Paw and welding equipment
By designing a gripper and welding equipment with an adsorption mechanism and an image acquisition mechanism, the problem of low assembly and welding efficiency of robotic grippers in narrow gaps was solved, and efficient and precise automated production was achieved.
Patent Information
- Application Number
- CN202422704545.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-06
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2034-11-06
AI Technical Summary
In the production of electronic products, in the welding process of small and large parts in the existing technology, it is difficult for robotic grippers to assemble in narrow gaps, resulting in low work efficiency, low precision and easy damage to small parts, high labor intensity of manual operation and low production yield.
A gripper was designed, comprising a connecting mechanism and an adsorption mechanism. The adsorption mechanism uses negative pressure to adsorb small parts and stably assemble them in a confined space, while an image acquisition mechanism is used to improve accuracy. The welding equipment improves efficiency and accuracy through a material handling device and a welding device.
It enables efficient and stable assembly and welding of small parts in narrow gaps, reducing the difficulty and cost of manual operation and improving production efficiency and welding accuracy.
Smart Images
Figure CN223572261U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of mechanical automation, in particular to a hand claw and welding equipment. BACKGROUND
[0002] In the production process, two workpieces are assembled together and fixedly connected by welding or other means, which is a common processing method. In the production field of electronic products, small parts are often assembled into large parts, and then the small parts and the large parts are welded. However, in the actual production process, the gap reserved for assembling the small parts on the large part is very small, which makes it easy to bump into other structures of the large part when the small part is assembled by the mechanical hand claw. At present, the commonly used method is to manually assemble the small part on the large part, then use a pressing jig to press the small part and the large part, and finally weld. However, this method has low work efficiency, high labor intensity, low precision of manual assembly, and the operator may damage the small part when taking and placing the small part, thereby reducing the production yield. CONTENT OF THE UTILITY MODEL
[0003] In view of the above, it is necessary to provide a hand claw and welding equipment, the hand claw can grasp a first workpiece and can perform assembly operation in a space with a small reserved gap, thereby improving production efficiency, and the welding equipment can weld the first workpiece and a second workpiece.
[0004] The embodiment of the present application provides a hand claw, which comprises a connecting mechanism for connecting an external moving device; an adsorption mechanism comprising a suction member connected to the connecting mechanism and a cover connected to the suction member, the suction member has an adsorption surface and a front side surface arranged adjacent to each other, the front side surface is located on the side of the suction member away from the connecting mechanism, the suction member is also provided with an avoidance through hole connected to the adsorption surface, and the suction member is provided with a gas extraction channel, the gas extraction channel comprises an adapter groove, an air inlet channel and an air outlet channel, the adapter groove is provided on the front side surface and is arranged with an opening on the front side surface, the air inlet channel is arranged close to the avoidance through hole and communicates with the adapter groove, one end of the air inlet channel away from the adapter groove is arranged on the adsorption surface, and the air outlet channel penetrates through the suction member and communicates with the end of the adapter groove away from the air inlet channel, the cover is detachably arranged on the front side surface, and the cover is used for sealing the adapter groove; wherein the air outlet channel is used for connecting an external gas extraction device, so that the gas passes through the air inlet channel, the adapter groove and the air outlet channel in sequence, and then the air inlet channel generates negative pressure to adsorb a first workpiece.
[0005] The gripper can be connected with an external moving device through a connecting mechanism, and then drive the suction mechanism to move to take and place materials. The suction member in the suction mechanism is provided with a position-avoiding through hole, which can expose the position to be processed of the first workpiece, facilitating subsequent processing. The suction member is also provided with an air extraction channel, and an external air extraction device is used to make the gas pass through the air inlet channel, the adapter groove and the air outlet channel in sequence, so that a negative pressure is generated in the air inlet channel to firmly adsorb the first workpiece. The adapter groove is arranged on the front side of the suction member, can bypass the position-avoiding through hole, and then connect the air inlet channel and the air outlet channel, and can reduce the distance between the air inlet channel and the front side, improve the stability of the suction of the first workpiece, and avoid the suction member from bumping into other structures when the first workpiece is installed, so that the gripper can be assembled in a space with small reserved gap, and the production efficiency is high. The front side of the suction member is provided with a cover, and the opening of the adapter groove on the front side can be covered by the cover, so as to seal the adapter groove.
