Grabbing device

Abstract

The utility model provides a grabbing device and belongs to the technical field of workpiece grabbing devices.The grabbing device comprises a mounting base, a distance adjusting mechanism and a grabbing hand set, the distance adjusting mechanism is arranged on the mounting base and at least comprises one movable adjusting base, and the grabbing hand set is arranged on the adjusting base; the gripper sets are arranged on the adjusting base so that the distance between the gripper sets can be adjusted through movement of the adjusting base, each gripper set at least comprises one movable gripper, the gripper sets are driven by the distance adjusting mechanism to move to be matched with movement of the grippers to adapt to objects of different sizes, and the grippers have the larger grabbing range; and the adaptability and practicability of the grabbing device are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of workpiece grabbing devices, and particularly relates to a grabbing device. BACKGROUND

[0002] The grabbing device is a device used in an automatic system, and its main function is to grab, carry and operate objects. It is widely used in industrial automation, including but not limited to manufacturing, logistics industry, medical treatment and other fields. The existing grabbing device usually adopts a cylinder as a driving mechanism, and is limited by the structure of the cylinder, so that the clamping stroke is limited, and it is difficult to meet the clamping requirements of different regulations, and the practicability is poor. CONTENT OF THE UTILITY MODEL

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, according to the embodiment of the application, a grabbing device is provided, which comprises:

[0005] A mounting seat;

[0006] A spacing adjustment mechanism, which is arranged on the mounting seat, comprises at least two adjustment seats, and at least one adjustment seat is movably connected with the mounting seat;

[0007] A gripper group, which is arranged on the adjustment seat, comprises at least two grippers, and at least one gripper is movably connected with the adjustment seat, and the grippers are relatively moved to grab an object.

[0008] In a feasible implementation manner, the grabbing device further comprises:

[0009] A first proximity switch, which is arranged on the mounting seat, is located at the movement limit position on the two sides of the adjustment seat.

[0010] In a feasible implementation manner, the spacing adjustment mechanism comprises two adjustment seats, and among the two adjustment seats, the first adjustment seat is fixedly connected with the mounting seat, and the second adjustment seat is slidably connected with the mounting seat.

[0011] In a feasible implementation manner, the grabbing device further comprises:

[0012] A first guide rail, which is arranged on the mounting seat along the length direction of the mounting seat, and the second adjustment seat is slidably connected with the first guide rail;

[0013] A first screw rod assembly, which comprises a first screw rod and a first moving block, the first screw rod is arranged in parallel with the first guide rail, the first screw rod is rotatably connected with the mounting seat, the first moving block is threadedly connected with the first screw rod assembly, and the first moving block is connected with the second adjustment seat;

[0014] The first driving device is arranged on the mounting seat and comprises a first output shaft in transmission connection with the first lead screw to drive the first lead screw to rotate.

[0015] In an embodiment, the grabbing device further comprises:

[0016] The buffer adjusting mechanism is arranged on the first adjusting seat and corresponds to the gripper one by one.

[0017] The buffer adjusting mechanism comprises:

[0018] The first support seat is arranged on the first adjusting seat and is located on the first side of the gripper.

[0019] The linear bearing is arranged on the first support seat.

[0020] The support rod passes through the linear bearing and is in sliding connection with the linear bearing.

[0021] The buffer is arranged on the support rod and between the support rod and the gripper.

[0022] The second support seat is arranged on the first adjusting seat and is located on the second side of the gripper.

[0023] The jackscrew is in threaded connection with the second support seat and is in abutment with the gripper.

[0024] In an embodiment, the grabbing device further comprises:

[0025] The second proximity switch is arranged on the adjusting seat and is located at the movement limit position of the two sides of the gripper.

[0026] In an embodiment, the gripper group comprises two grippers, wherein the first gripper is fixedly connected with the adjusting seat and the second gripper is in sliding connection with the adjusting seat.

[0027] In an embodiment, the first gripper comprises:

[0028] The fixed seat is fixedly connected with the adjusting seat.

[0029] The fixed finger is fixedly connected with the fixed seat.

[0030] The fixed clamping block is arranged on the fixed finger.

