Gripping device

Abstract

The utility model provides a grabbing device. The grabbing device comprises a shell, a grabbing mechanism and a driving mechanism, the driving assembly is in driving connection with the shell, and the driving assembly is used for driving the shell to move; the multiple clamping assemblies are arranged on the shell, the multiple clamping assemblies are distributed in the first direction of the shell at intervals, at least one of the multiple clamping assemblies is movably arranged on the shell in the second direction of the shell, and the multiple clamping assemblies are matched to clamp a clamped part; wherein an included angle is formed between the first direction and the second direction. According to the technical scheme provided by the utility model, the problem that the clamping requirements of various products cannot be met in the prior art can be solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, specifically, relate to a kind of grabbing device. BACKGROUND

[0002] With the improvement of automation level, the application of truss robot is more widely, it can be smoothly transported from one point to another point, its movement axis is all servo motor control, can realize the stop of space point in range, so it is often used for the unstacking of material, stacking, with the advantages of small noise, high precision, large stroke, fast response speed, large carrying capacity, running smoothly etc., but with the diversification of production form, the shape of product is more and more, and irregular shape can appear easily, so that the current truss robot cannot be grabbed for multiple shape products, cannot keep the balance of product when grabbing, and then the existing truss robot cannot meet the requirement of grabbing multiple products. SUMMARY

[0003] The utility model provides a kind of grabbing device to solve the problem of not meeting the requirement of multiple products in prior art.

[0004] The utility model provides a kind of grabbing device, grabbing device includes: shell;Driving assembly is driven connection with shell, driving assembly is used to drive shell activity;Multiple sets of clamping assembly, multiple sets of clamping assembly are set on shell, multiple sets of clamping assembly are spaced along the first direction of shell, at least one set of clamping assembly in multiple sets of clamping assembly is movably set on shell along the second direction of shell, and multiple sets of clamping assembly cooperate to clamp the clamped piece;Wherein, first direction and second direction have included angle.

[0005] Further, multiple sets of clamping assembly include first clamping mechanism, and first clamping mechanism includes: linear module, is set on shell, and linear module has drive end, and drive end can move along second direction;First fixed seat, drive end is driven connection with first fixed seat, and drive end drives first fixed seat to move in second direction relative to shell, and first fixed seat extends along second direction;First driving part is set on first fixed seat;Two first clamping jaws, first driving part is driven connection with two first clamping jaws, so that two first clamping jaws are close to or away from each other in second direction.

[0006] Further, multiple sets of clamping assembly also include second clamping mechanism, and second clamping mechanism includes: second fixed seat, is set on shell, and first fixed seat and second fixed seat are spaced along first direction;Second driving part is set on second fixed seat;Two second clamping jaws, second driving part is driven connection with two second clamping jaws, so that two second clamping jaws are close to or away from each other in second direction.

[0007] Further, the first driving member is movably arranged on the first fixing base along the second direction, and the first driving member and the first fixing base have a first adjusting assembly for adjusting the position of the first driving member relative to the first fixing base along the second direction; the second driving member is movably arranged on the second fixing base along the second direction, and the second driving member and the second fixing base have a second adjusting assembly for adjusting the position of the second driving member relative to the second fixing base along the second direction.

[0008] Further, the first adjusting assembly comprises a first sliding rail and a first elastic member, the first sliding rail extends along the second direction, the first sliding rail is arranged on the first fixing base, the first driving member is movably arranged on the first sliding rail, the first driving member is provided with the first elastic member at both ends along the second direction, the first elastic member extends along the second direction, one end of the first elastic member is connected with the first driving member, and the other end of the first elastic member is connected with the first fixing base; the second adjusting assembly comprises a second sliding rail and a second elastic member, the second sliding rail extends along the second direction, the second sliding rail is arranged on the second fixing base, the second driving member is movably arranged on the second sliding rail, the second driving member is provided with the second elastic member at both ends along the second direction, the second elastic member extends along the second direction, one end of the second elastic member is connected with the second driving member, and the other end of the second elastic member is connected with the second fixing base.

[0009] Further, the first adjusting assembly further comprises a first limiting member, the first limiting member is arranged on the first fixing base along the second direction in a position-adjustable manner, the first limiting member is respectively located at both ends of the first driving member, and the first limiting member is used for limiting the displacement amount of the first driving member along the second direction; the second adjusting assembly further comprises a second limiting member, the second limiting member is arranged on the second fixing base along the second direction in a position-adjustable manner, the second limiting member is respectively located at both ends of the second driving member, and the second limiting member is used for limiting the displacement amount of the second driving member along the second direction.