[0006] In some embodiments, the suction member further has two oppositely arranged connecting surfaces, both of which are connected with the suction surface and the front side; the cover includes a covering part and two connecting parts, the covering part abuts against the front side, and the two connecting parts are respectively arranged at both ends of the covering part and abut against the two connecting surfaces; the suction mechanism further includes two fixing assemblies connected with the suction member, the two fixing assemblies are respectively arranged corresponding to the two connecting surfaces, and each fixing assembly is used to cooperate with the suction member to clamp the corresponding connecting part, so as to fix the cover.
[0007] In some embodiments, each fixing assembly includes a fastener and a connecting pin, the fastener abuts against one side of the connecting part away from the suction member, and the connecting pin is inserted into the fastener and connected with the suction member, so that the fastener cooperates with the suction member to clamp and fix the corresponding connecting part, thereby fixing the cover.
[0008] In some embodiments, the thickness of the cover ranges from 0.15mm to 0.25mm, and the depth of the adapter groove ranges from 0.4mm to 1mm.
[0009] In some embodiments, the connecting mechanism includes a connecting assembly and a floating assembly, the connecting assembly includes a connecting plate and a sliding plate connected with each other, the connecting plate is used to connect with an external moving device, the plane where the connecting plate is located is parallel to the plane where the suction surface is located, the plane where the sliding plate is located is parallel to the plane where the front side is located, the floating assembly includes a floating plate and a supporting plate connected with each other, the floating plate is slidingly connected with the sliding plate in a direction perpendicular to the plane where the suction surface is located, the supporting plate extends along a direction perpendicular to the plane where the floating plate is located, and one end of the supporting plate away from the connecting plate is used to connect the suction member.
[0010] In some embodiments, the connecting mechanism further comprises a reset assembly, the reset assembly comprising a positioning column, a reset plate and an elastic member, the positioning column being connected to the connecting plate and extending in a direction perpendicular to the plane on which the connecting plate lies, the reset plate being in sliding connection with the positioning column and connected with the floating plate, the elastic member being sleeved on the positioning column and abutting against the connecting plate and the reset plate at two ends respectively, the elastic member being used to push the reset plate away from the connecting plate to drive the suction member to reset.
[0011] In some embodiments, the gripper further comprises an image acquisition mechanism, the image acquisition mechanism being connected to the connecting mechanism, the image acquisition mechanism comprising a camera assembly, the camera assembly being used to acquire an image of the first workpiece to identify the position of the first workpiece.
[0012] In some embodiments, the image acquisition mechanism further comprises an adjusting assembly, the adjusting assembly comprising an adjusting plate fixedly connected with the connecting mechanism and an adjusting block adjustably connected with the adjusting plate, the camera assembly being connected to the adjusting block, the adjusting block being used to adjust the position of the camera assembly.
[0013] Embodiments of the present application also provide a welding device, comprising: a material taking and placing device comprising a moving mechanism and the above gripper, the gripper being connected to the output end of the moving mechanism; a positioning device arranged adjacent to the material taking and placing device and used to carry and position a second workpiece; and a welding device arranged opposite to the positioning device; wherein the material taking and placing device is used to suck the first workpiece and assemble the first workpiece on the second workpiece on the positioning device, and the welding device is used to weld the first workpiece and the second workpiece.
[0014] The welding device described above can suck the first workpiece through the gripper in the material taking and placing device, and assemble the first workpiece on the second workpiece on the positioning device under the driving of the moving mechanism, the welding device being arranged opposite to the positioning device, so that the first workpiece and the second workpiece can be welded after the material taking and placing device completes the workpiece assembly. The welding device described above improves the welding precision and efficiency and reduces the operation difficulty and labor cost.
[0015] In some embodiments, the positioning device comprises a positioning frame and a positioning pin, the positioning frame being used to carry and position the second workpiece, the positioning pin being arranged adjacent to the positioning frame; the suction member of the gripper is provided with a positioning hole, the positioning hole being arranged on the suction surface, and the positioning hole being used to position the suction member in cooperation with the positioning pin. BRIEF DESCRIPTION OF DRAWINGS
[0016] Figure 1A structural schematic diagram of a welding device provided by an embodiment of the present application.