[0031] In an embodiment, the second gripper comprises:

[0032] The sliding seat is slidably connected to the adjusting seat;

[0033] The floating finger is fixedly connected to the sliding seat, and a limiting groove is arranged on the floating finger;

[0034] The floating clamping block is rotatably connected to the floating finger, at least part of the floating clamping block is embedded in the limiting groove, and the floating clamping block rotates in the limiting groove relative to the floating finger.

[0035] In an available embodiment, the adjusting seat comprises:

[0036] The mounting plate extends along the width direction of the mounting seat;

[0037] The second guide rail is arranged on the mounting plate along the length direction of the mounting plate, and the second gripper is slidably connected to the second guide rail;

[0038] The second screw assembly comprises a second screw and a second moving block, the second screw is arranged parallel to the second guide rail, the second screw is rotatably connected to the mounting plate, and the second moving block is threadedly connected to the second screw;

[0039] The second driving device is arranged on the mounting plate, and the second driving device comprises a second output shaft, the second output shaft is in transmission connection with the second screw to drive the second screw to rotate;

[0040] The first gripper is connected to the mounting plate, and the second gripper is connected to the second moving block.

[0041] Compared with the prior art, the grasping device provided in the application has the beneficial effects that:

[0042] The grasping device provided in the embodiment of the application comprises a mounting seat, a spacing adjusting mechanism and a gripper group, the spacing adjusting mechanism is arranged on the mounting seat, the spacing adjusting mechanism at least comprises an adjusting seat capable of moving, the gripper group is arranged on the adjusting seat to move the adjusting seat to adjust the distance between the gripper groups, the gripper group at least comprises a gripper capable of moving, the gripper group is moved by the spacing adjusting mechanism to cooperate with the movement of the gripper, and the grasping device is adapted to different sizes of objects, so that the gripper has a larger graspable range, and the adaptability and practicality of the grasping device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the application. Moreover, the same reference numerals in different figures represent the same or similar components. In the drawings:

[0044] Figure 1Fig. 1 is a schematic structural view of a first angle of a grabbing device according to an embodiment provided in the present application;

[0045] Figure 2 Fig. 2 is a schematic structural view of a second angle of the grabbing device according to the embodiment provided in the present application;

[0046] Figure 3 Fig. 3 is a schematic structural view of a gripper group of the grabbing device according to the embodiment provided in the present application;

[0047] In the figures, Figures 1 to 3 The correspondence between the reference signs in the figures and the component names is as follows:

[0048] 11, mounting seat; 12, spacing adjustment mechanism; 13, gripper group; 14, first proximity switch; 15, first guide rail; 16, first screw assembly; 17, first driving device; 18, second proximity switch; 19, buffer adjustment mechanism;

[0049] 120, adjustment seat; 121, first adjustment seat; 122, second adjustment seat; 131, first gripper; 132, second gripper;

[0050] 1201, mounting plate; 1202, second guide rail; 1203, second screw assembly; 1204, second driving device;

[0051] 1311, fixed seat; 1312, fixed finger; 1313, fixed clamping block; 1321, sliding seat; 1322, floating finger; 1323, floating clamping block;

[0052] 191, first support seat; 192, linear bearing; 193, support rod; 194, buffer; 195, second support seat; 196, top screw. DETAILED DESCRIPTION

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0054] In addition, the terms "first", "second", etc. are used only for the purpose of description and should not be understood as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0055] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0057] As shown in Figure 1 and Figure 2 According to the embodiments of the present application, a gripping device is provided, comprising: a mounting seat 11, a spacing adjustment mechanism 12 and a gripper group 13; the spacing adjustment mechanism 12 is arranged on the mounting seat 11, and the spacing adjustment mechanism 12 comprises two adjustment seats 120, at least one adjustment seat 120 is movably connected with the mounting seat 11, and the two adjustment seats 120 can move relative to each other; the gripper group 13 is arranged on the adjustment seat 120, and the gripper group 13 comprises two grippers, at least one gripper is movably connected with the adjustment seat 120, and the two grippers can move relative to each other to grip the object.