[0010] Further, the shell has a sealed containing cavity, the linear module, the first driving member and the second driving member are located in the containing cavity, and the first clamping jaw and the second clamping jaw are located outside the containing cavity.

[0011] Further, the shell comprises a cover body and two bottom plates, the cover body has the containing cavity, the bottom of the cover body has two communication openings, the communication openings are communicated with the containing cavity, the first clamping jaw passes through one of the communication openings, the second clamping jaw passes through the other communication opening, the middle part of the first clamping jaw has a first avoiding slot, the middle part of the second clamping jaw has a second avoiding slot, and the bottom plates are arranged in one-to-one correspondence with the communication openings, one of the bottom plates is arranged in the first avoiding slot, the other bottom plate is arranged in the second avoiding slot, and the first clamping jaw and the second clamping jaw can move along the corresponding bottom plates.

[0012] Furthermore, the gripping device also includes: a detection component, which is disposed on the housing and is used to detect the relative position of the gripped part and the housing; and a controller, which is electrically connected to the gripping component, the drive component, and the detection component, and controls the drive component and the gripping component to work according to the position data detected by the detection component.

[0013] Furthermore, the detection components include: a connecting frame, fixed on the housing; a camera assembly and a light source, both mounted on the connecting frame, the camera assembly being used to acquire image information of the clamped part.

[0014] By applying the technical solution of this utility model, the driving component is driven to connect with the housing, and the driving component is used to drive the housing to move, so that the housing and the multiple sets of gripping components connected to the housing can move, thereby improving the flexibility of the entire gripping device. The multiple sets of gripping components are arranged on the housing, and the multiple sets of gripping components are spaced apart along the first direction of the housing. At least one set of gripping components is movably arranged on the housing along the second direction of the housing, so that the multiple sets of gripping components can be adjusted as needed, thereby enabling the gripping of objects whose centers do not coincide, increasing the diversity of gripped objects and improving the flexibility of the entire gripping device. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0016] Figure 1 A schematic diagram of the gripping device provided by this utility model is shown;

[0017] Figure 2 A schematic diagram of the structure of the drive component provided by this utility model is shown;

[0018] Figure 3 A schematic diagram of the structure of the first clamping mechanism provided by this utility model is shown;

[0019] Figure 4 A schematic diagram of the structure of the second clamping mechanism provided by this utility model is shown;

[0020] Figure 5 This utility model provides... Figure 3 Enlarged view of point A in the middle;

[0021] Figure 6 This utility model provides... Figure 4 Enlarged view of point B in the middle;

[0022] Figure 7 A schematic diagram of the structure of the housing provided by this utility model is shown;

[0023] Figure 8 The structural diagram of the detection assembly is shown.

[0024] Among them, the above-mentioned drawings include the following reference signs:

[0025] 10, shell;

[0026] 11, cover;

[0027] 111, containing cavity;

[0028] 112, communication port;

[0029] 12, bottom plate;

[0030] 20, drive assembly;

[0031] 21, servo motor;

[0032] 22, hollow shaft speed reducer;

[0033] 23, fixed plate;

[0034] 24, adapter plate;

[0035] 30, clamping assembly;

[0036] 31, first clamping mechanism;

[0037] 311, linear module;

[0038] 312, first fixed seat;

[0039] 313, first driving piece;

[0040] 314, first clamping jaw;

[0041] 3141, first avoiding groove;

[0042] 3142, first clamping block;

[0043] 315, first adjusting assembly;

[0044] 3151, first sliding rail;

[0045] 3152, first elastic piece;

[0046] 3153, first limiting piece;

[0047] 32, second clamping mechanism;

[0048] 321, second fixed seat;

[0049] 322, second driving piece;

[0050] 323, second clamping jaw;

[0051] 3231、second avoiding groove;

[0052] 3232、second clamping block;

[0053] 324、second adjusting assembly;

[0054] 3241、second sliding rail;

[0055] 3242、second elastic member;

[0056] 3243、second limiting member;

[0057] 40、detection assembly;

[0058] 41、connecting frame;

[0059] 42、camera assembly;

[0060] 421、industrial camera;

[0061] 422、lens;

[0062] 43、light source;

[0063] 44、camera fixing plate;