[0017] Figure 2 A structural schematic diagram of a gripper provided by an embodiment of the present application.
[0018] Figure 3 A structural schematic diagram of a suction mechanism of the gripper shown in Figure 2
[0019] Figure 4 A structural schematic diagram of the suction mechanism shown in another angle. Figure 3
[0020] Figure 5 A structural schematic diagram of the gripper shown in another angle. Figure 2
[0021] Figure 6 A structural schematic diagram of a part of the welding device shown in Figure 1
[0022] Main element symbol explanation: welding device 1000, gripper 100, connecting mechanism 10, connecting assembly 11, connecting plate 111, sliding plate 112, through hole 1121, floating assembly 12, floating plate 121, support plate 122, reset assembly 13, positioning column 131, reset plate 132, elastic member 133, suction mechanism 20, suction member 21, suction surface 211, front surface 212, avoidance through hole 213, air extraction channel 214, adapter groove 2141, air inlet channel 2142, air outlet channel 2143, connecting surface 215, positioning hole 216, covering member 22, covering part 221, connecting part 222, fixing assembly 23, fastening member 231, connecting pin 232, image acquisition mechanism 30, camera assembly 31, light supplementing lamp 311, adjusting assembly 32, adjusting plate 321, adjusting block 322, material taking and placing device 200, moving mechanism 210, positioning device 300, positioning frame 310, positioning pin 320, welding device 400, first workpiece 2000, second workpiece 3000. DETAILED DESCRIPTION
[0023] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are examples for explaining the present application and should not be construed as limiting the present application.
[0024] In the description of the present application, it is to be understood by the terms indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and does 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 application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included one or more said features. In the description of the present application, it is to be noted that the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.
[0025] In the description of the present application, it is to be noted that unless otherwise explicitly specified and limited, the term "connection" should be broadly understood, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection or can communicate with each other, it can be direct connection, or indirect connection through intermediate medium, it can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.
[0026] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.
[0027] Please refer to Figure 1 , Figure 2 and Figure 3 , the present application provides a hand claw 100 for grasping a first workpiece 2000, the first workpiece 2000 can be a sheet-shaped structural member. The hand claw 100 comprises a connecting mechanism 10, a suction mechanism 20 and an image acquisition mechanism 30. In the present embodiment, the hand claw 100 is used to grasp the first workpiece 2000, and assemble the first workpiece 2000 on a second workpiece 3000, which can be a keyboard shell, a notebook computer shell, a tablet shell, etc.
[0028] Specifically, the connecting mechanism 10 is used to connect an external mobile device, which can be a mobile mechanism 210 as described below, or a mechanical arm, a linear module, etc., which can drive the connecting mechanism 10 to move, which is not limited here.
[0029] Please refer to Figure 4The suction mechanism 20 comprises a suction subassembly 21 connected to the connecting mechanism 10 and a cover 22 connected to the suction subassembly 21. The suction subassembly 21 has a suction surface 211 and a front side 212 arranged adjacently. The front side 212 is located on a side of the suction subassembly 21 away from the connecting mechanism 10. The suction subassembly 21 is provided with a position-avoiding through hole 213 penetrating the suction subassembly 21 and communicating with the suction surface 211. The suction subassembly 21 is provided with an air extraction channel 214. The air extraction channel 214 comprises an adapter groove 2141, an air inlet channel 2142 and an air outlet channel 2143. The adapter groove 2141 is arranged on the front side 212 and has an opening arranged on the front side 212. The air inlet channel 2142 is arranged close to the position-avoiding through hole 213 and communicates with the adapter groove 2141. An end of the air inlet channel 2142 away from the adapter groove 2141 is arranged on the suction surface 211. The air outlet channel 2143 penetrates the suction subassembly 21 and communicates with an end of the adapter groove 2141 away from the air inlet channel 2142. The cover 22 is detachably arranged on the front side 212 and is used to seal the adapter groove 2141.
