Automatic grabbing device and conveying device

Abstract

The utility model discloses an automatic grabbing device and a conveying device. The automatic grabbing device comprises a driving assembly, a sleeve assembly and an adsorption assembly, and the driving assembly comprises a driver; the sleeve assembly is fixed in position; the adsorption assembly is located in the sleeve assembly and comprises a magnetic part, and the driver drives the magnetic part to move out of the sleeve assembly so that the magnetic part can adsorb a workpiece; the driver drives the magnetic component to move into the sleeve assembly, so that the sleeve assembly abuts against the workpiece, and the magnetic component is separated from the workpiece. The automatic grabbing device moves to the initial position, the driver drives the magnetic part located in the sleeve assembly to move out, the magnetic part adsorbs the workpiece, and the grabbing process of the workpiece is completed; the automatic grabbing device drives the workpiece to move to the target position, the driver drives the magnetic component to move into the sleeve assembly, and in the process, the workpiece abuts against the sleeve assembly and is separated from the magnetic component under the blocking effect of the sleeve assembly, so that the workpiece is conveyed to the target position from the initial position.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying, and in particular to an automatic gripping device and a conveying device. Background Art

[0002] In a production line, a gripping mechanism transports a workpiece from an initial position to a target position. At the initial position, the gripping mechanism completes the gripping of the workpiece; at the target position, the workpiece is released from the gripping mechanism.

[0003] In related technologies, electromagnets are used as gripping mechanisms to transport workpieces. At the initial position, the electromagnet is energized to attract the workpiece; at the target position, the electromagnet is de-energized, releasing the workpiece from the electromagnet. However, electromagnets are energy inefficient and prone to malfunction due to frequent power cycles, resulting in high maintenance costs. Furthermore, electromagnets generate significant heat, which can easily damage the workpiece. Utility Model Content

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an automatic gripping device that can grip a workpiece by magnetic attraction and detach the workpiece at a target position.

[0005] The present application also proposes a conveying device having the above-mentioned automatic gripping device.

[0006] According to the automatic gripping device of the first aspect embodiment of the present application, the automatic gripping device includes a driving assembly, a sleeve assembly and an adsorption assembly, the driving assembly includes a driver; the sleeve assembly is fixed in position; the adsorption assembly is inside the sleeve assembly, the adsorption assembly includes a magnetic component, the driver drives the magnetic component to move out of the sleeve assembly so that the magnetic component adsorbs the workpiece; the driver drives the magnetic component to move into the sleeve assembly so that the sleeve assembly contacts the workpiece and separates the magnetic component from the workpiece.

[0007] According to the automatic gripping device of the embodiment of the present application, there are at least the following beneficial effects: the automatic gripping device moves to the initial position, the driver drives the magnetic component inside the sleeve assembly to move out, and the magnetic component adsorbs the workpiece to complete the workpiece gripping process; the automatic gripping device drives the workpiece to move to the target position, and the driver drives the magnetic component to move into the sleeve assembly. During this process, the workpiece collides with the sleeve assembly and is separated from the magnetic component under the blocking action of the sleeve assembly, so that the workpiece is transported from the initial position to the target position.

[0008] According to some embodiments of the present application, the automatic grasping device includes a transmission assembly, and the driving assembly is connected to the adsorption assembly through the transmission assembly.

[0009] According to some embodiments of the present application, the drive assembly includes a first clamping component, which is connected to the output end of the driver, and the transmission assembly includes a second clamping component, which is clamped with the second clamping component to connect the drive assembly and the transmission assembly.

[0010] According to some embodiments of the present application, the first clamping component includes an extension portion and an outward expansion portion, the output end of the driver is connected to the extension portion, the outward expansion portion is at the end of the extension portion, and the radial dimension of the outward expansion portion is larger than the radial dimension of the extension portion.

[0011] According to some embodiments of the present application, the second clamping component is provided with a surrounding wall, the surrounding wall forms a clamping slot, the end of the surrounding wall is provided with a contraction portion extending into the range of the clamping slot, and the first clamping component is embedded in the second clamping component so that the contraction portion and the outward expansion portion form a clamping connection.

