Gripping device
By designing a gripping device that utilizes the combination of guide grooves and gripping arms, the problem of not being able to directly and manually pick up and place lidar components was solved, achieving efficient and accurate workpiece gripping and reducing the risk of contamination and damage.
Patent Information
- Application Number
- CN202423091003.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2025-11-18
- Estimated Expiration
- 2034-12-13
AI Technical Summary
During the assembly process of lidar components, some parts cannot be directly picked up and placed manually, which can lead to surface contamination or damage, and automated production is difficult.
Design a gripping device including a main body, an operating component and a gripping arm. The gripping arm is guided to move between a gripping position and a release position using a guide groove to avoid direct contact with the human hand. The accurate gripping of the workpiece is achieved through the cooperation of the guide groove and the gripping arm.
It reduces the risk of workpiece surface contamination and damage, improves gripping accuracy, and is suitable for parts with complex shapes or those that cannot be manually picked up or placed.
Smart Images
Figure CN223557701U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present disclosure relates to the technical field of laser radar assembly tools, and particularly to a grabbing device. BACKGROUND
[0002] Laser radars are widely used in different technical fields due to good directivity and high focusing, and become important detection sensors. Laser radars have a large number of components, a complex production process, and high precision requirements, and it is difficult to fully automate production, so a combination of automatic operation and manual operation is usually used for assembly and processing. In the assembly process of the laser radar, some components need to be manually taken and placed, but the special nature of the main mechanism of some components makes it impossible to be directly manually taken and placed. For example, direct contact of the hands of an operator with the surface of a component can cause contamination of the surface of the component, or can damage the glue on the surface of the component. CONTENT OF THE UTILITY MODEL
[0003] In view of one or more defects in the prior art, the present disclosure provides a grabbing device, comprising:
[0004] a main body;
[0005] an operating member provided on the main body, the operating member comprising a guide groove; and
[0006] at least one grabbing arm, a first end of the grabbing arm being provided in the guide groove and moving along the guide groove when the operating member moves relative to the main body, a second end of the grabbing arm being used to grab a workpiece, wherein the grabbing arm can move between a grabbing position and a release position based on the movement of the operating member.
[0007] Optionally, the grabbing device further comprises:
[0008] at least one rotating shaft, the rotating shaft being provided between the first end and the second end of the grabbing arm and being fixed on the main body, the grabbing arm being able to rotate around the rotating shaft when the operating member moves.
[0009] Optionally, the guide groove comprises an arc-shaped wall, and the first end of the grabbing arm moves along the arc-shaped wall when the operating member moves relative to the main body.
[0010] Optionally, the first end is in contact with the guide groove.
[0011] Optionally, the guide groove comprises a first limiting wall and a second limiting wall, the first end of the grabbing arm is in contact with the first limiting wall when the grabbing arm is in the grabbing position, and the first end of the grabbing arm is in contact with the second limiting wall when the grabbing arm is in the release position.
[0012] Optionally, the grabbing device further comprises:
[0013] a first reset mechanism configured to restore the at least one grabbing arm to the grabbing position or the releasing position.
[0014] Optionally, the first reset mechanism comprises a spring arranged between the rotating shaft and the first end, or arranged between the rotating shaft and the second end.
[0015] Optionally, when the operating member moves towards the geometric center of the main body, the grabbing arm moves towards the releasing position; when the operating member moves away from the geometric center of the main body, the grabbing arm moves towards the grabbing position; the grabbing device further comprises:
[0016] a second reset mechanism configured to move the operating member away from the geometric center of the main body.
[0017] Optionally, the grabbing device comprises two grabbing arms, and the distance between the second ends of the two grabbing arms in the grabbing position is greater than the distance between the second ends of the two grabbing arms in the releasing position.
[0018] Optionally, the grabbing device further comprises:
[0019] a guiding mechanism arranged on at least one of the main body and the operating member, and configured to guide the operating member to move towards or away from the geometric center of the main body along a preset direction.