[0064] 50、clamped object. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0066] As shown in the drawings, Figure 1 The utility model embodiment provides a kind of grabbing device, and grabbing device includes shell 10, drive assembly 20 and multiple groups of clamping assembly 30.Therein, drive assembly 20 is drivenly connected with shell 10, and drive assembly 20 is used to drive shell 10 to be active;Multiple groups of clamping assembly 30 are arranged on shell 10, and multiple groups of clamping assembly 30 are spaced distribution along the first direction of shell 10, and at least one group of clamping assembly 30 in multiple groups of clamping assembly 30 is movably arranged on shell 10 along the second direction of shell 10, and multiple groups of clamping assembly 30 cooperate to clamp clamped object 50;Wherein, first direction and second direction have included angle.As shown in the drawings, Figure 1As shown, the first direction is the extension direction of the Y axis in the coordinate axis, and the second direction is the extension direction of the X axis in the coordinate axis, i.e. the direction indicated by the arrow.

[0067] The technical scheme of the utility model is applied, the driving assembly 20 is drivingly connected with the shell 10, and the driving assembly 20 is used to drive the shell 10 to move, so that the shell 10 and the plurality of clamping assemblies 30 connected with the shell 10 can move, the flexibility of the whole grabbing device is improved, the plurality of clamping assemblies 30 are arranged on the shell 10, the plurality of clamping assemblies 30 are spaced apart along the first direction of the shell 10, and at least one of the plurality of clamping assemblies 30 is movably arranged on the shell 10 along the second direction of the shell 10, so that the plurality of clamping assemblies 30 can be adjusted as required, thereby the clamped pieces 50 with non-coincident centers can be clamped, the diversity of the clamped pieces 50 is increased, and the flexibility of the whole grabbing device is improved.

[0068] As shown in the figure, Figure 2 The driving assembly 20 comprises a servo motor 21, a hollow shaft speed reducer 22, a fixed plate 23 and an adapter plate 24. The middle part of the hollow shaft speed reducer 22 is directly fixed on the mounting plate of the truss manipulator through threaded connection, one end of the hollow shaft speed reducer 22 is directly fixed on the servo motor 21 through threaded connection, the other end of the hollow shaft speed reducer 22 is directly fixed on the fixed plate 23 through the adapter plate 24, the servo motor 21 drives the hollow shaft speed reducer 22 to rotate, so that the whole grabbing device can rotate at any angle in the horizontal direction, and the flexibility of the whole grabbing device is increased.

[0069] As shown in the figure, Figure 1 And Figure 3As shown, the plurality of clamping assemblies 30 comprises a first clamping mechanism 31, the first clamping mechanism 31 comprising a linear module 311, a first fixed seat 312, a first driving member 313 and two first clamping jaws 314. Wherein, the linear module 311 is arranged on the shell 10, the linear module 311 has a driving end, the driving end can move along the second direction; the driving end is drivingly connected with the first fixed seat 312, the driving end drives the first fixed seat 312 to move in the second direction relative to the shell 10, the first fixed seat 312 extends in the second direction; the first driving member 313 is arranged on the first fixed seat 312; the first driving member 313 is drivingly connected with the two first clamping jaws 314, so that the two first clamping jaws 314 approach or move away from each other in the second direction. Through the above arrangement, the driving end of the linear module 311 drives the first fixed seat 312 to move in the second direction relative to the shell 10, so that the first clamping mechanism 31 can move in the second direction, so that the entire clamping device can clamp the clamped piece 50 with non-coinciding center, thereby improving the compatibility of the entire clamping device for the clamped piece 50, the first driving member 313 is arranged on the first fixed seat 312, and the first driving member 313 is drivingly connected with the two first clamping jaws 314, so that the two first clamping jaws 314 approach or move away from each other in the second direction, thereby realizing stable clamping of the clamped piece 50 by the two first clamping jaws 314.

[0070] As Figure 1 With Figure 4 As shown, the plurality of clamping assemblies 30 further comprises a second clamping mechanism 32, the second clamping mechanism 32 comprising a second fixed seat 321, a second driving member 322 and two second clamping jaws 323. Wherein, the second fixed seat 321 is arranged on the shell 10, the first fixed seat 312 and the second fixed seat 321 are arranged in the first direction; the second driving member 322 is arranged on the second fixed seat 321; the second driving member 322 is drivingly connected with the two second clamping jaws 323, so that the two second clamping jaws 323 approach or move away from each other in the second direction. Through the above arrangement, the second driving member 322 is drivingly connected with the two second clamping jaws 323, so that the two second clamping jaws 323 approach or move away from each other in the second direction, thereby realizing stable clamping of the clamped piece 50 by the two second clamping jaws 323. The second fixed seat 321 is arranged on the shell 10, and the first fixed seat 312 and the second fixed seat 321 are arranged in the first direction, so that the two first clamping jaws 314 and the two second clamping jaws 323 can jointly clamp the clamped piece 50, thereby improving the stability and reliability of the entire clamping device.