[0012] According to some embodiments of the present application, the transmission assembly includes a first connecting component, the first connecting component is connected to the second clamping component, the first connecting component is located inside the sleeve assembly, and the first connecting component is used to connect to the adsorption assembly.

[0013] According to some embodiments of the present application, the adsorption assembly includes a second connecting component, one end of the second connecting component is detachably connected to the first connecting component, and the other end of the second connecting component is connected to the magnetic component.

[0014] According to some embodiments of the present application, the automatic grasping device includes a hollow support frame, the driving assembly is arranged inside the support frame, the sleeve assembly is connected to the support frame, and the transmission assembly passes through the support frame and is inserted into the interior of the sleeve assembly.

[0015] According to some embodiments of the present application, the sleeve assembly includes a hollow first sleeve and a second sleeve, the first sleeve is connected to the support frame, the second sleeve is connected to the first sleeve, the second sleeve is open at the end away from the first sleeve, and the hollow parts of the first sleeve and the second sleeve form a moving channel for the adsorption assembly.

[0016] According to the conveying device of the second embodiment of the present application, the conveying device includes the above-mentioned automatic grasping device.

[0017] The conveying device according to the embodiment of the present application has at least the following beneficial effects: the automatic grasping device of the first aspect embodiment is adopted, the automatic grasping device moves to the initial position, the driver drives the magnetic component inside the sleeve assembly to move out, and the magnetic component adsorbs the workpiece to complete the grasping process of the workpiece; the automatic grasping device drives the workpiece to move to the target position, and the driver drives the magnetic component to move into the sleeve assembly. During this process, the workpiece collides with the sleeve assembly and is separated from the magnetic component under the blocking action of the sleeve assembly, so that the workpiece is conveyed from the initial position to the target position.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the technical solutions disclosed in this application and constitute a part of the specification. Together with the embodiments disclosed in this application, they are used to explain the technical solutions disclosed in this application and do not constitute a limitation on the technical solutions disclosed in this application.

[0020] Figure 1 This is a schematic structural diagram of the automatic gripping device according to an embodiment of the present application;

[0021] Figure 2 This is a front view of the magnetic component in the automatic gripping device according to an embodiment of the present application being moved into the sleeve assembly;

[0022] Figure 3 This is a front view of a magnetic component removal sleeve assembly in an automatic gripping device according to an embodiment of the present application;

[0023] Figure 4 This is a schematic diagram of the structure of the support frame in the automatic grasping device of an embodiment of the present application;

[0024] Figure 5 This is a schematic structural diagram of the first sleeve in the automatic gripping device according to an embodiment of the present application;

[0025] Figure 6 This is a schematic structural diagram of the second sleeve in the automatic gripping device according to an embodiment of the present application;

[0026] Figure 7 This is a cross-sectional view of the automatic gripping device according to an embodiment of the present application;

[0027] Figure 8 This is a schematic structural diagram of the adsorption component in the automatic gripping device according to an embodiment of the present application;

[0028] Figure 9 This is a structural diagram of the first clamping component in the automatic gripping device according to an embodiment of the present application;

[0029] Figure 10This is a schematic structural diagram of the second clamping component in the automatic gripping device according to an embodiment of the present application.

[0030] Reference numerals:

[0031] Driver 101; sleeve assembly 102; support frame 103; socket 104;

[0032] First sleeve 201; second sleeve 202; connecting column 203;

[0033] Magnetic component 301; second connecting component 302;

[0034] First clamping member 401; extension portion 402; outward expansion portion 403; first supporting surface 404;

[0035] Second engaging member 501 ; surrounding wall 502 ; engaging groove 503 ; contraction portion 504 ; second supporting surface 505 ; first connecting member 506 . DETAILED DESCRIPTION

[0036] The following describes in detail embodiments of the present application. 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 are not to be construed as limiting the present application.

[0037] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they cannot be understood as limitations on this application.