[0020] Optionally, the grabbing device further comprises:
[0021] a positioning member arranged on at least one of the main body and the second end of the grabbing mechanism, and matched with the workpiece.
[0022] Optionally, the main body comprises a holding hole, and the holding hole is closer to the second end of the grabbing arm than the operating member.
[0023] Compared with the prior art, the embodiment of the present disclosure provides a grabbing device which can be used to grab a workpiece. The movement direction of the first end of the grabbing arm is guided by the guide groove in the operating member, so that the second end of the grabbing arm can move between the grabbing position and the releasing position to grab or release the workpiece. The grabbing device in the embodiment has a simple structure, can avoid direct contact between the hands of the operator and the workpiece, and reduces the risk of pollution. The guide groove cooperates with the first end of the grabbing arm, which is conducive to improving the accuracy of the grabbing device in grabbing the workpiece, and is suitable for grabbing or moving the workpiece with complex shape or unable to be manually taken or placed. BRIEF DESCRIPTION OF DRAWINGS
[0024] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and are used to explain the present disclosure and are not intended to limit the present disclosure. In the drawings:
[0025] Figure 1 A schematic view of an exemplary gripping device is shown, consistent with some embodiments of the present disclosure;
[0026] Figure 2 A schematic view of an exemplary operating member is shown, consistent with some embodiments of the present disclosure;
[0027] Figure 3 A schematic view of an exemplary gripping arm and first reset mechanism is shown, consistent with some embodiments of the present disclosure;
[0028] Figure 4 A schematic view of an exemplary operating member and second reset mechanism is shown, consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION
[0029] Hereinafter, certain exemplary embodiments are described simply. As can be appreciated by those skilled in the art, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are to be regarded as illustrative in nature and not as restrictive.
[0030] In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship, and are used only to facilitate the description of the present disclosure and simplify the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.
[0031] In the description of the present disclosure, it should be noted that unless specifically defined and limited otherwise, the terms "mount", "connect", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.
[0032] In the present disclosure, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.
[0033] The following disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and in itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.
[0034] The embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.
[0035] The present disclosure relates to a gripping device, the gripping device comprising a main body, an operating member and at least one gripping arm. The operating member is arranged on the main body, and the operating member comprises a guide slot. A first end of the gripping arm is arranged in the guide slot, and the first end of the gripping arm moves along the guide slot when the operating member moves relative to the main body. A second end of the gripping arm can be used to grip a workpiece. The gripping arm can move between a gripping position and a release position based on the movement of the operating member.
[0036] When the operation member moves relative to the main body, the first end of the grabbing arm moves along the guide groove, and the grabbing arm can move between a grabbing position and a releasing position. When the grabbing arm moves to the grabbing position, the second end of the grabbing arm can generate a force between the workpiece, and the workpiece is grabbed; when the grabbing arm moves to the releasing position, the second end of the grabbing arm can release the workpiece. The grabbing device in the embodiment has a simple structure, can avoid direct contact of the hands of the operator with the workpiece, and reduces the risk of surface pollution or glue adhesion of the workpiece. The guide groove cooperates with the first end of the grabbing arm, which is conducive to improving the accuracy of the grabbing device in grabbing the workpiece, and is suitable for grabbing or moving the workpiece with a complex shape or unable to be manually taken or placed.
[0037] Figure 1 The structure of an exemplary grabbing device consistent with some embodiments of the present disclosure is shown. Referring to Figure 1 , the grabbing device 100 includes a main body 102, an operation member 104, and at least one grabbing arm 106. The grabbing device 100 in the embodiment is used to grab a workpiece.
[0038] The operation member 104 is arranged on the main body 102 and can move relative to the main body 102. In some embodiments, the operation member 104 can be manually operated by an operator to move the operation member 104 relative to the main body 102, or the operation member 104 can be in transmission connection with a driving source to automatically control the operation member 104 to move relative to the main body 102.