[0058] The gripping device provided by the embodiments of the present application comprises a mounting seat 11, a spacing adjustment mechanism 12 and a gripper group 13, the spacing adjustment mechanism 12 is arranged on the mounting seat 11, and the spacing adjustment mechanism 12 comprises at least one movable adjustment seat 120, the gripper group 13 is arranged on the adjustment seat 120, so as to adjust the distance between the gripper groups 13 by moving the adjustment seat 120, and the gripper group 13 comprises at least one movable gripper, the gripper group 13 is moved by the spacing adjustment mechanism 12 to cooperate with the movement of the gripper, so as to adapt to different sizes of objects, so that the gripper has a larger gripping range, and the adaptability and practicality of the gripping device are improved.

[0059] Further, the distance adjusting mechanism 12 comprises two adjusting seats 120, the distance between the two gripper groups 13 is adjusted by moving the adjusting seats 120, one gripper group 13 is installed on each adjusting seat 120, the gripper group 13 comprises two grippers, and the grabbing device has four grippers in total.

[0060] As shown in the figure, in an available embodiment, the grabbing device further comprises a first proximity switch 14, the first proximity switch 14 is arranged on the mounting seat 11, and the first proximity switch 14 is located at the movement limit position on both sides of the adjusting seat 120. Figure 1

[0061] In the technical scheme, at least one first proximity switch 14 is arranged on both sides of the movable adjusting seat 120 in the distance adjusting mechanism 12, the first proximity switch 14 is located at the limit position of the movement of the adjusting seat 120, so as to prevent the adjusting seat 120 from moving out of position, prevent the two adjusting seats 120 from colliding, prevent the adjusting seat 120 from falling off, and ensure the safety of the grabbing device in operation.

[0062] Further, the limit position of the movement of the adjusting seat 120 on both sides is further provided with a mechanical limiting device, so as to improve the structural reliability of the adjusting seat 120.

[0063] As a preferred scheme, the first proximity switch 14 is a zero point switch, which reduces the possibility of switch malfunction, avoids affecting the continuity of the action of the grabbing device due to switch malfunction, and ensures the safety of the use of the grabbing device.

[0064] As shown in the figure, in an available embodiment, the distance adjusting mechanism 12 comprises two adjusting seats 120, the distance between the two gripper groups 13 is adjusted by moving the adjusting seats 120, one gripper group 13 is installed on each adjusting seat 120, the gripper group 13 comprises two grippers, and the grabbing device has four grippers in total. Figure 1 Figure 2 In the technical scheme, one adjusting seat 120 can slide relative to the mounting seat 11, and the other adjusting seat 120 is fixed, and the two adjusting seats 120 are driven by a driving mechanism to realize mutual approach or separation, which helps to reduce the volume and weight of the distance adjusting mechanism 12 and reduce the difficulty of production and maintenance.

[0065] As shown in the figure, in an available embodiment, the distance adjusting mechanism 12 comprises two adjusting seats 120, the distance between the two gripper groups 13 is adjusted by moving the adjusting seats 120, one gripper group 13 is installed on each adjusting seat 120, the gripper group 13 comprises two grippers, and the grabbing device has four grippers in total.

[0066] As shown in the figure, in an available embodiment, the distance adjusting mechanism 12 comprises two adjusting seats 120, the distance between the two gripper groups 13 is adjusted by moving the adjusting seats 120, one gripper group 13 is installed on each adjusting seat 120, the gripper group 13 comprises two grippers, and the grabbing device has four grippers in total. Figure 1 Figure 2 ​​​As shown, in an embodiment, the grabbing device further comprises a first guide rail 15, a first screw rod assembly 16 and a first driving device 17; the first guide rail 15 is arranged on the mounting base 11 along the length direction of the mounting base 11, and the second adjusting base 122 is slidingly connected to the first guide rail 15; the first screw rod assembly 16 comprises a first screw rod and a first moving block, the first screw rod is arranged parallel to the first guide rail 15, and the first screw rod is rotatably connected to the mounting base 11; the first moving block is threadedly connected to the first screw rod assembly 16, and the first moving block is connected to the second adjusting base 122; the first driving device 17 is arranged on the mounting base 11, and the first driving device 17 comprises a first output shaft, the first output shaft is drivingly connected to the first screw rod to drive the first screw rod to rotate.