[0071] In addition, first clamping blocks 3142 and second clamping blocks 3232 are also arranged on the inner walls of the two first clamping jaws 314 and the two second clamping jaws 323, and the first clamping blocks 3142 and the second clamping blocks 3232 are made of anti-static polyurethane material, which can effectively prevent damage to the clamped piece 50 while preventing static electricity.

[0072] In the embodiments of the present application, the first driving member 313 and the second driving member 322 are both selected as air cylinders, and can also be combined with a lead screw and a sliding block, as long as the opening and closing of the two first clamping jaws 314 and the two second clamping jaws 323 can be controlled.

[0073] As shown in Figure 5 With Figure 6 the first driving member 313 is movably arranged on the first fixed seat 312 in the second direction, and the first driving member 313 and the first fixed seat 312 have a first adjusting assembly 315 for adjusting the position of the first driving member 313 relative to the first fixed seat 312 in the second direction; the second driving member 322 is movably arranged on the second fixed seat 321 in the second direction, and the second driving member 322 and the second fixed seat 321 have a second adjusting assembly 324 for adjusting the position of the second driving member 322 relative to the second fixed seat 321 in the second direction. Through the above arrangement, the first adjusting assembly 315 can adjust the position of the first driving member 313 relative to the first fixed seat 312 in the second direction, and the second adjusting assembly 324 can adjust the position of the second driving member 322 relative to the second fixed seat 321 in the second direction. This adjustable design makes the grabbing device adapt to objects of different sizes, further improving its versatility and flexibility.

[0074] Further, the first adjusting assembly 315 comprises a first sliding rail 3151 and a first elastic member 3152, the first sliding rail 3151 extends along the second direction, the first sliding rail 3151 is arranged on the first fixed seat 312, the first driving member 313 is movably arranged on the first sliding rail 3151, the first driving member 313 is provided with the first elastic member 3152 at both ends along the second direction, the first elastic member 3152 extends along the second direction, one end of the first elastic member 3152 is connected with the first driving member 313, and the other end of the first elastic member 3152 is connected with the first fixed seat 312; the second adjusting assembly 324 comprises a second sliding rail 3241 and a second elastic member 3242, the second sliding rail 3241 extends along the second direction, the second sliding rail 3241 is arranged on the second fixed seat 321, the second driving member 322 is movably arranged on the second sliding rail 3241, the second driving member 322 is provided with the second elastic member 3242 at both ends along the second direction, the second elastic member 3242 extends along the second direction, one end of the second elastic member 3242 is connected with the second driving member 322, and the other end of the second elastic member 3242 is connected with the second fixed seat 321. Through the above arrangement, the first driving member 313 and the second driving member 322 can be adjusted in a small range in the second direction through the first adjusting assembly 315 and the second adjusting assembly 324, so as to ensure that the clamped piece 50 is accurately placed into the corresponding placing groove, improve the placing precision and ensure that the clamped piece 50 is not damaged.

[0075] In the embodiment of the present application, the first elastic member 3152 and the second elastic member 3242 each comprise a spring and a spring limiting stud, the spring is used to provide elastic force for the first driving member 313 and the second driving member 322 to adjust in a small range in the second direction, the spring limiting stud can be used to prevent the spring from falling off, and can also guide the movement of the first driving member 313 and the second driving member 322.

[0076] Specifically, the number of the first elastic member 3152 and the second elastic member 3242 is set to four to improve the stability and reliability of the device, and the number can be adjusted as required.

[0077] Specifically, the first adjusting assembly 315 further comprises a first limiting piece 3153, which is positionally adjustable in the second direction on the first fixing seat 312, and the first limiting piece 3153 is respectively located at both ends of the first driving piece 313, and the first limiting piece 3153 is used for limiting the displacement amount of the first driving piece 313 in the second direction; the second adjusting assembly 324 further comprises a second limiting piece 3243, which is positionally adjustable in the second direction on the second fixing seat 321, and the second limiting piece 3243 is respectively located at both ends of the second driving piece 322, and the second limiting piece 3243 is used for limiting the displacement amount of the second driving piece 322 in the second direction. Through the above setting, the stability of the grabbing device in the working process is ensured, and the failure of grabbing caused by excessive movement is avoided.