[0039] The operation member 104 includes a guide groove 122. The guide groove 122 has a predetermined shape, for example Figure 1 As shown in the figure, the guide groove 122 includes an arc-shaped wall for guiding the movement direction of the grabbing arm 106.
[0040] The grabbing device 100 includes at least one grabbing arm 106. For example Figure 1 As shown in the figure, the grabbing device 100 includes two grabbing arms 106. In the embodiment, the grabbing arm 106 can interact with the workpiece to grab or release the workpiece. For example, the two grabbing arms 106 can move relatively, clamped on opposite sides of the workpiece, or lifted on the bottom of the workpiece.
[0041] In some embodiments, the grabbing device 100 includes one grabbing arm 106, and the grabbing device 100 further includes a cooperating structure cooperating with the one grabbing arm 106. The position of the cooperating structure can be kept fixed relative to the main body 102, and the grabbing arm 106 can move relative to the cooperating structure to clamp on the side of the workpiece or lift on the bottom of the workpiece.
[0042] The gripping arm 106 has a first end 132 and a second end 134. The first end 132 of the gripping arm 106 is disposed in the guide slot 122, and the first end 132 moves along the guide slot 122 when the operating member 104 moves relative to the main body 102. For example Figure 1 As shown in FIG. 1, the guide slot 122 includes an arc-shaped wall, and the first end 132 of the gripping arm 106 and the guide slot 122 are kept in abutment and can slide along the guide slot 122.
[0043] The second end 134 of the gripping arm 106 is used to grip the workpiece. For example, the second end 134 of the gripping arm 106 includes a clamping jaw, which can be clamped on the side of the workpiece or lifted on the bottom of the workpiece. In this embodiment, the gripping arm 106 has a certain mechanical rigidity, and the second end 134 moves with the first end 132 when the first end 132 moves along the guide slot 122.
[0044] In some embodiments, referring to Figure 1 The gripping device 100 includes two gripping arms 106. In the gripping position, the second ends 134 of the two gripping arms 106 are close to each other, and the workpiece is located between the second ends 134 of the two gripping arms 106. In the release position, the second ends 134 of the two gripping arms 106 are away from each other, so that the workpiece can be separated from between the two gripping arms 106, or so that the workpiece can be located between the two gripping arms 106. In other words, in this embodiment, the distance between the second ends 134 of the two gripping arms 106 in the gripping position is greater than the distance between the second ends 134 of the two gripping arms 106 in the release position.
[0045] For example Figure 1 As shown in FIG. 1, when the control operating member 104 moves towards the geometric center of the main body 102, the guide slot 122 can act as a transmission structure. The guide slot 122 causes the first end 132 of the gripping arm 106 to move towards the geometric center of the operating member 104, thereby causing the second end 134 of the gripping arm 106 to move away from the center of the operating member 104. In this embodiment, the gripping arm 106 can move between the gripping position and the release position based on the movement of the operating member 104 relative to the main body 102. The gripping position refers to the position of the second end 134 of the gripping arm 106 when gripping the workpiece, for example, the position when the second ends 134 of the multiple gripping arms 106 are close to each other. The release position refers to the position of the second end 134 of the gripping arm 106 when releasing the workpiece, for example, the position when the second ends 134 of the multiple gripping arms 106 are away from each other.
[0046] The guide slot 122 not only guides the movement direction of the gripping arm 106, but also drives the movement of the gripping arm 106 based on the movement of the operating member 104 relative to the main body 102, which is beneficial to simplify the structure of the gripping device 100.