[0067] In the technical scheme, the first screw rod is rotatably connected to the mounting base 11, the first driving device 17 drives the first screw rod to rotate, the first moving block moves along the first screw rod in the axial direction under the thread cooperation, and then the second adjusting base 122 is driven by the first moving block to slide along the first guide rail 15, so that the second adjusting base 122 can move relative to the first adjusting base 121, thereby the two gripper groups 13 are close to or away from each other, and the grabbable range of the gripper is expanded.

[0068] Further, the first driving device 17 is a motor, and the adjusting base 120 adopts the motor as the driving power. Compared with the traditional pneumatic clamping jaw, the X-direction clamping force can be accurately controlled, the X-direction clamping force of the grabbing device can be directly set and changed in the control system, and then by selecting appropriate X-direction clamping force, the object is prevented from being pressed due to excessive clamping force, and the structural integrity of the clamped object is maintained. As a preferred scheme, the motor is a servo motor.

[0069] Further, the first output shaft and the first screw rod are connected through a first transmission mechanism to make the first screw rod and the first output shaft rotate synchronously.

[0070] As a preferred scheme, the first transmission mechanism adopts a transmission belt for transmission, the first transmission mechanism comprises a first driving wheel, a first belt and a first driven wheel, the first driving wheel is mounted on the first output shaft, the first driven wheel is mounted on the end of the first screw rod, the first belt is wound on the first driving wheel and the first driven wheel at the same time, the first driving wheel and the first driven wheel are drivingly connected through the first belt, and then the first screw rod and the first output shaft are drivingly connected.

[0071] As Figure 3As shown, in a possible implementation, the grabbing device further comprises: a buffer adjusting mechanism 19; two buffer adjusting mechanisms 19 are arranged on the two grippers of the first adjusting seat 121, and the buffer adjusting mechanisms 19 correspond to the grippers one by one; the buffer adjusting mechanism 19 comprises a first support seat 191, a linear bearing 192, a support rod 193, a buffer 194, a second support seat 195 and a jackscrew 196; the first support seat 191 is arranged on the first adjusting seat 121, and the first support seat 191 is located on the first side of the gripper; the linear bearing 192 is arranged on the first support seat 191; the support rod 193 penetrates through the linear bearing 192, the support rod 193 is in sliding connection with the linear bearing 192, and the support rod 193 is connected with the gripper; the buffer 194 is arranged on the support rod 193, and the buffer 194 is arranged between the support rod 193 and the gripper; the second support seat 195 is arranged on the first adjusting seat 121, and the second support seat 195 is located on the second side of the gripper; and the jackscrew 196 is in threaded connection with the second support seat 195, and the jackscrew 196 is in abutment with the gripper.

[0072] In the technical scheme, the gripper group 13 on the first adjusting seat 121 is a fixed gripper group 13 in the grabbing device, and the buffer adjusting mechanism 19 is arranged on the gripper group 13 of the first adjusting seat 121; when the first adjusting seat 121 and the gripper group 13 thereof need to be tightly pressed against a workpiece, the buffer adjusting mechanism 19 is used to offset the force stroke of the gripper group 13 when the gripper group 13 is tightly pressed against the workpiece, so as to protect the grabbing device. The gripper is supported by the first support seat 191 and the support rod 193, and when the gripper is tightly pressed against the workpiece, the reaction force of the workpiece on the gripper is that the buffer 194 is compressed, so as to offset the force of the gripper in the length direction of the mounting seat 11, thereby buffering and protecting the grabbing device; the length of the buffer 194 can be adjusted by the jackscrew 196 by tightly pressing the gripper, so as to change the sensitivity of the deformation of the buffer 194 after being compressed, and meanwhile, the jackscrew 196 cooperates with the support rod 193 to support the gripper on the second side of the gripper, thereby ensuring the stability of the gripper.

[0073] It should be noted that when the grabbing device needs to install the workpiece grabbed by the grabbing device onto a machine tool chuck, the gripper group 13 of the fixed end of the grabbing device needs to tightly press against the workpiece, so as to stably and tightly press the workpiece on the machine tool chuck; at this time, the buffer 194 is compressed by the reaction force of the workpiece, thereby offsetting the force of the fixed-end gripper group 13 in the length direction of the mounting seat 11, so as to protect the grabbing device and the chuck from being damaged, and then the chuck is clamped, the grabbing device is loosened, and the workpiece is installed on the machine tool chuck.