[0030] The air outlet channel 2143 is used to connect an external air extraction device (not shown in the figure) so that the gas passes through the air inlet channel 2142, the adapter groove 2141 and the air outlet channel 2143 in sequence. Thus, the air inlet channel 2142 generates negative pressure to suck the first workpiece 2000.
[0031] The suction subassembly 21 can have a plate or block structure, and the suction surface 211 can have a planar structure, which is conducive to stably sucking the first workpiece 2000. The front side 212 can have a planar structure, which facilitates the cover 22 to seal the adapter groove 2141.
[0032] The extension direction of the position-avoiding through hole 213 is perpendicular to the plane where the suction surface 211 is located. It can be understood that when the first workpiece 2000 is assembled on the second workpiece 3000 (see Figure 1 ), the welding position of the first workpiece 2000 and the second workpiece 3000 can be at the position where the suction head sucks the first workpiece 2000. By arranging the position-avoiding through hole 213, the position to be welded can be avoided, which facilitates the welding of the first workpiece 2000 and the second workpiece 3000. In the embodiment, the number of the position-avoiding through holes 213 can be two, three or the like. The specific number and position are arranged according to actual needs, which are not limited herein. In the embodiment, the position-avoiding through hole 213 has a U-shaped structure, and both ends of the U-shaped position-avoiding through hole 213 are arranged close to the front side 212.
[0033] The suction passage 214 in the suction accessory 21 is used for suction to generate negative pressure on the suction surface 211 to adsorb the first workpiece 2000. It can be understood that the position of the avoidance through hole 213 corresponds to the position to be welded of the first workpiece 2000, and thus there is a case that the distance between the avoidance through hole 213 and the front side surface 212 is small. In this working condition, the traditional punching method is difficult to avoid the avoidance through hole 213. In the embodiment, the adapter groove 2141 is opened on the front side surface 212 of the suction accessory 21, and the air inlet passage 2142 is arranged adjacent to the avoidance through hole 213, such as being arranged between the two ends of the U-shaped avoidance through hole 213. The air inlet passage 2142 can not only avoid the avoidance through hole 213, but also improve the stability of adsorbing the first workpiece 2000, and at the same time, the machining difficulty of the suction passage 214 is also reduced. In the embodiment, the suction passage 214 can be provided with multiple, such as two, three, etc., to improve the stability of adsorbing the first workpiece 2000.
[0034] The cover 22 can be release paper or the like, and the cover 22 is air-tight. When the cover 22 is arranged on the front side surface 212, the cover 22 seals the opening of the adapter groove 2141 on the front side surface 212, so as to form a complete gas passage of the air inlet passage 2142, the adapter groove 2141 and the air outlet passage 2143. In this way, when the external suction device performs suction, the gas can enter from the air inlet passage 2142 and be discharged from the air outlet passage 2143, so as to form negative pressure on the suction surface 211 to adsorb the first workpiece 2000. Since the position of the adapter groove 2141 opposite to the avoidance through hole 213 is shallow, the adapter groove 2141 is easy to be blocked. In the embodiment, the cover 22 can be made of transparent material, so that the operator can observe the inside of the adapter groove 2141, and the adapter groove 2141 can be processed in time when it is blocked.
[0035] The hand claw 100 provided by the embodiment of the present application can be connected with an external mobile device through the connecting mechanism 10, and then drive the adsorption mechanism 20 to move to take and place materials. The suction member 21 in the adsorption mechanism 20 is provided with a position-avoiding through hole 213, which can expose the position to be processed of the first workpiece 2000, thereby facilitating subsequent processing. The suction member 21 is also provided with an air extraction channel 214, which uses an external air extraction device to make the gas pass through the air inlet channel 2142, the adapter groove 2141 and the air outlet channel 2143 in sequence, so as to generate negative pressure in the air inlet channel 2142 to firmly adsorb the first workpiece 2000. The adapter groove 2141 is arranged on the front side 212 of the suction member 21, which can bypass the position-avoiding through hole 213, thereby connecting the air inlet channel 2142 and the air outlet channel 2143, and reducing the distance between the air inlet channel 2142 and the front side 212, thereby improving the stability of adsorbing the first workpiece 2000, and avoiding the suction member 21 from colliding with other structures when the first workpiece 2000 is installed, thereby enabling the hand claw 100 to perform assembly work in a space with small reserved gap, and improving production efficiency. The front side 212 of the suction member 21 is provided with a cover 22, which can cover the opening of the adapter groove 2141 on the front side 212, thereby sealing the adapter groove 2141.
