Gripping device

Abstract

The utility model relates to a grabbing device, and relates to the field of packaging equipment. The grabbing device comprises a fixing mechanism, a rotating mechanism, a lifting mechanism and a grabbing mechanism. The top end of a guide column in the fixing mechanism is connected with a movable plate, and the tail end extends out of a second fixing plate to be connected with a third fixing plate; the first driving assembly drives the movable plate to lift; a second driving assembly in the rotating mechanism drives a rotating plate to rotate; the two lifting mechanisms are installed at the two ends of the rotating plate correspondingly. A third driving assembly in the lifting mechanism is installed on a rotating plate and drives a lifting plate to ascend and descend. The two grabbing mechanisms are in one-to-one correspondence with the two lifting mechanisms; a fourth driving assembly in the grabbing mechanism is installed on a lifting plate and drives a guide wheel wedge to move. The idler wheels at the top ends of the two clamping jaws penetrate through the lifting plate, and the guide wheel wedge is located between the two idler wheels so as to control the opening distance between the two clamping jaws. The technical problems that in the prior art, a grabbing mechanism is low in compatibility, poor in effect and prone to scratching and material stacking are solved.

Description

Technical Field

[0001] The present application relates to the field of packaging equipment, and in particular, to a gripping device. Background Art

[0002] As the chip carrier of integrated circuits, the lead frame is a key structural component that uses bonds and materials (gold wire, aluminum wire or copper wire) to achieve electrical connection between the internal circuit terminals of the chip and the external leads to form an electrical circuit. It acts as a bridge to connect with external wires. Lead frames are required in most semiconductor integrated blocks and are an important basic material in the electronic information industry.

[0003] During lead frame processing, a gripping mechanism is required to enable loading and unloading of materials. However, due to the wide variety of existing semiconductor lead frame product specifications, the loading and unloading compatibility of products of different sizes and widths is low. In addition, the lead frame's rapid material change and gripping mechanism may have problems with scratches and overlapping materials. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a gripping device to alleviate the technical problems of low compatibility, poor effect, easy scratching and stacking of gripping mechanisms in the prior art.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0006] The grabbing device provided by the utility model includes a fixing mechanism, a rotating mechanism, a lifting mechanism and a grabbing mechanism;

[0007] The fixing mechanism includes a first fixed plate, a second fixed plate, a movable plate, a guide column and a first driving assembly. The first fixed plate, the movable plate and the second fixed plate are spaced apart in the vertical direction, and the top end of the guide column is connected to the movable plate and the end extends out of the second fixed plate. The first driving assembly is installed on the first fixed plate and is in transmission connection with the movable plate to drive the movable plate to rise and fall.

[0008] The rotating mechanism includes a third fixed plate, a rotating plate and a second driving assembly, the end of the guide column is connected to the third fixed plate, and the second driving assembly is installed on the third fixed plate and is in transmission connection with the rotating plate to drive the rotating plate to rotate;

[0009] The lifting mechanism is provided with two, and the two lifting mechanisms are respectively installed at both ends of the rotating plate; the lifting mechanism includes a third driving component and a lifting plate, and the third driving component is installed on the rotating plate and is in transmission connection with the lifting plate to drive the lifting plate to move up and down;

[0010] Two gripping mechanisms are provided, and the two gripping mechanisms are installed in a one-to-one correspondence with the two lifting mechanisms; the gripping mechanism includes a fourth drive assembly, a guide wheel wedge and two oppositely arranged clamping jaws, the fourth drive assembly is installed on the lifting plate and is transmission-connected to the guide wheel wedge to drive the guide wheel wedge to move; the two clamping jaws are both located below the lifting plate, and the rollers at the top pass through the lifting plate, and the guide wheel wedge is located between the two rollers to control the opening distance between the two clamping jaws.