[0074] It can be understood that the position compression amount of the fixed end gripper group 13 of the grabbing device mainly depends on the compression amount of the buffer 194. Since the force deformation of the workpiece end face after extrusion during feeding is small, generally in millimeter level, the pre-tightening force of the buffer 194 can be changed to meet the change of the workpiece in a large range. The pre-tightening force of the buffer 194 is adjusted by the structure of the top screw 196 to change the stroke and force deformation of the buffer 194.

[0075] Specifically, the buffer 194 is a spring.

[0076] As shown in the drawings, Figure 1 In a possible implementation, the grabbing device further comprises a second proximity switch 18. The second proximity switch 18 is arranged on the adjusting seat 120, and the second proximity switch 18 is located at the movement limit position of the two sides of the gripper.

[0077] In the technical scheme, at least one second proximity switch 18 is arranged at the movement limit position of the two sides of the movable gripper in the gripper group 13, so as to prevent the gripper from moving out of position, prevent the two grippers from colliding, prevent the gripper from falling off, and ensure the safety of the grabbing device.

[0078] Further, the movement limit position of the two sides of the gripper is further provided with a mechanical limiting device, which improves the structural reliability of the gripper.

[0079] As a preferred scheme, the second proximity switch 18 is a zero switch, which reduces the possibility of switch malfunction, avoids affecting the continuity of the grabbing device due to switch malfunction, and ensures the safety of the grabbing device.

[0080] As shown in the drawings, Figure 1 and Figure 2 In a possible implementation, the gripper group 13 comprises two grippers. Among the two grippers, the first gripper 131 is fixedly connected with the adjusting seat 120, and the second adjusting seat 122 is slidingly connected with the adjusting seat 120.

[0081] In the technical scheme, one gripper can slide relative to the adjusting seat 120, and the other gripper is fixed. The two grippers are driven by one driving mechanism to realize mutual approach or separation, which helps to reduce the volume and weight of the gripper group 13 and reduce the production and maintenance difficulty.

[0082] Further, the first adjusting seat 121 and the second adjusting seat 122 are oppositely arranged. Among the four grippers of the grabbing device, two first grippers 131 and two second grippers 132 are arranged along two diagonal lines of the mounting seat 11 respectively. The two first grippers 131 are located on one diagonal line of the mounting seat 11, and the two second grippers 132 are located on the other diagonal line of the mounting seat 11, which is conducive to improving the grabbing stability.

[0083] As shown in the figure, in a possible implementation, the first gripper 131 comprises a fixed seat 1311, a fixed finger 1312 and a fixed clamping block 1313; the fixed seat 1311 is fixedly connected to the adjusting seat 120; the fixed finger 1312 is fixedly connected to the fixed seat 1311; and the fixed clamping block 1313 is arranged on the fixed finger 1312. Figure 3

[0084] In the technical scheme, the first gripper 131 is a fixed gripper, the position of the first gripper 131 on the adjusting seat 120 is fixed, and the workpiece is gripped by moving the second gripper 132 relative to the first gripper 131; the fixed finger 1312 is fixedly connected to the fixed seat 1311, and the fixed finger 1312 is used for mounting the fixed clamping block 1313; the first recess is arranged on the fixed clamping block 1313, and the first recess and the clamping cavity of the second gripper 132 form a clamping space, thereby improving the stability of clamping the object.