[0047] In the grabbing device 100 in the embodiment, the operation member 104 moves relative to the main body 102, and the guide groove 122 and the first end 132 of the grabbing arm 106 cooperate with each other to move the grabbing arm 106 between the grabbing position and the releasing position, and the second end 134 of the grabbing arm 106 grabs or places the workpiece. The grabbing device 100 can directly grab the workpiece instead of the hand of the operator, which reduces the risk of contaminating the surface of the workpiece, and has a simple structure. The guide groove 122 and the first end 132 of the grabbing arm 106 cooperate with each other to guide the movement direction of the grabbing arm 106, and are suitable for grabbing or moving the workpiece with a complex shape or unable to be manually grabbed or placed.
[0048] In some embodiments, referring to Figure 1 , the grabbing device 100 further comprises at least one rotating shaft 108. The rotating shaft 108 is arranged between the first end 132 and the second end 134 of the grabbing arm 106 and is fixed on the main body 102. When the operation member 104 moves, the grabbing arm 106 can rotate around the rotating shaft 108. For example Figure 1 , when the operation member 104 moves towards the geometric center of the main body 102, the first end 132 of the grabbing arm 106 is pressed by the guide groove 122 and moves along the guide groove 122, for example, the first ends 132 of the two grabbing arms 106 move close to each other. The grabbing arm 106 rotates around the rotating shaft 108, and the second ends 134 of the two grabbing arms 106 move away from each other, and the grabbing arm 106 moves to the releasing position. When the operation member 104 moves away from the main body 102, the grabbing arm 106 rotates in the opposite direction around the rotating shaft 108, and the grabbing arm 106 moves to the grabbing position.
[0049] In some embodiments, the grabbing arm 106 can move along a straight line based on the movement of the operation member 104 relative to the main body 102, for example, when the operation member 104 moves relative to the main body 102, the plurality of grabbing arms 106 move along the guide rail arranged obliquely to make the second ends 134 of the grabbing arms 106 move close to or away from each other to grab or place the workpiece.
[0050] Figure 2 The structure of an exemplary operation member consistent with some embodiments of the present disclosure is shown. Referring to Figure 2 , the operation member 204 comprises a guide groove 222, and the operation member 204 can be the operation member 104 shown in Figure 1 , and the guide groove 222 can be the guide groove 122 shown in Figure 1 . In the embodiment, the guide groove 222 comprises an arc-shaped wall 224, and the curvatures at different positions of the arc-shaped wall 224 can be the same or different. The first end of the grabbing arm can move along the arc-shaped wall 224.
[0051] In the embodiment, the arc-shaped wall 224 can guide the movement direction of the first end of the grabbing arm, so that the force between the arc-shaped wall 224 and the first end of the grabbing arm deviates from the movement direction of the operating member 104 relative to the main body 102, reduces the size of the force passing through the center of the rotation shaft, reduces the risk of damage to the rotation shaft position, and is beneficial to improve the structural stability.
[0052] With reference to Figure 1 In some embodiments, the first end 132 of the grabbing arm 106 and the guide groove 122 are kept in close contact. When the operating member 104 moves towards the geometric center of the main body 102, the guide groove 122 extrudes the first end 132 to make the grabbing arm 106 move. When the operating member 104 moves away from the main body 102, the first end 132 and the guide groove 122 are kept in close contact, so that the grabbing arm 106 moves in the opposite direction.
[0053] With reference to Figure 2 In some embodiments, the guide groove 222 includes a first limiting wall 226 and a second limiting wall 228. The first limiting wall 226 and the second limiting wall 228 are used to limit the movement range of the first end of the grabbing arm in the guide groove 222.
[0054] When the grabbing arm is in the grabbing position, the first end of the grabbing arm and the first limiting wall 226 are in close contact, and the first limiting wall 226 limits the position of the first end of the grabbing arm, which can avoid that the second end of the grabbing arm generates excessive force on the workpiece and protect the workpiece.
[0055] When the grabbing arm is in the release position, the first end of the grabbing arm and the second limiting wall 228 are in close contact, and the second limiting wall 228 limits the position of the first end of the grabbing arm, which can prevent the first end of the grabbing arm from being separated from the guide groove 222 and cause the grabbing device to fail.