[0036] In some embodiments, referring to Figure 3 and Figure 4 , the suction member 21 also has two oppositely arranged connecting surfaces 215, which are connected with the adsorption surface 211 and the front side 212. The cover 22 includes a covering part 221 and two connecting parts 222. The covering part 221 abuts against the front side 212, and the two connecting parts 222 are arranged at both ends of the covering part 221 and abut against the two connecting surfaces 215, respectively. The adsorption mechanism 20 also includes two fixing assemblies 23 connected with the suction member 21. The two fixing assemblies 23 are arranged correspondingly with the two connecting surfaces 215, respectively. Each fixing assembly 23 is used to cooperate with the suction member 21 to clamp the corresponding connecting part 222, thereby fixing the cover 22.
[0037] The suction member 21 has two oppositely arranged connecting surfaces 215, which are connected with the adsorption surface 211 and the front side 212, thereby providing a stable support structure for the installation of the cover 22. The covering part 221 of the cover 22 abuts against the front side 212, and the two connecting parts 222 are arranged at both ends of the covering part 221 and abut against the two connecting surfaces 215, respectively, so that the cover 22 can be tightly attached to the suction member 21, and is not easy to loosen or shift during use, thereby ensuring the sealing effect of the adapter groove 2141.
[0038] The two fixing assemblies 23 are respectively arranged corresponding to the two connecting surfaces 215, each fixing assembly 23 clamps the corresponding connecting part 222 in cooperation with the suction accessory 21, and the fixing effect of the cover 22 is further enhanced. When the cover 22 needs to be maintained or replaced, the fixing assembly 23 is only loosened, and the cover 22 can be easily disassembled, so that the maintenance process is more convenient, and the maintenance cost and time are reduced. Meanwhile, the two fixing assemblies 23 are respectively arranged on the two connecting surfaces 215, the front side surface 212 is avoided, and the fixing assembly 23 does not affect the assembly of the suction accessory 21 to the first workpiece 2000.
[0039] In some embodiments, referring to Figure 2 , Figure 3 and Figure 4 each fixing assembly 23 comprises a fastener 231 and a connecting pin 232, the fastener 231 abuts against one side of the connecting part 222 away from the suction accessory 21, and the connecting pin 232 is inserted into the fastener 231 and connected with the suction accessory 21, so that the fastener 231 clamps and fixes the corresponding connecting part 222 in cooperation with the suction accessory 21, and the cover 22 is fixed. The fastener 231 can be a block or a plate structure, and the connecting pin 232 can be a pin column or a screw, and in order to further improve the positioning stability of the fixing assembly 23 to the cover 22, a plurality of connecting pins 232, such as two or three, can be arranged on each fastener 231. By arranging the fastener 231, the clamping stability of the connecting part 222 clamping the cover 22 can be improved, and damage to the connecting part 222 during installation of the connecting pin 232 can be avoided. Through cooperation of the fastener 231 and the connecting pin 232, the fastener 231 can firmly clamp the corresponding connecting part 222 in cooperation with the suction accessory 21, so as to ensure that the cover 22 is stably fixed on the suction accessory 21, and even if a larger negative pressure is applied during the suction process, the cover 22 will not easily loosen or fall off, ensuring the stability of the sealing performance and the suction effect of the suction mechanism 20.