[0038] In the description of this application, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0039] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0040] In the description of this application, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0041] like Figure 1 、 Figure 2 and Figure 3 As shown, an embodiment of the present application provides an automatic grasping device, which includes a driving assembly, a sleeve assembly 102 and an adsorption assembly.

[0042] The suction assembly can magnetically grasp the workpiece, and the suction assembly is located inside the sleeve assembly 102. The drive assembly is used to drive the suction assembly to move within the sleeve assembly 102. When the automatic grasping device is in the initial position, the drive assembly drives the suction assembly to move out of the sleeve assembly 102, facilitating the suction assembly to absorb the workpiece. When the automatic grasping device drives the workpiece to the target position, the drive assembly drives the suction assembly to move into the sleeve assembly 102. Under the blocking effect of the sleeve assembly 102, the workpiece is separated from the suction assembly and transported to the target position.

[0043] In some examples, the drive assembly includes a driver 101 , which can be any device that outputs linear motion. Specifically, the driver 101 includes a cylinder and a piston rod that can move within the cylinder, and the piston rod corresponds to the output end of the driver 101 .

[0044] Furthermore, the position of the sleeve assembly 102 is fixed. When the driver 101 drives the adsorption assembly to move, it ensures that the adsorption assembly can move relative to the sleeve assembly 102, which facilitates the adsorption assembly to move out of the sleeve assembly 102 and also facilitates the sleeve assembly 102 to play the role of blocking the workpiece.

[0045] like Figure 4 As shown, in some examples, the automatic grasping device includes a support frame 103 , which is formed as a hollow structure. The driver 101 is connected to the support frame 103 , so that the driving component is located inside the support frame 103 .

[0046] The support frame 103 is provided with an insertion hole 104, and the sleeve assembly 102 is plugged into the support frame 103 through the insertion hole 104. It can be understood that since the position of the support frame 103 is fixed, the position of the sleeve assembly 102 can be guaranteed to be fixed.

[0047] Specifically, the support frame 103 has a gap extending to the insertion hole 104. The support frame 103 is also provided with a fastener that controls the width of the gap. During the insertion of the sleeve assembly 102 into the support frame 103, the fastener is loosened, increasing the width of the gap. This increases the size of the opening of the insertion hole 104, facilitating insertion of the sleeve assembly 102. After the insertion of the sleeve assembly 102, the fastener is tightened, decreasing the width of the gap. This decreases the size of the opening of the insertion hole 104, securing the sleeve assembly 102 to the support frame 103 and preventing the sleeve assembly 102 from falling off.

[0048] like Figure 5 and Figure 6 As shown, in some examples, the sleeve assembly 102 includes a first sleeve 201 and a second sleeve 202, and the first sleeve 201 and the second sleeve 202 are both formed into a hollow structure. Among them, the end of the first sleeve 201 close to the support frame 103 is provided with a connecting column 203, and the connecting column 203 is used to be inserted into the socket 104, so that the sleeve assembly 102 and the support frame 103 form a detachable plug-in connection. It can be understood that the connecting column 203 is also formed into a hollow structure. At the same time, the end of the first sleeve 201 away from the support frame 103 is used to connect to the second sleeve 202. Specifically, the outer wall of the end of the first sleeve 201 away from the support frame 103 is provided with an external thread, and the end of the second sleeve 202 close to the first sleeve 201 is provided with a threaded hole, so that the first sleeve 201 and the second sleeve 202 are threadedly connected.

[0049] Furthermore, one end of the second sleeve 202 away from the first sleeve 201 is open, ensuring that the adsorption assembly can be moved out of the sleeve assembly 102. It can be understood that the hollow portion of the first sleeve 201 is connected to the hollow portion of the second sleeve 202, forming a movement channel, and the adsorption assembly moves within the movement channel and can be moved out of the sleeve assembly 102 along the opening.

[0050] like Figure 7 and Figure 8 As shown, in some examples, the adsorption assembly includes a magnetic component 301, and the magnetic component 301 adsorbs the workpiece through its own magnetic force, thereby completing the grasping of the workpiece.

