generate negative pressure, thereby adsorbing the first workpiece 2000.
[0066] In some embodiments, see Figure 2 and Figure 3The clamping assembly 20 includes a clamping drive 21 connected to the base 10 and two clamping fingers 22 connected to the clamping drive 21 and arranged opposite to each other. A clamping protrusion 221 is provided at one end of each clamping finger 22 away from the clamping drive 21, and the clamping protrusions 221 on the two clamping fingers 22 are arranged opposite to each other. Positioning grooves 33 adapted to the clamping protrusions 221 are provided on opposite sides of the suction head 30. The clamping drive 21 is used to drive the two clamping fingers 22 to approach or move away from each other, so that when the two clamping fingers 22 approach each other, each clamping protrusion 221 is inserted into the corresponding positioning groove 33, thereby clamping and positioning the suction head 30, and releasing the suction head 30 when the two clamping fingers 22 move away from each other. The clamping drive 21 can be a cylinder, etc., and the clamping fingers 22 can be a rod-shaped structure. The clamping drive 21 drives the two clamping fingers 22 to approach each other so that the clamping protrusions 221 on the clamping fingers 22 are inserted into the corresponding positioning grooves 33 to clamp the suction head 30. Through the cooperation between the clamping protrusions 221 and the positioning grooves 33, the suction head 30 can be positioned when clamping the suction head 30.
[0067] In some embodiments, see Figure 1 and Figure 2 The gripper 100 further includes an image acquisition component 50, which is connected to the base 10 and spaced apart from the clamping component 20. The image acquisition component 50 may be a CCD (charge coupled device) camera, etc. Before the suction head 30 adsorbs the first workpiece 2000, the image acquisition component 50 may first photograph the first workpiece 2000 to obtain an image of the first workpiece 2000, thereby facilitating the suction head 30 to accurately adsorb the first workpiece 2000. It is understood that after the gripper 100 assembles the first workpiece 2000 to the second workpiece 3000, the image acquisition component 50 may also photograph the assembled first workpiece 2000 to obtain an image of the assembled first workpiece 2000 to detect whether the first workpiece 2000 is assembled in place. In some other embodiments, the image acquisition component 50 may also photograph the position of the second workpiece 3000 to be assembled before assembly to obtain the precise assembly position.
[0068] In some embodiments, see Figure 2 and Figure 3The gripper 100 further includes a pressing assembly 60, which includes a pressing driver 61 connected to the base 10 and a pressing member 62 connected to the pressing driver 61. The end of the pressing member 62 away from the pressing driver 61 corresponds to the side of the suction head 30 that is away from the adsorption surface 31. The pressing driver 61 is used to drive the pressing member 62 to press the suction head 30, thereby causing the suction head 30 to press the first workpiece 2000. The pressing driver 61 can be a cylinder, etc., and the pressing member 62 can be a rod-shaped structure. When the first workpiece 2000 is assembled on the second workpiece 3000, the pressing driver 61 can drive the pressing member 62 to press the suction head 30, thereby pressing the first workpiece 2000.
[0069] In some embodiments, see Figure 2 、 Figure 3 and Figure 4 The suction head 30 is provided with a positioning member 34, which is connected to the side of the suction head 30 near the holding member 62. The positioning member 34 has a positioning hole 341 that matches the holding member 62. When the holding assembly 60 presses the suction head 30, the holding member 62 is inserted into the positioning hole 341 to position the suction head 30. The positioning member 34 can be a block-shaped structure. The end of the holding member 62 corresponding to the positioning hole 341 can be provided with a protrusion that matches the positioning hole 341. When the holding member 62 presses the suction head 30, it can be inserted into the positioning hole 341, thereby further positioning the suction head 30.
[0070] In some embodiments, see Figure 2 、 Figure 4 and Figure 5 The suction head 30 is provided with a position-avoiding hole 35, and the extending direction of the position-avoiding hole 35 is perpendicular to the plane where the adsorption surface 31 is located. It can be understood that when the first workpiece 2000 is assembled on the second workpiece 3000 (see Figure 1 ), the welding position of the first workpiece 2000 and the second workpiece 3000 may be at the position where the suction head 30 adsorbs the first workpiece 2000. By providing the avoidance hole 35, the position where welding is required can be avoided, thereby facilitating the welding process of the first workpiece 2000 and the second workpiece 3000. In this embodiment, the number of avoidance holes 35 can be provided, and the specific number and position of the avoidance holes 35 are set according to actual needs and are not limited here.