[0056] In the embodiment, the first limiting wall 226 and the second limiting wall 228 jointly limit the movement range of the first end of the grabbing arm in the guide groove 222, so that the grabbing arm moves within a predetermined range. For example, the first limiting wall 226 and the second limiting wall 228 can limit the angle of rotation of the grabbing arm around the rotation shaft, which can be matched with the size of the workpiece to be grabbed, so as to reduce the risk of damaging the workpiece and make the grabbing device structurally stable.
[0057] With reference to Figure 1In some embodiments, the grabbing device 100 further comprises a first reset mechanism arranged in the mounting hole 110. The first reset mechanism can reset the at least one grabbing arm 106 to the grabbing position or to the releasing position. For example, the first reset mechanism comprises an elastic member arranged in the mounting hole 110. The elastic force of the elastic member can reset the grabbing arm 106 to the initial position, which can be the grabbing position or the releasing position, without external force.
[0058] For example Figure 1 As shown in FIG. 1, the initial position of the grabbing arm 106 is the grabbing position. When the operator or the driving source applies a force to the operating member 104 to move the operating member 104 towards the geometric center of the main body 102, the first ends 132 of the two grabbing arms 106 move towards each other along the guide groove 122, and the second ends 134 move away from each other. The grabbing arm 106 moves to the releasing position, and the elastic member in the first reset mechanism accumulates elastic potential energy. When the force is unloaded, the elastic member in the first reset mechanism 110 releases the elastic potential energy, and the grabbing arm 106 moves to the grabbing position under the driving of the elastic potential energy.
[0059] Figure 3 The structure of the schematic grabbing arm and the first reset mechanism consistent with some embodiments of the present disclosure is shown. Referring to FIG. 3, Figure 3 The first reset mechanism comprises a spring 338 arranged between the pivot shaft 308 and the first end 332 of the grabbing arm 306, for example, a blind hole 310 is arranged on the main body, one end of the spring 338 abuts in the blind hole 310, and the other end abuts on the grabbing arm 306 or in the blind hole on the grabbing arm 306. Wherein, the pivot shaft 308 can be the pivot shaft 108 shown in FIG. 1, Figure 1 The grabbing arm 306 can be the grabbing arm 106 shown in FIG. 1, and the first end 332 can be the first end 132 shown in FIG. 1. Figure 1 Figure 1
[0060] When a force is applied to the operating member, and the operating member moves towards the geometric center of the main body, the grabbing arm 306 rotates around the pivot shaft 308, the first ends 332 move towards each other, and the spring 338 is compressed to accumulate elastic potential energy. When the force is unloaded, the spring 338 releases the elastic potential energy to reset the grabbing arm 306 to rotate around the pivot shaft 308. In some embodiments, the spring 338 can have a certain pre-compression amount, which can resist the aging of the spring 338 and be beneficial to improve the stability and service life of the grabbing device.
[0061] In some embodiments, the spring 338 is arranged between the pivot shaft 308 and the second end 334, wherein the second end 334 can be the second end 334 shown in FIG. 3. Figure 1 The second ends 334 of the gripping arms 306 are shown in FIG. 13B. When the gripping arms 306 are moved to the release position, the second ends 334 of the gripping arms 306 are moved away from each other, and the springs 338 are stretched to accumulate elastic potential energy. When the springs 338 release the elastic potential energy, the second ends 334 of the gripping arms 306 are moved toward each other, and the gripping arms 306 are reset to the gripping position.
[0062] In some embodiments, the first reset mechanism includes a coil spring arranged at the position of the rotation shaft. When the gripping arm rotates around the rotation shaft, the coil spring accumulates elastic potential energy and generates elastic force to reset the gripping arm to the initial position.