[0051] Furthermore, the magnetic component 301 is located in the adsorption assembly near the opening of the second sleeve 202. When the automatic gripping device is in the initial position, the driver 101 drives the magnetic component 301 out of the sleeve assembly 102 to complete the adsorption of the workpiece; when the automatic gripping device is in the target position, the driver 101 drives the magnetic component 301 into the sleeve assembly 102, and the workpiece can be separated from the magnetic component 301 under the blocking effect of the sleeve assembly 102.

[0052] In some examples, the automatic grasping device includes a transmission assembly, which connects the drive assembly to the suction assembly via the transmission assembly, thereby driving the suction assembly to move within the movement channel. The transmission assembly connects to the drive assembly within the support frame 103 and passes through the support frame 103 through the insertion hole 104, extending into the movement channel formed by the first sleeve 201 and the second sleeve 202. Simultaneously, the transmission assembly connects to the suction assembly within the movement channel, thereby transmitting the driving force provided by the driver 101 to the suction assembly.

[0053] In some examples, the driving assembly includes a first clamping component 401, which is connected to the output end of the driver 101. At the same time, the transmission assembly includes a second clamping component 501. The first clamping component 401 and the second clamping component 501 form a detachable clamping connection, so that the driving force of the driver 101 is transmitted to the transmission assembly, and then the driving force is transmitted to the adsorption assembly.

[0054] like Figure 9 As shown, in some examples, the first engaging member 401 includes an extension portion 402 and an outwardly expanding portion 403. The output end of the driver 101 is connected to the extension portion 402, and the extension portion 402 extends toward the second engaging member 501. Simultaneously, the outwardly expanding portion 403 is located at the end of the extension portion 402 facing the second engaging member 501. The radial dimension of the outwardly expanding portion 403 is greater than the radial dimension of the extension portion 402. Thus, the first engaging member 401 is generally formed into a "T"-shaped structure, and the end surface of the outwardly expanding portion 403 facing the driver 101 forms a first supporting surface 404.

[0055] like Figure 10 As shown, in some examples, the second engaging member 501 is provided with a slot 503 and a surrounding wall 502 that encloses the slot 503. The opening end of the slot 503 faces the first engaging member 401, and the surrounding wall 502 extends toward the first engaging member 401. At the same time, a constriction 504 is provided at the end of the surrounding wall 502, i.e., the opening end of the slot 503. The constriction 504 extends into the range of the slot 503, thereby forming a slot structure with a small opening radial dimension and a large inner radial dimension.

[0056] Specifically, two surrounding walls 502 are provided, respectively located on opposite sides of the second clamping component 501 . It can be understood that two contraction portions 504 are also provided accordingly, and the end surface of the contraction portion 504 facing the bottom of the clamping slot 503 forms the second supporting surface 505 .

[0057] The first clamping component 401 is embedded in the clamping groove 503 of the second clamping component 501 , and the first supporting surface 404 and the second supporting surface 505 are in contact with each other, so that the contraction portion 504 and the expansion portion 403 are clamped.

[0058] In some examples, the transmission assembly includes a first connecting component 506, which is located at the end of the second clamping component 501 facing away from the first clamping component 401. The second clamping component 501 is always located within the support frame 103 during operation. The first connecting component 506 extends through the support frame 103 through the insertion hole 104 and into the movement channel formed by the first sleeve 201 and the second sleeve 202. It is understood that the first connecting component 506 is used to connect to the adsorption assembly. Specifically, the first connecting component 506 and the second clamping component 501 are integrally formed.

[0059] In some examples, the adsorption assembly includes a second connecting component 302 , one end of the second connecting component 302 is connected to the magnetic component 301 , and the other end of the second connecting component 302 extends toward the first connecting component 506 and is used to connect to the first connecting component 506 .

[0060] Specifically, studs are provided at both ends of the second connecting component 302, a threaded hole is provided at the end of the first connecting component 506 facing the second connecting component 302, and the magnetic component 301 is also provided with a threaded hole, so that the second connecting component 302 and the first connecting component 506 form a detachable threaded connection, and the second connecting component 302 and the magnetic component 301 also form a detachable threaded connection.