[0040] In some embodiments, the thickness of the cover 22 ranges from 0.15 mm to 0.25 mm, and the depth of the adapter groove 2141 ranges from 0.4 mm to 1 mm. The thickness of the cover 22 can be 0.15 mm, 0.17 mm, 0.19 mm, 0.20 mm, 0.21 mm, 0.23 mm, 0.25 mm, etc. If the thickness of the cover 22 is less than 0.15 mm, the structural strength of the cover 22 is low, and the cover 22 is easily damaged during the adsorption process. If the thickness of the cover 22 is greater than 0.25 mm, the distance between the side of the cover 22 away from the suction member 21 and the first workpiece 2000 is large, which affects the assembly of the first workpiece 2000. When the thickness of the cover 22 ranges from 0.15 mm to 0.25 mm, the cover 22 can have sufficient strength to withstand the pressure difference during the pumping process, and the assembly of the first workpiece 2000 is not affected. The depth of the adapter groove 2141 can be 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, 1.0 mm, etc. If the depth of the adapter groove 2141 is less than 0.4 mm, the cross-sectional area of the adapter groove 2141 is small after the cover 22 covers the front side 212, which can cause insufficient suction or deformation of the cover 22 to block the adapter groove 2141. If the depth of the adapter groove 2141 is greater than 1.0 mm, the adapter groove 2141 is close to or communicates with the avoidance through hole 213, which can cause insufficient structural strength or air leakage.
[0041] In some embodiments, referring to Figure 2 , Figure 3 , Figure 5 , the connecting mechanism 10 includes a connecting assembly 11 and a floating assembly 12. The connecting assembly 11 includes a connecting plate 111 and a sliding plate 112 connected to each other. The connecting plate 111 is used to connect with an external mobile device. The plane where the connecting plate 111 is located is parallel to the plane where the adsorption surface 211 is located. The plane where the sliding plate 112 is located is parallel to the plane where the front side 212 is located. The floating assembly 12 includes a floating plate 121 and a support plate 122 connected to each other. The floating plate 121 is slidingly connected to the sliding plate 112 in a direction perpendicular to the plane where the adsorption surface 211 is located. The support plate 122 extends in a direction perpendicular to the plane where the floating plate 121 is located. The end of the support plate 122 away from the connecting plate 111 is used to connect the suction member 21.
[0042] The connecting plate 111 and the sliding plate 112 are both plate-shaped structures to improve the stability of connection or support. The connecting plate 111 is arranged to facilitate the connection of the hand claw 100 with the external driving device. The sliding plate 112 is arranged to provide a stable basis for the installation and movement of the floating assembly 12. A sliding rail or the like structure can be arranged between the floating plate 121 and the sliding plate 112 to improve the stability of the connection between the floating plate 121 and the sliding plate 112 and the stability of the movement of the floating plate 121. The support plate 122 is arranged to connect one end of the suction accessory 21 away from the connecting plate 111, so as to facilitate the support plate 122 to drive the suction accessory 21 to take and place the first workpiece 2000.
[0043] It can be understood that when the external driving device drives the hand claw 100 to suck the first workpiece 2000, the suction accessory 21 needs to abut against the first workpiece 2000. By arranging the floating assembly 12, when the hand claw 100 contacts the workpiece, the support plate 122 and the floating plate 121 can slide along the sliding plate 112, thereby reducing the impact force and protecting the first workpiece 2000 from being damaged.
[0044] In some embodiments, referring to Figure 2 , Figure 3 and Figure 5 , the connecting mechanism 10 further comprises a reset assembly 13. The reset assembly 13 comprises a positioning column 131, a reset plate 132, and an elastic member 133. The positioning column 131 is connected to the connecting plate 111 and extends in a direction perpendicular to the plane of the connecting plate 111. The reset plate 132 is in sliding connection with the positioning column 131 and is connected to the floating plate 121. The elastic member 133 is sleeved on the positioning column 131 and abuts against the connecting plate 111 and the reset plate 132 at both ends, respectively. The elastic member 133 is used to push the reset plate 132 away from the connecting plate 111 to move, thereby driving the suction accessory 21 to reset. The positioning column 131 can be a columnar structure. The positioning column 131 can be connected to the side of the connecting plate 111 away from the external driving device. A linear bearing or the like structure can be arranged between the positioning column 131 and the reset plate 132 to improve the stability of the sliding connection between the reset plate 132 and the positioning column 131. The elastic member 133 can be a spring.