[0011] Furthermore, the guide wheel wedge includes a fixed section and a pointed cone section, the top surface of the fixed section is connected to the fourth drive assembly, and the side wall is connected to the pointed cone section, the cross-section of the pointed cone section along the vertical direction gradually decreases from one end close to the fixed section to the end away from the fixed section, and the cross-section of the pointed cone section along the horizontal direction remains unchanged.

[0012] Furthermore, the gripping mechanism further includes a reset spring, and both ends of the reset spring are respectively connected to the two clamping claws.

[0013] Furthermore, the gripping mechanism also includes a support frame, which is configured to be bent, with one end connected to the lifting plate, and a gap between the other end and the lifting plate, and the fourth drive assembly is installed on the upper side and the guide wheel wedge is installed on the lower side.

[0014] Furthermore, the lifting mechanism further includes a guide assembly, which is connected to the bottom wall of the lifting plate and slidably cooperates with the clamping claw to guide the movement direction of the clamping claw.

[0015] Furthermore, the lifting mechanism also includes a discharge plate and a discharge column, the top end of the discharge column is connected to the lifting plate, and the end end is connected to the discharge plate, and the discharge plate is located between two clamping claws.

[0016] Furthermore, the two lifting mechanisms are arranged opposite to each other, and the two grabbing mechanisms are arranged in a centrally symmetrical manner.

[0017] Furthermore, the second driving assembly includes a second cylinder, a rack, a gear and a rotating seat, the second cylinder is mounted on the third fixed plate and connected to the rack, the rack is meshed with the gear, the gear is mounted on the rotating seat, and the rotating seat is connected to the rotating plate.

[0018] Furthermore, a buffer seat is installed on the rotating plate, and a buffer is correspondingly installed on the third fixed plate.

[0019] Furthermore, the fixing mechanism includes a column and a guide sleeve, both ends of the column are connected to the first fixing plate and the second fixing plate respectively, the guide sleeve is installed on the second fixing plate, and the guide column passes through the guide sleeve.

[0020] Based on the above technical solutions, the technical effects that can be achieved by this utility model are analyzed as follows:

[0021] The grabbing device provided by the utility model includes a fixing mechanism, a rotating mechanism, a lifting mechanism and a grabbing mechanism; the fixing mechanism includes a first fixing plate, a second fixing plate, a movable plate, a guide column and a first driving assembly, the first fixing plate, the movable plate and the second fixing plate are arranged at intervals in the vertical direction, and the top end of the guide column is connected to the movable plate, and the end thereof extends out of the second fixing plate; the first driving assembly is installed on the first fixing plate and is transmission-connected to the movable plate to drive the movable plate to rise and fall; the rotating mechanism includes a third fixing plate, a rotating plate and a second driving assembly, the end of the guide column is connected to the third fixing plate, and the second driving assembly is installed on the third fixing plate and is transmission-connected to the rotating plate to drive the rotating plate to rotate; There are two lifting mechanisms, which are respectively installed at both ends of the rotating plate; the lifting mechanism includes a third drive assembly and a lifting plate, the third drive assembly is installed on the rotating plate and is transmission-connected to the lifting plate to drive the lifting plate to rise and fall; there are two grasping mechanisms, which are installed one-to-one with the two lifting mechanisms; the grasping mechanism includes a fourth drive assembly, a guide wheel wedge and two oppositely arranged clamping jaws, the fourth drive assembly is installed on the lifting plate and is transmission-connected to the guide wheel wedge to drive the guide wheel wedge to move; the two clamping jaws are both located below the lifting plate, and the roller at the top passes through the lifting plate, and the guide wheel wedge is located between the two rollers to control the opening distance between the two clamping jaws.

[0022] The first fixed plate in the fixing mechanism is used to support and fix the second fixed plate and the first driving assembly, and the first fixed plate and the second fixed plate are relatively fixed; the first driving assembly is connected to the movable plate, driving the movable plate to rise and fall, playing a driving role; the guide column is connected to the movable plate and passes through the second fixed plate to be connected to the third fixed plate. The movable plate drives the guide column to rise and fall, and the guide column drives the third fixed plate to rise and fall.