[0071] In some embodiments, see Figure 2 and Figure 3The gripper 100 further includes an air blowing assembly 70, which is connected to the base 10 and corresponds to the suction head 30. The air blowing assembly 70 is used to blow air to the suction head 30 to clean it. The air blowing assembly 70 can be a hair dryer, or a block-shaped structure with multiple air blowing pipes provided on the block-shaped structure. The multiple air blowing pipes are connected to an external air blowing device (not shown), and then the suction head 30 is blown through the air blowing pipes to blow air to the suction head 30 before each suction of the first workpiece 2000, thereby cleaning the suction head 30.
[0072] In some embodiments, see Figure 2 and Figure 3 The vacuum assembly 40 further includes an elastic connecting tube 42 connected to the vacuum head 41. The elastic connecting tube 42 is used to elastically abut the suction head 30. The elastic connecting tube 42 can be a rubber tube, etc., so that the sealing between the vacuum head 41 and the suction head 30 can be improved, which is conducive to the suction head 30 sucking the first workpiece 2000.
[0073] In some embodiments, see Figure 2 、 Figure 3 and Figure 6 The base 10 includes a connector 11 and a floating seat 12. The floating seat 12 is movably connected to the connector 11 in a direction perpendicular to the adsorption surface 31. The connector 11 is used to connect to an external drive device, and the floating seat 12 is used to carry the clamping assembly 20 and the vacuum assembly 40. The connector 11 can be a T-shaped plate structure. The connector 11 is used to connect to the external drive device so that the external drive device can drive the gripper 100 to move. The external drive device can be the moving mechanism 310 mentioned below, or it can be a robotic arm, a linear module, etc., which can drive the connector 11 to move, and is not limited here. A connecting column 13 can be provided on the connector 11. The floating seat 12 is sleeved on the connecting column 13. The floating seat 12 can slide along the connecting column 13 so that the floating seat 12 can slide relative to the connector 11, thereby preventing the first workpiece 2000 from rigidly contacting the second workpiece 3000 when the gripper 100 assembles the first workpiece 2000 on the second workpiece 3000, resulting in damage to the first workpiece 2000. Furthermore, an elastic member such as a spring may be provided between the connecting column 13 and the floating seat 12 to further enhance the elastic sliding connection between the floating seat 12 and the connecting member 11. Furthermore, the floating seat 12 and the connecting member 11 may be connected by a structure such as a slide rail to further enhance the stability of the connection between the floating seat 12 and the connecting member 11.
[0074] The working process of the gripper 100 provided in the embodiment of the present application is roughly as follows:
[0075] When grasping the first workpiece 2000, the external drive device drives the gripper 100 toward the first workpiece 2000. The image acquisition component 50 first captures an image of the first workpiece 2000 to determine its precise location. The external drive device then drives the gripper 100 to move so that the suction surface 31 of the suction head 30 contacts the first workpiece 2000. The positioning member 34 is inserted into the first positioning hole 2001 of the first workpiece 2000 to position the first workpiece 2000 held by the suction head 30. The vacuum assembly 40 then absorbs the first workpiece 2000 through the air holes 32 in the suction head 30, thereby causing the gripper 100 to absorb the workpiece. The gripper 100 can then be moved, thereby moving the first workpiece 2000.
[0076] When the first workpiece 2000 needs to be released, the vacuum assembly 40 stops pumping air to release the first workpiece 2000. If the first workpiece 2000 needs to be assembled with the second workpiece 3000, the gripper 100 drives the first workpiece 2000 to move to the second workpiece 3000 and abuts the first workpiece 2000 against the second workpiece 3000. Then, the holding drive 61 in the holding assembly 60 drives the holding member 62 toward the suction head 30, causing the holding member 62 to abut against the positioning member 34 to hold the first workpiece 2000. Then, after the first workpiece 2000 and the second workpiece 3000 are assembled, the holding assembly 60 releases the suction head 30, the vacuum assembly 40 stops pumping air, and the external moving device drives the gripper 100 to move away.