[0045] When the suction accessory 21 sucks the first workpiece 2000, the support plate 122 and the floating plate 121 can slide upward along the sliding plate 112, thereby driving the reset plate 132 to move towards the connecting plate 111. The reset plate 132 compresses the elastic member 133. When the suction accessory 21 releases the first workpiece 2000, the elastic member 133 pushes the reset plate 132 away from the connecting plate 111 to move. The reset plate 132 drives the floating plate 121 to slide along the sliding plate 112, thereby driving the suction accessory 21 to reset through the support plate 122.
[0046] In the present embodiment, referring to Figure 5The sliding plate 112 can be provided with a through hole 1121, and the end of the reset plate 132 connected with the floating plate 121 passes through the through hole 1121 and can move in the through hole 1121. In this way, the movement distance of the reset plate 132 can be limited by the hole wall of the through hole 1121.
[0047] In some embodiments, referring to Figure 1 , Figure 2 and Figure 5 , the gripper 100 further comprises an image acquisition mechanism 30 connected to the connecting mechanism 10, and the image acquisition mechanism 30 comprises a camera assembly 31 configured to acquire an image of the first workpiece 2000 to identify the position of the first workpiece 2000.
[0048] The camera assembly 31 can comprise a CCD (charge coupled device) camera or the like. Before the suction member 21 suctions the first workpiece 2000, the camera assembly 31 can first take a picture of the first workpiece 2000 to acquire an image of the first workpiece 2000, thereby facilitating the camera assembly 31 to accurately suction the first workpiece 2000. It can be understood that after the gripper 100 assembles the first workpiece 2000 to the second workpiece 3000, the camera assembly 31 can also take a picture of the assembled first workpiece 2000 to acquire an image of the assembled first workpiece 2000, thereby detecting whether the first workpiece 2000 is assembled in place. In some other embodiments, the camera assembly 31 can also take a picture of the to-be-assembled position of the second workpiece 3000 before assembly to acquire an accurate assembly position. In the present embodiment, the camera assembly 31 further comprises a fill light 311 configured to provide light to improve the definition of the image acquired by the camera assembly 31.
[0049] In some embodiments, referring to Figure 1 , Figure 2 and Figure 3 , the image acquisition mechanism 30 further comprises an adjusting assembly 32 comprising an adjusting plate 321 fixedly connected to the connecting mechanism 10 and an adjusting block 322 adjustably connected to the adjusting plate 321, and the camera assembly 31 is connected to the adjusting block 322, and the adjusting block 322 is configured to adjust the position of the camera assembly 31. By providing the adjusting assembly 32, the camera assembly 31 can be adjusted in position on the adjusting plate 321 through the adjusting block 322, so that the position and angle of the camera assembly 31 can be flexibly adjusted according to different working scenes and workpiece characteristics, so as to better acquire the image of the first workpiece 2000 and improve the accuracy and comprehensiveness of image acquisition.
[0050] The working process of the gripper 100 provided in the present embodiment is as follows:
[0051] The external driving device drives the gripper 100 to move towards the first workpiece 2000, and the camera assembly 31 is used to obtain the image of the first workpiece 2000, so as to determine the accurate position of the first workpiece 2000. Then, the external driving device drives the gripper 100 to move so that the suction surface 211 of the suction accessory 21 abuts against the first workpiece 2000. Then, the external suction device is started, and the gas is sequentially sucked out through the gas inlet channel 2142, the switching groove 2141 and the gas outlet channel 2143. At this time, the gas inlet channel 2142 generates negative pressure, the suction surface 211 is in contact with the first workpiece 2000, and the first workpiece 2000 is adsorbed by the negative pressure. When the first workpiece 2000 is placed, the external suction device stops suction.
[0052] Please refer to Figure 1 and Figure 6 , the welding equipment 1000 provided in the embodiments of the present application further includes a taking and placing device 200, a positioning device 300 and a welding device 400.
[0053] The taking and placing device 200 includes a moving mechanism 210 and the gripper 100 described above, and the gripper 100 is connected to the output end of the moving mechanism 210. The moving mechanism 210 can be a mechanical arm, a linear module or the like. The positioning device 300 is arranged adjacent to the taking and placing device 200, and is used to carry and position a second workpiece 3000. The welding device 400 is arranged opposite to the positioning device 300, and can be a laser welding machine or the like. The taking and placing device 200 is used to adsorb the first workpiece 2000 and assemble the first workpiece 2000 on the second workpiece 3000 on the positioning device 300, and the welding device 400 is used to weld the first workpiece 2000 and the second workpiece 3000.