[0023] The third fixed plate in the rotating mechanism can be raised and lowered under the drive of the guide column, and the third fixed plate supports and fixes the second drive assembly; the second drive assembly is connected to the rotating plate in a transmission manner to drive the rotating plate to rotate, and the second drive assembly plays a driving role.

[0024] The third drive assembly in the lifting mechanism is installed on the rotating plate, which supports and fixes the third drive assembly, and the third drive assembly can rotate with the rotating plate; the third drive assembly is transmission-connected to the lifting plate to drive the lifting plate to rise and fall, and the third drive assembly plays a driving role, and the lifting plate can rotate with the rotating plate.

[0025] The fourth drive assembly in the gripping mechanism is installed on the lifting plate, which supports and fixes the fourth drive assembly. The fourth drive assembly drives the guide wheel wedge to move, and the guide wheel wedge drives the rollers on the two clamps to move, thereby controlling the distance between the two clamps and then clamping products of different widths.

[0026] There are two lifting mechanisms and two grabbing mechanisms. Each grabbing mechanism can grab one product, and the two grabbing mechanisms can grab two products at the same time, which improves efficiency. Moreover, because the grabbing mechanism is installed on the lifting plate of the lifting mechanism, each grabbing mechanism can be lifted and lowered separately, which improves the compatibility of the grabbing device.

[0027] In this grabbing device, the first drive assembly in the fixing mechanism realizes the overall lifting and lowering of the grabbing device, the second drive assembly of the rotating mechanism realizes the overall rotation of the grabbing device, the third drive assembly of the lifting mechanism realizes that each grabbing mechanism can be lifted and lowered individually, and the fourth drive assembly of the grabbing mechanism realizes that the product can be grabbed, and the grabbing mechanism can match products of different sizes through the guide wheel wedge.

[0028] The gripping device includes a fixing mechanism, a rotating mechanism, a lifting mechanism and a gripping mechanism, integrating the three functions of rotation, lifting and gripping into one, thereby improving work efficiency; in addition, the gripping mechanism includes a guide wheel wedge, which adjusts the opening distance between the two clamping jaws, thereby achieving high compatibility in loading and unloading products of different widths, and reducing the problems of scratches and stacking that may occur in the lead frame replacement and pick-and-place mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 Schematic diagram of the structure of the gripping device provided in the embodiment of the present application Figure 1 ;

[0031] Figure 2 Schematic diagram of the structure of the gripping device provided in the embodiment of the present application Figure 2 ;

[0032] Figure 3 Schematic diagram of the structure of the gripping device provided in the embodiment of the present application Figure 3 ;

[0033] Figure 4 A schematic diagram of the structure of the fixing mechanism in the gripping device provided in an embodiment of the present application;

[0034] Figure 5 A schematic structural diagram of a rotating mechanism in a gripping device provided in an embodiment of the present application;

[0035] Figure 6 A schematic diagram of the structure of the lifting mechanism in the gripping device provided in an embodiment of the present application;

[0036] Figure 7 A schematic structural diagram of a gripping mechanism in a gripping device provided in an embodiment of the present application;

[0037] Figure 8 A schematic diagram of the structure of a guide wheel wedge in a gripping device provided in an embodiment of the present application;

[0038] Figure 9 This is a schematic structural diagram of the return spring in the gripping device provided in an embodiment of the present application.