[0085] As shown in the figure, in a possible implementation, the second gripper 132 comprises a sliding seat 1321, a floating finger 1322 and a floating clamping block 1323; the sliding seat 1321 is slidingly connected to the adjusting seat 120; the floating finger 1322 is fixedly connected to the sliding seat 1321, and a limiting groove is arranged on the floating finger 1322; and the floating clamping block 1323 is rotatably connected to the floating finger 1322, at least part of the floating clamping block 1323 is embedded in the limiting groove, and the floating clamping block 1323 rotates relative to the floating finger 1322 in the limiting groove. Figure 3

[0086] In the technical scheme, the second gripper 132 is a flexible gripper, the second gripper 132 is slidingly connected to the adjusting seat 120, and the workpiece is gripped by moving the second gripper 132 relative to the first gripper 131; the floating finger 1322 is fixedly connected to the sliding seat 1321 and moves synchronously with the sliding seat 1321, and the floating finger 1322 is used for mounting the floating clamping block 1323; the floating clamping block 1323 rotates relative to the floating finger 1322 in the limiting groove by a small amplitude, thereby realizing the flexible gripping function of the second gripper 132 and improving the gripping ability of the first gripper 131 and the second gripper 132; the second recess is arranged on the floating clamping block 1323, and the second recess and the first recess form a clamping space, thereby improving the stability of clamping the object.

[0087] Further, the floating clamping block 1323 is rotatably connected to the floating finger 1322 through a spring shaft, the spring shaft structure offsets the deflection problem after gripping when the straightness of the shaft workpiece is poor, the floating clamping block 1323 offsets the straightness error of the workpiece, and the success rate of gripping is improved.

[0088] ​​It can be understood that when the workpiece blank state is poor, there is a certain amount of error in the diameter of the workpiece, and when the four grippers are simultaneously stressed, uneven stress will occur. By designing the two opposite grippers of the four grippers as flexible gripper structures, the rotation of the floating clamping block 1323 spring shaft during grabbing reduces the failure caused by the diameter error of the workpiece, thereby improving the grabbing capacity of the device. As a preferred solution, when the diameter error exceeds the grabbing capacity range of the device, an alarm can be used for prompting.

[0089] As shown in Figure 3 In an available embodiment, the adjusting seat 120 includes a mounting plate 1201, a second guide rail 1202, a second screw assembly 1203, and a second driving device 1204. The mounting plate 1201 extends along the width direction of the mounting seat 11. The second guide rail 1202 is arranged on the mounting plate 1201 along the length direction of the mounting plate 1201, and the second adjusting seat 122 is slidingly connected to the second guide rail 1202. The second screw assembly 1203 includes a second screw and a second moving block. The second screw is arranged parallel to the second guide rail 1202 and is rotatably connected to the mounting plate 1201. The second moving block is threadedly engaged with the second screw. The second driving device 1204 is arranged on the mounting plate 1201 and includes a second output shaft. The second output shaft is in transmission connection with the second screw to drive the second screw to rotate.

[0090] In this technical solution, the second screw is rotatably connected to the mounting plate 1201, and the second driving device 1204 drives the second screw to rotate, so that the second moving block moves along the axial direction of the second screw under the thread engagement, and then the second moving block drives the second gripper 132 to slide along the second guide rail 1202, so that the second gripper 132 can move relative to the first gripper 131, thereby enabling the two grippers on the same adjusting seat 120 to move close to or away from each other, and expanding the graspable range of the grippers.

[0091] Further, the second driving device 1204 is a motor, and the gripper uses a motor as a driving power. Compared with the traditional pneumatic clamping jaw, the Y-direction clamping force can be accurately controlled, and the Y-direction clamping force can be directly set and changed in the control system, thereby avoiding the generation of indentation on the object due to excessive clamping force by selecting appropriate Y-direction clamping force, and being conducive to maintaining the structural integrity of the clamped object. As a preferred solution, the motor is a servo motor.

[0092] Further, the second output shaft and the second screw are connected through a second transmission mechanism to enable the second screw and the second output shaft to rotate synchronously.

[0093] As a preferred solution, the second transmission mechanism adopts a transmission belt, the second transmission mechanism comprises a second driving wheel, a second belt and a second driven wheel, the second driving wheel is installed on the second output shaft, the second driven wheel is installed on the end of the second lead screw, the second belt is wound on the second driving wheel and the second driven wheel at the same time, the second driving wheel and the second driven wheel are in transmission connection through the second belt, and then the second lead screw and the second output shaft are in transmission connection.

[0094] Those skilled in the art can easily understand that the above-mentioned advantageous modes can be freely combined and superimposed without conflict.