[0078] As shown in Figure 7 The housing 10 has a closed containing cavity 111, and the linear module 311, the first driving piece 313 and the second driving piece 322 are all located in the containing cavity 111, and the first clamping jaw 314 and the second clamping jaw 323 are located outside the containing cavity 111. Through the above setting, the containing cavity 111 can effectively prevent external dust and dirt from entering the inside of the device.

[0079] Further, the housing 10 comprises a cover body 11 and two bottom plates 12, the cover body 11 has the containing cavity 111, the bottom of the cover body 11 has two communication openings 112, the communication openings 112 communicate with the containing cavity 111, the first clamping jaw 314 passes out from one of the communication openings 112, the second clamping jaw 323 passes out from the other communication opening 112, the middle part of the first clamping jaw 314 has a first avoiding slot 3141, the middle part of the second clamping jaw 323 has a second avoiding slot 3231, and the bottom plates 12 are arranged one by one corresponding to the communication openings 112, one of the bottom plates 12 is arranged in the first avoiding slot 3141, and the other bottom plate 12 is arranged in the second avoiding slot 3231, and the first clamping jaw 314 and the second clamping jaw 323 can move along the corresponding bottom plates 12. Through the above setting, the bottom of the cover body 11 has two communication openings 112, which can ensure that the first clamping jaw 314 and the second clamping jaw 323 do not interfere with each other when opening and closing to grab the clamped piece 50, and the reliability of the whole device is improved. The first avoiding slot 3141, the second avoiding slot 3231 and the arrangement of the bottom plates 12 avoid movement interference, effectively prevent the lubricating oil or dirt of the first clamping jaw 314 and the second clamping jaw 323 from falling on the clamped piece 50, and pollute the clamped piece 50.

[0080] Specifically, the grabbing device further comprises a detection assembly 40 and a controller. The detection assembly 40 is arranged on the housing 10 and is used to detect the relative position of the clamped object 50 and the housing 10. The controller is electrically connected with the clamping assembly 30, the driving assembly 20 and the detection assembly 40 respectively, and controls the driving assembly 20 and the clamping assembly 30 to work according to the position data detected by the detection assembly 40. Through the above arrangement, the grabbing device can automatically adjust the grabbing strategy according to the actual position of the object, thereby improving the accuracy and efficiency of grabbing. In addition, the grabbing device can realize self-diagnosis and maintenance through the control device, thereby reducing the equipment failure rate and improving the stability and continuity of the whole device.

[0081] As shown in Figure 8 The detection assembly 40 comprises a connecting frame 41, a camera assembly 42 and a light source 43. The connecting frame 41 is fixed on the housing 10. The camera assembly 42 and the light source 43 are arranged on the connecting frame 41. The camera assembly 42 is used to obtain image information of the clamped object 50. Through the above arrangement, the camera assembly 42 can clearly take pictures and analyze data of the product to be grabbed, judge the position deviation of the current product, and compensate the offset to the control system. The gantry robot automatically adjusts the angle deviation and the position deviation according to the offset, so that the grabbing device can accurately grab the clamped object 50, and the appearance of the clamped object 50 can be recognized to identify the specification of the clamped object 50. The light source 43 can provide good illumination intensity for the shooting, thereby improving the accuracy of detection.

[0082] In the embodiment of the application, the camera assembly 42 comprises an industrial camera 421 and a lens 422. The industrial camera 421 can focus through the lens 422, so that the industrial camera 421 can take clearer pictures.

[0083] Specifically, the connecting frame 41 is further provided with a camera fixing plate 44, which can improve the stability and reliability of the industrial camera 421.

[0084] The use process of the utility model is as follows: when the product is grabbed, the gantry robot drives the grabbing device to the specified grabbing position. The detection assembly takes pictures and analyzes the clamped object, judges the specification and offset of the clamped object, and sends the data to the controller. The gantry robot adjusts the position in x, y and z directions according to the offset. The grabbing device also automatically rotates to adjust the angle according to the offset. The first clamping mechanism automatically adjusts the clamping center of the two first clamping jaws in the first clamping mechanism according to the specification of the clamped object, so that the clamping center of the two first clamping jaws in the first clamping mechanism is the same as the clamping center of the two second clamping jaws on the second clamping mechanism and the clamped object, thereby stably clamping the clamped object.