[0039] icon:

[0040] 100 - fixing mechanism; 110 - first fixing plate; 120 - second fixing plate; 130 - movable plate; 140 - guide post; 150 - first driving assembly; 160 - column; 170 - guide sleeve; 180 - buffer member;

[0041] 200 - rotating mechanism; 210 - third fixed plate; 211 - buffer; 220 - rotating plate; 221 - buffer seat; 230 - second driving assembly; 231 - second cylinder; 232 - rack; 233 - gear; 234 - rotating seat;

[0042] 300-lifting mechanism; 310-third drive assembly; 320-lifting plate; 330-guide assembly; 331-guide rail; 332-movable seat; 340-unloading plate; 350-unloading column; 360-connecting block;

[0043] 400 - gripping mechanism; 410 - fourth drive assembly; 420 - guide wheel wedge; 421 - fixed section; 422 - pointed cone section; 430 - clamping claw; 431 - roller; 440 - return spring; 450 - support frame. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0045] In the description of this application, it should be noted that the terms "inner" and "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended solely to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0046] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0047] See also Figures 1 to 9The grabbing device provided by the embodiment of the present invention includes a fixing mechanism 100, a rotating mechanism 200, a lifting mechanism 300 and a grabbing mechanism 400; the fixing mechanism 100 includes a first fixing plate 110, a second fixing plate 120, a movable plate 130, a guide column 140 and a first driving assembly 150, the first fixing plate 110, the movable plate 130 and the second fixing plate 120 are arranged at intervals in the vertical direction, and the top of the guide column 140 is connected to the movable plate 130, and the end thereof extends out of the second fixing plate 120; the first driving assembly 150 is installed on the first fixing plate 110 and is transmission-connected to the movable plate 130 to drive the movable plate 130 to rise and fall; the rotating mechanism 200 includes a third fixing plate 210, a rotating plate 220 and a second driving assembly 230, the end of the guide column 140 is connected to the third fixing plate 210, the second driving assembly 230 is installed on the third fixing plate 210 and is transmission-connected to the rotating plate 220 to drive the rotating plate 2 20 rotation; two lifting mechanisms 300 are provided, and the two lifting mechanisms 300 are respectively installed at both ends of the rotating plate 220; the lifting mechanism 300 includes a third driving component 310 and a lifting plate 320, the third driving component 310 is installed on the rotating plate 220 and is transmission-connected to the lifting plate 320 to drive the lifting plate 320 to move; two grasping mechanisms 400 are provided, and the two grasping mechanisms 400 are installed one-to-one corresponding to the two lifting mechanisms 300; the grasping mechanism 400 includes a fourth driving component 410, a guide wheel wedge 420 and two oppositely arranged clamping jaws 430, the fourth driving component 410 is installed on the lifting plate 320 and is transmission-connected to the guide wheel wedge 420 to drive the guide wheel wedge 420 to move; the two clamping jaws 430 are both located below the lifting plate 320, and the roller 431 at the top passes through the lifting plate 320, and the guide wheel wedge 420 is located between the two rollers 431 to control the opening distance between the two clamping jaws 430.

[0048] Specifically, the first fixed plate 110, the movable plate 130, and the second fixed plate 120 are all square in shape. The first fixed plate 110 is larger than the movable plate 130, and the second fixed plate 120 is larger than the first fixed plate 110. The first drive assembly 150 is mounted above the first fixed plate 110, and the drive end of the first drive assembly 150 passes through the first fixed plate 110 and connects to the movable plate 130, saving space.

[0049] See also Figure 4In the fixing mechanism 100, the first fixing plate 110 is used to support and fix the second fixing plate 120 and the first driving assembly 150. The first fixing plate 110 and the second fixing plate 120 are relatively fixed; the first driving assembly 150 is connected to the movable plate 130, driving the movable plate 130 to move up and down, playing a driving role; the guide column 140 is connected to the movable plate 130, and passes through the second fixing plate 120 to be connected to the third fixing plate 210. The movable plate 130 drives the guide column 140 to move up and down, and the guide column 140 drives the third fixing plate 210 to move up and down.

[0050] See also Figure 5 The third fixed plate 210 in the rotating mechanism 200 can be raised and lowered under the drive of the guide column 140, and the third fixed plate 210 supports and fixes the second driving assembly 230; the second driving assembly 230 is connected to the rotating plate 220 in a transmission manner to drive the rotating plate 220 to rotate, and the second driving assembly 230 plays a driving role.