[0063] Reference is made to Figure 1 In some embodiments, when the operating member 104 is moved toward the geometric center of the main body 102, the gripping arms 106 are moved toward the release position. When the operating member 104 is moved away from the geometric center of the main body 102, the gripping arms 106 are moved toward the gripping position. The gripping device 100 further includes a second reset mechanism 112 that can move the operating member 104 away from the geometric center of the main body 102.
[0064] In the present embodiment, the second reset mechanism 112 can move the operating member 104 away from the geometric center of the main body 102, that is, the second reset mechanism 112 can move the gripping arms 106 toward the gripping position to maintain the initial state of the gripping arms 106 in the gripping position. When it is necessary to grip a workpiece, the second reset mechanism 112 can maintain the gripping arms 106 in the gripping position without or with only a small amount of continuous force applied to the gripping device 100, which is conducive to maintaining the stability of the structure of the gripping device 100 and reducing the difficulty of operating the gripping device 100. For example, an operator manually controls the gripping device 100 to apply pressure to the operating member 104 and the main body 102 to move the operating member 104 toward the geometric center of the main body 102 to move the gripping arms 106 to the release position, for example, the second ends 134 of the gripping arms 306 are spread apart to facilitate gripping of the workpiece. When the operator stops applying the force, the second ends 134 of the gripping arms 106 are moved to the gripping position under the action of the second reset mechanism 112, without the need for the operator to continuously provide an external force or with only a small amount of external force provided by the operator to maintain the gripping arms 106 in the gripping position.
[0065] Figure 4 A schematic diagram of an exemplary operating member and a second reset mechanism consistent with some embodiments of the present disclosure is shown. Reference is made to Figure 4 The second reset mechanism 412 is located between the operating member 404 and the main body 402, where the second reset mechanism 412 can be Figure 1 The second reset mechanism 412 is located between the operating member 404 and the main body 402, where the second reset mechanism 412 can be Figure 1 The second reset mechanism 412 is located between the operating member 404 and the main body 402, where the second reset mechanism 412 can beFigure 1 The main body 102 shown in the middle.
[0066] The second reset mechanism 412 includes a spring, when the operating member 404 moves towards the geometric center of the main body 402, the spring of the second reset mechanism 412 is compressed, generating a spring force to move the operating member 404 away from the geometric center of the main body 402. In some embodiments, the grabbing device includes a plurality of second reset mechanisms 412, and is evenly distributed between the elastic member 404 and the main body 402.
[0067] Reference Figure 1 In some embodiments, the grabbing device 100 further includes a guide mechanism 114, which is arranged on at least one of the main body 102 and the operating member 104, and can guide the operating member 104 to move towards or away from the geometric center of the main body 102 along a preset direction.
[0068] For example, the guide mechanism 114 can include a guide hole and a guide column, the guide hole is arranged on one of the main body 102 and the operating member 104, and the guide column is arranged on the other one of the main body 102 and the operating member 104. The guide column is inserted into the guide hole, and the guide hole can limit the movement direction of the guide column, guiding the operating member 104 to move towards or away from the geometric center of the main body 102 along a preset direction. In some embodiments, the guide mechanism 114 can include a guide rail, a damping block, etc.
[0069] Reference Figure 1 In some embodiments, the grabbing device 100 further includes a positioning member 116. The positioning member 116 is arranged on the main body 102, and the position, shape, size, etc. of the positioning member 116 are matched with the workpiece to be grabbed. The workpiece to be grabbed can be provided with a groove, a hole, a protrusion, etc. structure, and the positioning member 116 is determined based on the workpiece to be grabbed. The positioning member 116 can cooperate with the groove, hole, protrusion, etc. structure on the workpiece to be grabbed, and the position of the workpiece relative to the grabbing device 100 is positioned during the process of grabbing the workpiece, which is beneficial to keep the position of the workpiece stable when the grabbing device 100 grabs the workpiece. Moreover, the workpiece can be kept in a fixed pose relative to the grabbing device 100 by using the positioning member 116, which is beneficial to simplify the positioning process when the workpiece is transferred to other workstations. In some embodiments, the positioning member 116 can include a slope, for example, the positioning member 116 is in the shape of a convex or concave protrusion, such as a cone or a trapezoid. The slope can guide the cooperation between the positioning member 116 and the workpiece, and guide the positioning of the grabbing device 100 and the workpiece at the position of the positioning member 116.