[0077] Before grabbing the first workpiece 2000 each time, the suction head 30 can be cleaned by the blowing assembly 70 to prevent impurities from adhering to the suction head 30 and causing damage to the first workpiece 2000 when the suction head 30 absorbs the first workpiece 2000.
[0078] When the suction head 30 needs to be replaced, the clamping drive 21 in the clamping assembly 20 drives the two clamping fingers 22 to move away from each other, thereby causing the two clamping fingers 22 to release the suction head 30, and then the clamping finger 22 assembly is moved to the new suction head 30, and the clamping drive 21 drives the two clamping fingers 22 to clamp the new suction head 30.
[0079] See Figure 1 、 Figure 2 and Figure 7 The embodiment of the present application further provides a welding device 1000 , including a feeding device 200 , a material taking and placing device 300 , a positioning device 400 and a welding device 500 .
[0080] Specifically, the feeding device 200 is used to provide the first workpiece 2000. The feeding device 200 can be a device such as a vibration plate, so as to automatically provide the first workpiece 2000 set along a preset direction. Of course, the feeding device 200 can also be other devices that can provide the first workpiece 2000, and there is no limitation here.
[0081] The material taking and placing device 300 includes a moving mechanism 310 and the aforementioned gripper 100. The moving mechanism 310 is disposed adjacent to the feeding device 200, and the gripper 100 is connected to the output end of the moving mechanism 310. The moving mechanism 310 may be a robotic arm, a linear module, or the like.
[0082] The positioning device 400 is disposed adjacent to the loading and unloading device 300 and is used to carry and position the second workpiece 3000. The positioning device 400 may include a support plate, a fixed positioning block, a movable positioning block and other structures, and can carry and position the second workpiece 3000.
[0083] The welding device 500 is disposed opposite the positioning device 400 and can be a laser welder, etc. The loading and unloading device 300 is used to remove the first workpiece 2000 from the feeding device 200 and to assemble the first workpiece 2000 onto the second workpiece 3000 located on the positioning device 400. The welding device 500 is used to weld the first workpiece 2000 and the second workpiece 3000.
[0084] The welding equipment 1000 provided in the embodiment of the present application can automatically provide a first workpiece 2000 through the feeding device 200, can carry and position a second workpiece 3000 through the positioning device 400, and can drive the gripper 100 to move through the moving mechanism 310 in the pick-up and discharge device 300, thereby grabbing the first workpiece 2000 from the feeding device 200 and assembling the first workpiece 2000 on the second workpiece 3000. The first workpiece 2000 and the second workpiece 3000 can be welded through the welding device 500, with a high degree of automation and high operating efficiency. During welding, the gripper 100 can press and hold the first workpiece 2000 to improve the stability of the first workpiece 2000 during welding. After being used several times, the gripper 100 can quickly disassemble and assemble the suction head 30 without affecting the pick-up and discharge operations of the gripper 100, further improving operating efficiency.
[0085] The working process of the welding device 1000 provided in the embodiment of the present application is roughly as follows:
[0086] First, the feeding device 200 provides the first workpiece 2000, and the operator places the second workpiece 3000 on the positioning device 400 and fixes it. Then, the moving mechanism 310 in the feeding device 300 drives the gripper 100 to grab the first workpiece 2000 from the feeding device 200, and places the first workpiece 2000 on the corresponding position of the second workpiece 3000. When the first workpiece 2000 abuts against the second workpiece 3000, the pressing assembly 60 presses the suction head 30 to stably fix the first workpiece 2000 and the second workpiece 3000.
[0087] Then the welding device 500 welds the first workpiece 2000 and the second workpiece 3000. During welding, the first workpiece 2000 and the second workpiece 3000 can be welded from the avoidance hole 35 of the suction head 30. After the welding is completed, the moving mechanism 310 can move the gripper 100 away.