[0051] See also Figure 6 The third driving assembly 310 in the lifting mechanism 300 is installed on the rotating plate 220. The rotating plate 220 supports and fixes the third driving assembly 310, and the third driving assembly 310 can rotate with the rotating plate 220; the third driving assembly 310 is transmission-connected to the lifting plate 320 to drive the lifting plate 320 to rise and fall. The third driving assembly 310 plays a driving role, and the lifting plate 320 can rotate with the rotating plate 220.

[0052] See also Figure 7 and Figure 8 The fourth drive assembly 410 in the gripping mechanism 400 is installed on the lifting plate 320, and the lifting plate 320 supports and fixes the fourth drive assembly 410; the fourth drive assembly 410 drives the guide wheel wedge 420 to move, and the guide wheel wedge 420 drives the rollers 431 on the two clamping jaws 430 to move, thereby controlling the distance between the two clamping jaws 430, and then clamping products of different widths.

[0053] There are two lifting mechanisms 300 and two grabbing mechanisms 400. Each grabbing mechanism 400 can grab one product, and the two grabbing mechanisms 400 can grab two products at the same time, thereby improving efficiency. Moreover, because the grabbing mechanism 400 is installed on the lifting plate 320 of the lifting mechanism 300, each grabbing mechanism 400 can be lifted and lowered independently, thereby improving the compatibility of the grabbing device.

[0054] In this gripping device, the first drive assembly 150 of the fixing mechanism 100 enables the overall lifting and lowering of the gripping device, the second drive assembly 230 of the rotating mechanism 200 enables the overall rotation of the gripping device, the third drive assembly 310 of the lifting mechanism 300 enables the independent lifting and lowering of each gripping mechanism 400, and the fourth drive assembly 410 of the gripping mechanism 400 enables product gripping. Furthermore, the gripping mechanism 400 can accommodate products of different sizes through the guide wheel wedge 420. This gripping device, which includes the fixing mechanism 100, the rotating mechanism 200, the lifting mechanism 300, and the gripping mechanism 400, integrates the functions of rotation, lifting, and gripping, improving work efficiency. Furthermore, the gripping mechanism 400 includes a guide wheel wedge 420, which adjusts the spacing between the two clamping jaws 430, ensuring high compatibility for loading and unloading products of varying widths and reducing potential scratching and stacking issues in lead frame reloading and pick-and-place mechanisms.

[0055] The shape and structure of the fixing mechanism 100 are described in detail below:

[0056] In an optional solution of an embodiment of the present invention, the fixing mechanism 100 includes a column 160 and a guide sleeve 170, the two ends of the column 160 are respectively connected to the first fixing plate 110 and the second fixing plate 120, the guide sleeve 170 is installed on the second fixing plate 120, and the guide column 140 passes through the guide sleeve 170.

[0057] Specifically, the first drive assembly 150 includes a first cylinder, the drive end of which passes through the first fixed plate 110 and engages with the movable plate 130. A guide sleeve 170 is mounted on the bottom wall of the second fixed plate 120. Buffers 180 are mounted on both the first fixed plate 110 and the movable plate 130 to provide a flexible collision between the movable plate 130 and the first fixed plate 110, reducing the impact force generated when the movable plate 130 and the first fixed plate 110 come into contact.

[0058] The upright post 160 enables the second fixing plate 120 to remain stationary relative to the first fixing plate 110. The guide sleeve 170 provides a guiding function for the guide post 140.

[0059] The structure and shape of the rotating mechanism 200 are described in detail below:

[0060] In an optional scheme of an embodiment of the present utility model, the second driving assembly 230 includes a second cylinder 231, a rack 232, a gear 233 and a rotating seat 234. The second cylinder 231 is installed on the third fixed plate 210 and is connected to the rack 232. The rack 232 is engaged with the gear 233. The gear 233 is installed on the rotating seat 234, and the rotating seat 234 is connected to the rotating plate 220.