[0070] In some embodiments, the positioning member 116 can also be arranged on the grabbing arm 106. For example, the cooperating member on the workpiece is located at the position of the side surface or the bottom surface of the workpiece which contacts the grabbing arm 106, and the positioning member 116 can be arranged on the grabbing arm 106.
[0071] Reference Figure 1 In some embodiments, the main body 102 includes a holding hole 136 that is closer to the second end 134 of the gripping arm 106 than the operating member 104. The holding hole 136 can cooperate with the operating member 104 to facilitate the manual control of the operating member 104 by the operator to move in the direction closer to the geometric center of the main body 102. For example, the holding hole 136 can accommodate a plurality of fingers of the operator, and the operator can hold the gripping device 100 by the holding hole 136 and the operating member 104, and squeeze the main body 102 and the operating member 104 to relatively close the operating member 104 and the holding hole 136.
[0072] Finally, it should be noted that the above only describes the embodiments of the present disclosure and is not intended to limit the present disclosure. Although the foregoing embodiments of the present disclosure have been described in detail, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.
Claims
1. A gripping device, comprising: a main body; an operating member disposed on the main body, the operating member comprising a guide slot; and at least one gripping arm, a first end of the gripping arm being disposed in the guide slot and moving along the guide slot when the operating member moves relative to the main body, a second end of the gripping arm being used to grip a workpiece, wherein the gripping arm is movable between a gripping position and a releasing position based on the movement of the operating member.
2. The gripping device according to claim 1, characterized in that Further comprising: at least one rotation shaft disposed between the first end and the second end of the gripping arm and fixed on the main body, the gripping arm being rotatable around the rotation shaft when the operating member moves.
3. The gripping device according to claim 2, characterized in that The guide slot comprises an arc-shaped wall, the first end of the gripping arm moving along the arc-shaped wall when the operating member moves relative to the main body.
4. The gripping device of claim 1, wherein The first end is in abutment with the guide slot.
5. The gripping device of claim 1, wherein The guide slot comprises a first limiting wall and a second limiting wall, the first end of the gripping arm being in abutment with the first limiting wall when the gripping arm is in the gripping position, the first end of the gripping arm being in abutment with the second limiting wall when the gripping arm is in the releasing position.
6. The gripping device of claim 2, wherein The gripping device further comprises: a first reset mechanism configured to restore the at least one gripping arm to the gripping position or the releasing position.
7. The gripping device according to claim 6, characterized in that The first reset mechanism comprises a spring disposed between the rotation shaft and the first end or between the rotation shaft and the second end.
8. The gripping device of claim 1, wherein When the operating member moves towards the geometric center of the main body, the gripping arm moves towards the releasing position; when the operating member moves away from the geometric center of the main body, the gripping arm moves towards the gripping position. The gripping device further comprises: a second reset mechanism configured to move the operating member away from the geometric center of the main body.
9. The gripping device of claim 1, wherein, The gripping device comprises two gripping arms, the distance between the second ends of the two gripping arms in the gripping position being greater than the distance between the second ends of the two gripping arms in the releasing position.
10. The gripping device of claim 1, wherein, Further comprising: a guide mechanism disposed on at least one of the main body and the operating member and configured to guide the operating member to move towards or away from the geometric center of the main body in a predetermined direction.
11. The gripping device of claim 1, wherein Further comprising: a positioning member disposed on at least one of the main body and the second end of the gripping device and matched with the workpiece.
12. The gripping device of claim 1, wherein, The main body comprises a holding hole, the holding hole being closer to the second end of the gripping arm than the operating member.