[0085] When the product is placed, the truss manipulator drives the grabbing device to the designated placement position and moves downward to place the product. When the clamped product contacts the guide part of the placement slot, the adjustment function of the adjustment assembly of the first clamping mechanism and the second clamping mechanism is exerted under the action of the guide slot, so as to automatically correct the position until the product is successfully placed. When the grabbing device releases the clamped product and is lifted up, the force exerted by the guide part on the first clamping mechanism and the second clamping mechanism disappears, and the first clamping mechanism and the second clamping mechanism respectively return to the central position under the action of the adjustment assembly, thereby ensuring the smooth grabbing of the next product.

[0086] The grabbing device provided by the application has the following advantages:

[0087] 1. The driving assembly can realize the rotation of the entire grabbing device at any angle in the horizontal direction, thereby improving the flexibility of the device.

[0088] 2. The detection assembly can accurately position the clamped product and identify the model of the clamped product. The first clamping mechanism can automatically adjust the relative position of the clamping centers of the first clamping mechanism and the second clamping mechanism through the linear module according to the clamped product, thereby increasing the types of the clamped product.

[0089] 3. Multiple clamping assemblies can realize self-adaptive adjustment function through the adjustment assembly. When the clamped product is placed, the clamping assemblies can be automatically adjusted to ensure that the clamped product is accurately placed without damaging the clamped product.

[0090] 4. The shell can effectively prevent the lubricating oil or dirt in the multiple clamping assemblies from falling onto the clamped product, and the overall appearance is more beautiful.

[0091] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise. In addition, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0092] The foregoing description, for purposes of explanation, sets forth specific values and arrangements of components and steps that are subject to many variations in the light of specific circumstances and / or material or workpiece shapes. Such examples, while indicating preferred embodiments, are not intended to limit or restrict the various concepts taught herein. It will be appreciated that the dimensions of the parts shown in the drawings are not necessarily to scale, and have been shown as such for illustrative purposes only. Techniques, methods, and apparatus known to those of ordinary skill in the art can not be discussed in detail, but are contemplated as being part of the specification, where appropriate. In all examples shown and discussed herein, any specific values are to be interpreted as merely illustrative of the examples, and not as a limitation thereon. Thus, other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters on the figures identify like parts throughout the disclosure, and thus, once an item is defined in one figure, it is not necessary to discuss it further in connection with other figures where it is shown and / or discussed.

[0093] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are usually based on the orientation or position relationship shown in the drawings, and only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, therefore it cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer of the contour of each component itself.

[0094] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0095] In addition, it should be noted that the use of the words "first", "second" and the like to define parts of components is only for the convenience of distinguishing the corresponding parts of components, and the above words have no special meaning unless otherwise stated, therefore it cannot be understood as a limitation on the scope of protection of the present application.

[0096] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gripping device, characterized in that The grabbing device comprises: a shell (10); a driving assembly (20) drivingly connected with the shell (10), the driving assembly (20) being used to drive the shell (10) to move; a plurality of clamping assemblies (30) arranged on the shell (10), the plurality of clamping assemblies (30) being spaced apart along a first direction of the shell (10), and at least one of the plurality of clamping assemblies (30) being movably arranged on the shell (10) along a second direction of the shell (10), the plurality of clamping assemblies (30) being cooperated to clamp a clamped object. The first direction and the second direction have an included angle.

2. The gripping device according to claim 1, characterized in that The plurality of clamping assemblies (30) comprises a first clamping mechanism (31), which comprises: a linear module (311) arranged on the shell (10), the linear module (311) having a driving end capable of moving along the second direction; a first fixed seat (312) drivingly connected with the driving end, the driving end driving the first fixed seat (312) to move in the second direction relative to the shell (10), the first fixed seat (312) extending along the second direction; a first driving member (313) arranged on the first fixed seat (312); two first clamping jaws (314) drivingly connected with the first driving member (313) to move towards or away from each other in the second direction.

3. The gripping device according to claim 2, characterized in that The plurality of clamping assemblies (30) further comprises a second clamping mechanism (32), which comprises: a second fixed seat (321) arranged on the shell (10), the first fixed seat (312) and the second fixed seat (321) being spaced apart along the first direction; a second driving member (322) arranged on the second fixed seat (321); two second clamping jaws (323) drivingly connected with the second driving member (322) to move towards or away from each other in the second direction.