[0061] The embodiment of the present application provides a conveying device, which includes the above-mentioned automatic grasping device and a robotic arm. The automatic grasping device is connected to the robotic arm, and the robotic arm drives the automatic grasping device to transfer between an initial position and a target position.

[0062] During the actual implementation process, the automatic grasping device moves to the initial position, and the driver 101 drives the transmission assembly to move forward in the direction close to the sleeve assembly 102, thereby driving the adsorption assembly to move out of the sleeve assembly 102, so that the magnetic component 301 of the adsorption assembly can adsorb the workpiece; the automatic grasping device moves to the target position and drives the workpiece to reach the target position, and the driver 101 drives the transmission assembly to move in the opposite direction away from the sleeve assembly 102, thereby driving the adsorption assembly to move into the sleeve assembly 102. During this process, the workpiece collides with the sleeve assembly 102, and under the blocking action of the sleeve assembly 102, the workpiece is separated from the magnetic component 301, and the workpiece is transported to the target position.

[0063] In some optional embodiments, the functions / operations mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the functions / operations involved, the two boxes shown in succession may actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiments presented and described in the flow chart of the present application are provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operations and logic flows presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0064] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. An automatic grasping device, characterized in that: include: A drive assembly, the drive assembly comprising a driver; A sleeve assembly, wherein the sleeve assembly is fixed in position; The adsorption assembly is located inside the sleeve assembly, and the adsorption assembly includes a magnetic component. The driver drives the magnetic component to move out of the sleeve assembly so that the magnetic component adsorbs the workpiece; the driver drives the magnetic component to move into the sleeve assembly so that the sleeve assembly contacts the workpiece and separates the magnetic component from the workpiece.

2. The automatic grasping device according to claim 1, characterized in that: The automatic grasping device includes a transmission assembly, and the driving assembly is connected to the adsorption assembly through the transmission assembly.

3. The automatic grasping device according to claim 2, characterized in that: The driving assembly includes a first clamping component, which is connected to the output end of the driver. The transmission assembly includes a second clamping component, which is clamped with the second clamping component to connect the driving assembly and the transmission assembly.

4. The automatic grasping device according to claim 3, characterized in that: The first clamping component includes an extension portion and an outward expansion portion. The output end of the driver is connected to the extension portion. The outward expansion portion is located at the end of the extension portion. The radial dimension of the outward expansion portion is greater than the radial dimension of the extension portion.

5. The automatic grasping device according to claim 4, characterized in that: The second clamping component is provided with a surrounding wall, which forms a clamping slot. The end of the surrounding wall is provided with a contraction portion extending into the range of the clamping slot. The first clamping component is embedded in the second clamping component so that the contraction portion and the outward expansion portion form a clamping connection.

6. The automatic grasping device according to claim 3, characterized in that: The transmission assembly includes a first connecting component, the first connecting component is connected to the second clamping component, the first connecting component is located inside the sleeve assembly, and the first connecting component is used to connect with the adsorption assembly.

7. The automatic grasping device according to claim 6, characterized in that: The adsorption assembly includes a second connecting component, one end of the second connecting component is detachably connected to the first connecting component, and the other end of the second connecting component is connected to the magnetic component.

8. The automatic grasping device according to claim 2, characterized in that: The automatic grasping device includes a hollow support frame, the driving assembly is arranged inside the support frame, the sleeve assembly is connected to the support frame, and the transmission assembly passes through the support frame and is inserted into the interior of the sleeve assembly.

9. The automatic grasping device according to claim 8, characterized in that: The sleeve assembly includes a hollow first sleeve and a second sleeve, the first sleeve is connected to the support frame, the second sleeve is connected to the first sleeve, the second sleeve is open at the end away from the first sleeve, and the hollow parts of the first sleeve and the second sleeve form a moving channel for the adsorption assembly.

10. A conveying device, characterized in that: The automatic gripping device comprises the automatic gripping device according to any one of claims 1 to 9.

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