[0095] The above only is the preferred embodiment of the present application, and does not limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above only is the preferred embodiment of the present application, it should be pointed out that, for ordinary skilled in the art, without departing from the technical principle of the present application, a number of improvements and variations can be made, these improvements and variations should be regarded as the protection scope of the present application.

Claims

1. A gripping device, characterized in that The grabbing device comprises: a mounting seat; a distance adjusting mechanism provided on the mounting seat, the distance adjusting mechanism comprising at least two adjusting seats, at least one of the adjusting seats being movably connected with the mounting seat; a gripper set provided on the adjusting seat, the gripper set comprising at least two grippers, at least one of the grippers being movably connected with the adjusting seat, and the object being grabbed by relative movement of the grippers.

2. A gripping device according to claim 1, characterised in that The grabbing device further comprises: a first proximity switch provided on the mounting seat, the first proximity switch being located at the movement limit position on both sides of the adjusting seat.

3. The grabbing device according to claim 1, wherein the distance adjusting mechanism comprises two adjusting seats, among the two adjusting seats, the first adjusting seat is fixedly connected with the mounting seat, and the second adjusting seat is slidably connected with the mounting seat.

4. A gripping device according to claim 3, characterised in that The grabbing device further comprises: a first guide rail provided on the mounting seat along the length direction of the mounting seat, the second adjusting seat being slidably connected with the first guide rail; a first screw rod assembly comprising a first screw rod and a first moving block, the first screw rod being parallel to the first guide rail, the first screw rod being rotatably connected with the mounting seat, the first moving block being threadedly connected with the first screw rod assembly, and the first moving block being connected with the second adjusting seat; a first driving device provided on the mounting seat, the first driving device comprising a first output shaft, the first output shaft being drivingly connected with the first screw rod to drive the first screw rod to rotate.

5. A gripping device according to claim 3, characterised in that The grabbing device further comprises: a buffer adjusting mechanism, two buffer adjusting mechanisms being provided on the gripper set of the first adjusting seat, and the buffer adjusting mechanism corresponding to the gripper one by one; the buffer adjusting mechanism comprising: a first support seat provided on the first adjusting seat, the first support seat being located at the first side of the gripper; a linear bearing provided on the first support seat; a support rod penetrating through the linear bearing, the support rod being slidably connected with the linear bearing, and the support rod being connected with the gripper; a buffer provided on the support rod, the buffer being arranged between the support rod and the gripper; a second support seat provided on the first adjusting seat, the second support seat being located at the second side of the gripper; a dowel screw threadedly connected with the second support seat, and the dowel screw being in abutment with the gripper.

6. A gripping device according to claim 1, characterized in that The grabbing device further comprises: a second proximity switch provided on the adjusting seat, the second proximity switch being located at the movement limit position on both sides of the gripper.

7. The grabbing device according to claim 1, wherein the gripper set comprises two grippers, among the two grippers, the first gripper is fixedly connected with the adjusting seat, and the second gripper is slidably connected with the adjusting seat.

8. The grabbing device according to claim 7, wherein The first gripper comprises: A fixed seat fixedly connected to the adjusting seat; A fixed finger fixedly connected to the fixed seat; A fixed clamping block provided on the fixed finger.

9. The gripping device according to claim 7, wherein The second gripper comprises: A sliding seat slidingly connected to the adjusting seat; A floating finger fixedly connected to the sliding seat, the floating finger being provided with a limiting groove; A floating clamping block rotatably connected to the floating finger, at least part of the floating clamping block being embedded in the limiting groove, the floating clamping block being rotatable relative to the floating finger in the limiting groove.

10. The gripping device according to claim 7, wherein The adjusting seat comprises: An installation plate extending along the width direction of the installation seat; A second guide rail provided on the installation plate along the length direction of the installation plate, the second gripper being slidingly connected to the second guide rail; A second screw assembly comprising a second screw and a second moving block, the second screw being parallel to the second guide rail, the second screw being rotatably connected to the installation plate, the second moving block being threadedly engaged with the second screw; A second driving device provided on the installation plate, the second driving device comprising a second output shaft, the second output shaft being in transmission connection with the second screw to drive the second screw to rotate; Wherein, the first gripper is connected to the installation plate, and the second gripper is connected to the second moving block.

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