4. The grabbing device according to claim 3, wherein: the first driving member (313) is movably arranged on the first fixed seat (312), and a first adjusting assembly (315) is arranged between the first driving member (313) and the first fixed seat (312), the first adjusting assembly (315) being used to adjust the position of the first driving member (313) relative to the first fixed seat (312) in the second direction. The second driving member (322) is movably arranged on the second fixing base (321) along the second direction, and a second adjusting assembly (324) is arranged between the second driving member (322) and the second fixing base (321), and the second adjusting assembly (324) is used for adjusting the position of the second driving member (322) relative to the second fixing base (321) in the second direction.

5. The grabbing device according to claim 4, characterized in that, The first adjusting assembly (315) comprises a first sliding rail (3151) and a first elastic member (3152), the first sliding rail (3151) extends along the second direction, the first sliding rail (3151) is arranged on the first fixing base (312), the first driving member (313) is movably arranged on the first sliding rail (3151), the first driving member (313) is provided with the first elastic member (3152) at both ends thereof along the second direction, the first elastic member (3152) extends along the second direction, one end of the first elastic member (3152) is connected with the first driving member (313), and the other end of the first elastic member (3152) is connected with the first fixing base (312); The second adjusting assembly (324) comprises a second sliding rail (3241) and a second elastic member (3242), the second sliding rail (3241) extends along the second direction, the second sliding rail (3241) is arranged on the second fixing base (321), the second driving member (322) is movably arranged on the second sliding rail (3241), the second driving member (322) is provided with the second elastic member (3242) at both ends thereof along the second direction, the second elastic member (3242) extends along the second direction, one end of the second elastic member (3242) is connected with the second driving member (322), and the other end of the second elastic member (3242) is connected with the second fixing base (321).

6. The grabbing device according to claim 5, characterized in that, The first adjusting assembly (315) further comprises a first limiting member (3153), the first limiting member (3153) is adjustably arranged on the first fixing base (312) along the second direction, the first limiting member (3153) is respectively located at both ends of the first driving member (313), and the first limiting member (3153) is used for limiting the displacement amount of the first driving member (313) in the second direction; The second adjusting assembly (324) further comprises a second limiting member (3243), the second limiting member (3243) is adjustably arranged on the second fixing base (321) along the second direction, the second limiting member (3243) is respectively located at both ends of the second driving member (322), and the second limiting member (3243) is used for limiting the displacement amount of the second driving member (322) in the second direction.

7. The gripping device of claim 3, wherein The shell (10) has a closed containing cavity (111), the linear module (311), the first driving member (313) and the second driving member (322) are located in the containing cavity (111), and the first clamping jaw (314) and the second clamping jaw (323) are located outside the containing cavity (111).

8. The gripping device according to claim 7, characterized in that The shell (10) comprises a cover (11) and two bottom plates (12), the cover (11) has the containing cavity (111), the bottom of the cover (11) has two communication openings (112) which communicate with the containing cavity (111), the first clamping jaw (314) passes through one of the communication openings (112), the second clamping jaw (323) passes through the other communication opening (112), the middle part of the first clamping jaw (314) has a first avoiding groove (3141), the middle part of the second clamping jaw (323) has a second avoiding groove (3231), and the bottom plates (12) are arranged in one-to-one correspondence with the communication openings (112), one of the bottom plates (12) is arranged in the first avoiding groove (3141), and the other bottom plate (12) is arranged in the second avoiding groove (3231), and the first clamping jaw (314) and the second clamping jaw (323) can move along the corresponding bottom plates (12).

9. The gripping device of claim 1, wherein, The grabbing device further comprises: a detection assembly (40) arranged on the shell (10), the detection assembly (40) is used for detecting the relative position of the clamped object and the shell (10); a controller, the controller is electrically connected with the clamping assembly (30), the driving assembly (20) and the detection assembly (40) respectively, and the controller controls the driving assembly (20) and the clamping assembly (30) to work according to the position data detected by the detection assembly (40).

10. The gripping device according to claim 9, characterized in that The detection assembly (40) comprises: a connecting frame (41) fixed on the shell (10); a camera assembly (42) and a light source (43), both arranged on the connecting frame (41), and the camera assembly (42) is used for acquiring image information of the clamped object.

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