[0061] Specifically, the second cylinder 231 drives the rack 232 to move, and the gear 233 rotates with the rack 232, driving the rotating base 234 to rotate. For example, when the rack 232 moves to the left, the rotating base 234 rotates 180 degrees counterclockwise; when the rack 232 rotates to the right, the rotating base 234 rotates 180 degrees clockwise back to its original position. Furthermore, the rotating base 234 is connected to the middle portion of the rotating plate 220.

[0062] The rack 232 and the gear 233 are engaged with each other to drive the rotating seat 234 to rotate, thereby driving the rotating plate 220 to rotate.

[0063] In an optional solution of the embodiment of the present utility model, a buffer seat 221 is installed on the rotating plate 220 , and a buffer 211 is correspondingly installed on the third fixed plate 210 .

[0064] Specifically, a buffer seat 221 is installed at one end of the rotating plate 220, and buffers 211 are installed at both ends of the third fixed plate 210, and the buffers 211 are oriented in the same direction, so that the rotating plate 220 can be abutted against the buffer 211 after rotating 180°.

[0065] The buffer 211 cooperates with the buffer seat 221 to achieve rotation buffering and avoid damage to parts caused by rigid collision.

[0066] The structure and shape of the lifting mechanism 300 are described in detail below:

[0067] In an optional solution of the embodiment of the present invention, the lifting mechanism 300 further includes a guide assembly 330 , which is connected to the bottom wall of the lifting plate 320 and slidably cooperates with the clamping claw 430 to guide the movement direction of the clamping claw 430 .

[0068] Specifically, the guide assembly 330 includes a guide rail 331 and a movable seat 332. The guide rail 331 is connected to the bottom wall of the lifting plate 320. The movable seat 332 is slidably connected to the guide rail 331 and is also connected to the clamping claw 430, thereby achieving sliding engagement between the clamping claw 430 and the lifting plate 320. Furthermore, the connection between the clamping claw 430 and the movable seat 332 provides additional fixing points for the clamping claw 430, preventing the clamping claw 430 from detaching from the lifting mechanism 300.

[0069] The guide rail 331 and the movable seat 332 slide together to guide the movement direction of the clamping jaw 430 to prevent the clamping jaw 430 from tilting.

[0070] In an optional solution of the embodiment of the present invention, the lifting mechanism 300 also includes a discharge plate 340 and a discharge column 350 , the top of the discharge column 350 is connected to the lifting plate 320 , the end is connected to the discharge plate 340 , and the discharge plate 340 is located between the two clamps 430 .

[0071] Specifically, two unloading columns 350 are provided, spaced apart along the length of the unloading plate 340 and connected to the unloading plate 340. The columns 350 are connected to the unloading plate 340 via a connecting block 360. The presence of two unloading columns 350 prevents the unloading plate 340 from moving crookedly. After the gripping mechanism 400 grabs the product, it moves it to the corresponding position. The two gripping jaws 430 of the gripping mechanism 400 open and release the product, and the lifting mechanism 300 lowers, allowing the unloading plate 340 to push the product to unload. Furthermore, the unloading columns 350 slide in conjunction with the lifting plate 320.

[0072] The unloading plate 340 and the unloading column 350 are used for unloading.

[0073] In an optional solution of the embodiment of the present utility model, the two lifting mechanisms 300 are arranged opposite to each other, and the two grabbing mechanisms 400 are arranged in a centrally symmetrical manner.

[0074] Specifically, the two lifting plates 320 are symmetrically arranged, and the two grabbing mechanisms 400 are centrally symmetrically arranged, so that the overall structure of the grabbing device is compact and space is saved.