[0088] After several welding cycles, welding slag and other substances may easily adhere to the suction head 30, causing damage to the first workpiece 2000 when the suction head 30 is attached. After a certain number of welding cycles, such as 20 or 30, the moving mechanism 310 moves the gripper 100 to the material replacement position, removes the suction head 30, and replaces it with a new one to continue material transfer. The operator can clean the removed suction head 30 without affecting the operation of the welding equipment 1000, thus improving work efficiency.
[0089] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all variations that come within the meaning and range of equivalents of the claims are intended to be embraced herein.
[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.
Claims
1. A gripper, characterized in that: include: base; a clamping assembly connected to the base; a suction head detachably connected to the clamping assembly, the suction head comprising a suction surface for sucking the first workpiece and an air hole penetrating the suction head, wherein one end of the air hole is disposed on the suction surface; and The vacuum assembly includes a vacuum head connected to the base and arranged adjacent to the clamping assembly, wherein a gas channel is provided inside the vacuum head, the vacuum head abuts against the suction head, and the gas channel is connected to the end of the air hole away from the adsorption surface; wherein, The vacuum head is used to connect to an external vacuum device so that the external vacuum device can vacuum gas through the gas channel and the air hole, thereby causing the air hole at one end of the adsorption surface to generate negative pressure to adsorb the first workpiece.
2. The gripper according to claim 1, wherein: The clamping assembly includes a clamping drive connected to the base and two clamping fingers connected to the clamping drive and arranged opposite to each other, each clamping finger is provided with a clamping protrusion at one end away from the clamping drive, and the clamping protrusions on the two clamping fingers are arranged opposite to each other, and positioning grooves adapted to the clamping protrusions are provided on opposite sides of the suction head, and the clamping drive is used to drive the two clamping fingers to approach or move away from each other, so that when the two clamping fingers approach each other, each clamping protrusion is inserted into the corresponding positioning groove, thereby clamping and positioning the suction head, and releasing the suction head when the two clamping fingers move away from each other.
3. The gripper according to claim 1, wherein: The gripper further includes an image acquisition component, which is connected to the base and spaced apart from the clamping component.
4. The gripper according to claim 1, wherein: The gripper also includes a pressing assembly, which includes a pressing drive connected to the base and a pressing member connected to the pressing drive, wherein one end of the pressing member away from the pressing drive corresponds to a side of the suction head facing away from the adsorption surface, and the pressing drive is used to drive the pressing member to press the suction head, thereby causing the suction head to press the first workpiece.
5. The gripper according to claim 4, characterized in that: A positioning piece is provided on the suction head, and the positioning piece is connected to a side of the suction head close to the pressing piece. The positioning piece is provided with a positioning hole adapted to the pressing piece. When the pressing assembly presses the suction head, the pressing piece is inserted into the positioning hole to position the suction head.
6. The gripper according to claim 1, wherein: The suction head is provided with an avoidance hole, and the extension direction of the avoidance hole is perpendicular to the plane where the adsorption surface is located.
7. The gripper according to claim 1, wherein: The gripper further includes an air blowing component, which is connected to the base and corresponds to the suction head. The air blowing component is used to blow air to the suction head to clean it.
8. The gripper according to claim 1, wherein: The vacuum assembly further includes an elastic connecting tube connected to the vacuum head, and the elastic connecting tube is used for elastically abutting against the suction head.
9. The gripper according to claim 1, wherein: The base includes a connecting member and a floating seat. The floating seat is movably connected to the connecting member in a direction perpendicular to the adsorption surface. The connecting member is used to connect to an external driving device. The floating seat is used to carry the clamping assembly and the vacuum assembly.
10. A welding device, characterized in that: include: A feeding device, configured to provide a first workpiece; A material taking and placing device, comprising a moving mechanism and a gripper according to any one of claims 1 to 9, wherein the moving mechanism is arranged adjacent to the feeding device, and the gripper is connected to an output end of the moving mechanism; a positioning device, disposed adjacent to the loading and unloading device, for carrying and positioning the second workpiece; and The welding device is arranged opposite to the positioning device; wherein, The material taking and placing device is used to take out the first workpiece from the feeding device and to assemble the first workpiece on the second workpiece located on the positioning device. The welding device is used to weld the first workpiece and the second workpiece.