[0054] The welding equipment 1000 provided in the embodiments of the present application can adsorb the first workpiece 2000 through the gripper 100 in the taking and placing device 200, and assemble the first workpiece 2000 on the second workpiece 3000 on the positioning device 300 under the driving of the moving mechanism 210. The welding device 400 is arranged opposite to the positioning device 300, and can weld the first workpiece 2000 and the second workpiece 3000 after the taking and placing device 200 completes the workpiece assembly. The welding equipment 1000 provided in the embodiments of the present application improves the welding precision and efficiency, and reduces the operation difficulty and labor cost.
[0055] In some embodiments, please refer to Figure 1 、 Figure 4 and Figure 6The positioning device 300 comprises a positioning frame 310 for carrying and positioning the second workpiece 3000 and a positioning pin 320 arranged adjacent to the positioning frame 310; the suction accessory 21 of the gripper 100 is provided with a positioning hole 216, which is arranged on the suction surface 211 and used for positioning the suction accessory 21 in cooperation with the positioning pin 320.
[0056] The working process of the welding device 1000 provided by the embodiments of the present application is as follows:
[0057] Firstly, the moving mechanism 210 of the taking and placing device 200 drives the gripper 100 to move to pick up the first workpiece 2000 in a device such as a tray for carrying the first workpiece 2000 and place the first workpiece 2000 on the corresponding position of the second workpiece 3000, and then the welding device 400 welds the first workpiece 2000 and the second workpiece 3000. The first workpiece 2000 and the second workpiece 3000 can be welded from the avoiding through hole 213 of the suction accessory 21 during welding, and the moving mechanism 210 can move the gripper 100 away after welding.
[0058] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.
[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application.
Claims
1. A handgrip, characterized in that The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw for connecting external mobile device, and the hand claw comprises a connecting mechanism, a suction mechanism and a cover. The utility model relates to a hand claw 6. The gripper of claim 5, wherein: the connecting mechanism further comprises a reset assembly, the reset assembly comprising a locating post, a reset plate and an elastic member, the locating post being connected to the connecting plate and extending in a direction perpendicular to the plane on which the connecting plate lies, the reset plate being in sliding connection with the locating post and connected to the floating plate, the elastic member being sleeved on the locating post and having two ends abutting against the connecting plate and the reset plate respectively, the elastic member being used to push the reset plate away from the connecting plate and in turn drive the suction member to reset.
7. The gripper of claim 1, wherein: the gripper further comprises an image acquisition mechanism, the image acquisition mechanism being connected to the connecting mechanism, the image acquisition mechanism comprising a camera assembly, the camera assembly being used to acquire an image of the first workpiece to identify the position of the first workpiece.
8. The gripper of claim 7, wherein: the image acquisition mechanism further comprises an adjusting assembly, the adjusting assembly comprising an adjusting plate fixedly connected to the connecting mechanism and an adjusting block adjustably connected to the adjusting plate, the camera assembly being connected to the adjusting block, the adjusting block being used to adjust the position of the camera assembly.
9. A welding apparatus characterized by, including: a material taking and placing device comprising a moving mechanism and the gripper of any one of claims 1-8, the gripper being connected to the output end of the moving mechanism; a positioning device arranged adjacent to the material taking and placing device and used to carry and position a second workpiece; and a welding device arranged opposite to the positioning device; wherein: the material taking and placing device is used to suction the first workpiece and assemble the first workpiece on the second workpiece positioned on the positioning device, and the welding device is used to weld the first workpiece and the second workpiece.
10. The welding apparatus of claim 9, wherein: the positioning device comprises a positioning frame used to carry and position the second workpiece and a positioning pin arranged adjacent to the positioning frame; the suction member of the gripper is provided with a positioning hole, the positioning hole being arranged on the suction surface and used to position the suction member in cooperation with the positioning pin.