[0075] The structure and shape of the grabbing mechanism 400 are described in detail below:

[0076] In the optional solution of the embodiment of the present utility model, see Figure 8 The guide wheel wedge 420 includes a fixed section 421 and a pointed cone section 422. The top surface of the fixed section 421 is connected to the fourth drive assembly 410, and the side wall is connected to the pointed cone section 422. The cross-section of the pointed cone section 422 along the vertical direction gradually decreases from the end close to the fixed section 421 to the end away from the fixed section 421, and the cross-section of the pointed cone section 422 along the horizontal direction remains unchanged.

[0077] Specifically, the horizontal cross-section of the pointed cone section 422 is triangular, and the tip of the triangle faces away from the fixing section 421. The fixing section 421 and the pointed cone section 422 are integrally formed.

[0078] The horizontal cross-section of the tapered section 422 is triangular. Controlling the depth of the tapered section 422 between the two rollers 431 controls the distance between the two rollers 431, and thus the distance between the ends of the two clamping jaws 430. This allows the gripping mechanism 400 to grasp products of varying sizes, improving the gripping device's compatibility. Furthermore, a roller 431 is mounted on the top of the clamping jaw 430. Rolling friction is created between the roller 431 and the guide wheel wedge 420, facilitating the guide wheel wedge 420's drive of the roller 431.

[0079] In the optional solution of the embodiment of the present utility model, see Figure 9 The gripping mechanism 400 further includes a return spring 440 , and both ends of the return spring 440 are respectively connected to the two clamping claws 430 .

[0080] Specifically, when the fourth drive component 410 drives the pointed cone section 422 to extend between the two rollers 431, the two rollers 431 move away from each other, thereby opening the two jaws 430, and at the same time the reset spring 440 is stretched and deformed; when the opening size of the jaws 430 is sufficient, the fourth drive component 410 drives the pointed cone section 422 to move out in the opposite direction, the pointed cone section 422 cancels the force on the rollers 431, and the reset spring 440 returns to its original shape to drive the jaws 430 to move towards each other, thereby closing.

[0081] The return spring 440 is used to return the two clamping jaws 430 to the original position, thereby improving the degree of automation of the gripping device.

[0082] In an optional solution of an embodiment of the present utility model, the grasping mechanism 400 also includes a support frame 450, which is configured to be bent, and one end of the support frame is connected to the lifting plate 320, and there is a gap between the other end and the lifting plate 320, and a fourth drive assembly 410 is installed above, and a guide wheel wedge 420 is installed below.

[0083] Specifically, the support frame 450 is configured in an L-shape. The fourth drive assembly 410 includes a fourth cylinder mounted above the support frame 450, with its drive shaft connected to the fixed section 421 of the guide wheel wedge 420. The lifting plate 320 is provided with a strip-shaped hole extending along the direction of movement of the clamping jaw 430, with the top end of the clamping jaw 430 positioned within the strip-shaped hole.

[0084] The support frame 450 enables the fourth driving assembly 410 to be installed on the lifting plate 320 and can drive the guide wheel wedge 420 .

[0085] It should be noted that, unless there is any conflict, the features in the embodiments of this application can be combined with each other.

[0086] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A gripping device, characterized in that: include: A fixing mechanism (100), a rotating mechanism (200), a lifting mechanism (300) and a grabbing mechanism (400); The fixing mechanism (100) comprises a first fixing plate (110), a second fixing plate (120), a movable plate (130), a guide column (140) and a first driving assembly (150); the first fixing plate (110), the movable plate (130) and the second fixing plate (120) are arranged at intervals in a vertical direction, and the top end of the guide column (140) is connected to the movable plate (130), and the end thereof extends out of the second fixing plate (120); the first driving assembly (150) is installed on the first fixing plate (110) and is in transmission connection with the movable plate (130) to drive the movable plate (130) to rise and fall; The rotating mechanism (200) comprises a third fixed plate (210), a rotating plate (220) and a second driving assembly (230), the end of the guide column (140) is connected to the third fixed plate (210), and the second driving assembly (230) is installed on the third fixed plate (210) and is in transmission connection with the rotating plate (220) to drive the rotating plate (220) to rotate; Two lifting mechanisms (300) are provided, and the two lifting mechanisms (300) are respectively installed at both ends of the rotating plate (220); the lifting mechanism (300) includes a third driving component (310) and a lifting plate (320); the third driving component (310) is installed on the rotating plate (220) and is in transmission connection with the lifting plate (320) to drive the lifting plate (320) to move up and down; Two gripping mechanisms (400) are provided, and the two gripping mechanisms (400) are installed in a one-to-one correspondence with the two lifting mechanisms (300); the gripping mechanism (400) comprises a fourth driving component (410), a guide wheel wedge (420) and two clamping jaws (430) arranged opposite to each other; the fourth driving component (410) is installed on the lifting plate (320) and is in transmission connection with the guide wheel wedge (420) to drive the guide wheel wedge (420) to move; the two clamping jaws (430) are both located below the lifting plate (320), and the roller (431) at the top passes through the lifting plate (320); the guide wheel wedge (420) is located between the two rollers (431) to control the opening distance between the two clamping jaws (430).

2. The gripping device according to claim 1, characterized in that The guide wheel wedge (420) includes a fixed section (421) and a pointed cone section (422). The top surface of the fixed section (421) is connected to the fourth drive assembly (410), and the side wall is connected to the pointed cone section (422). The cross section of the pointed cone section (422) along the vertical direction gradually decreases from one end close to the fixed section (421) to the end away from the fixed section (421), and the cross section of the pointed cone section (422) along the horizontal direction remains unchanged.

3. The gripping device according to claim 2, characterized in that The gripping mechanism (400) further comprises a reset spring (440), and both ends of the reset spring (440) are respectively connected to the two clamping claws (430).

4. The gripping device according to claim 3, characterized in that The grabbing mechanism (400) further includes a support frame (450), which is configured to be bent, with one end connected to the lifting plate (320) and a gap between the other end and the lifting plate (320). The fourth driving assembly (410) is installed above the support frame, and the guide wheel wedge (420) is installed below the support frame (450).

5. The gripping device according to claim 1, characterized in that The lifting mechanism (300) further includes a guide assembly (330), which is connected to the bottom wall of the lifting plate (320) and slidably cooperates with the clamping claw (430) to guide the movement direction of the clamping claw (430).

6. The gripping device according to claim 1, characterized in that The lifting mechanism (300) further comprises a discharge plate (340) and a discharge column (350), wherein the top end of the discharge column (350) is connected to the lifting plate (320) and the bottom end is connected to the discharge plate (340), and the discharge plate (340) is located between two clamping claws (430).

7. The gripping device according to any one of claims 1 to 6, characterized in that: The two lifting mechanisms (300) are arranged opposite to each other, and the two grabbing mechanisms (400) are arranged in a centrally symmetrical manner.

8. The gripping device according to claim 1, characterized in that The second driving assembly (230) includes a second cylinder (231), a rack (232), a gear (233) and a rotating seat (234), wherein the second cylinder (231) is mounted on the third fixed plate (210) and connected to the rack (232), the rack (232) is meshed with the gear (233), the gear (233) is mounted on the rotating seat (234), and the rotating seat (234) is connected to the rotating plate (220).

9. The gripping device according to claim 1, characterized in that: A buffer seat (221) is installed on the rotating plate (220), and a buffer (211) is correspondingly installed on the third fixed plate (210).

10. The gripping device according to claim 1, characterized in that The fixing mechanism (100) includes a column (160) and a guide sleeve (170), wherein both ends of the column (160) are respectively connected to the first fixing plate (110) and the second fixing plate (120), the guide sleeve (170) is installed on the second fixing plate (120), and the guide column (140) passes through the guide sleeve (170).

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