Gripping device

Abstract

The utility model relates to a grabbing device. Comprising a bearing mechanism; the first grabbing mechanism is arranged on the bearing mechanism, and the first grabbing mechanism is used for grabbing a first type of workpieces; and the second grabbing mechanism is arranged on the bearing mechanism, and the second grabbing mechanism is used for grabbing a second type of workpieces. In this way, the grabbing device can have the function of grabbing two different types of workpieces, that is, the two different grabbing functions are integrated on one grabbing device at the same time, and therefore the number of the grabbing devices can be reduced, the structure of the grabbing device is simplified, and the manufacturing cost of the grabbing device is reduced. And the switching time for grabbing the two different types of workpieces is shortened, so that the working efficiency of the grabbing device is improved. And in addition, the universality of the grabbing device can be improved, so that the grabbing device can meet high-standard automation and intelligence requirements.

Description

Technical Field

[0001] This application relates to the field of mechanical tooling technology, and in particular to a gripping device. Background Technology

[0002] Gripping devices have a wide range of applications in the field of automation technology. Traditional gripping devices can usually only grip workpieces of a specific shape, which makes it impossible for them to grip workpieces of other shapes. This will affect the working efficiency and versatility of the gripping device, making it unable to meet the higher standards of automation and intelligence requirements. Utility Model Content

[0003] One technical problem addressed by this application is how to improve the versatility and efficiency of the gripping device while reducing manufacturing costs.

[0004] A gripping device, comprising:

[0005] Bearing mechanism;

[0006] A first gripping mechanism, disposed on the supporting mechanism, is used to grip a first type of workpiece; and

[0007] The second gripping mechanism is mounted on the carrying mechanism and is used to grip the second type of workpiece.

[0008] In one embodiment, the support mechanism includes a base and a first driver, the first driver being disposed on the base, and the first gripping mechanism and the second gripping mechanism being connected to the first driver, the first driver driving the first gripping mechanism and the second gripping mechanism to move linearly in the horizontal direction.

[0009] In one embodiment, the first driver is a first linear module, and a first slider of the first linear module is connected to the first gripping mechanism and the second gripping mechanism.

[0010] In one embodiment, the bearing mechanism further includes a second driver disposed on the first driver, the first driver driving the second driver to move linearly along the horizontal direction, the first gripping mechanism and the second gripping mechanism are both connected to the second driver, the second driver driving the first gripping mechanism and the second gripping mechanism to move linearly along a vertical direction perpendicular to the horizontal direction.

[0011] In one embodiment, the second driver is a second linear module, and the second slider of the second linear module is connected to the first gripping mechanism and the second gripping mechanism.

[0012] In one embodiment, the carrying mechanism further includes a carrier and a third driver. The carrier is disposed on the second driver, which drives the carrier to move linearly along the vertical direction. The third driver is disposed on the carrier. The first gripping mechanism and the second gripping mechanism are both connected to the third driver, which drives the first gripping mechanism and the second gripping mechanism to rotate along an axis extending in the vertical direction.

[0013] In one embodiment, the first gripping mechanism includes a first cylinder and two first grippers, the first grippers being slidably connected to the first cylinder and capable of moving toward or away from each other along a first direction; the second gripping mechanism includes a second cylinder and two second grippers, the second grippers being slidably connected to the second cylinder and capable of moving toward or away from each other along a second direction, the first direction and the second direction being perpendicular to each other.

[0014] In one embodiment, the first gripper includes a plate-shaped gripping plate, and the second gripper includes a plurality of columnar gripping columns spaced apart.

[0015] In one embodiment, the bearing mechanism further includes a limiting member, on which both the first cylinder and the second cylinder are disposed. The limiting member has a limiting surface for abutting against the first type of workpiece and the second type of workpiece. The first gripper and the second gripper are disposed around the limiting surface. The protrusion height of the free end of the first gripper relative to the limiting surface is not equal to the protrusion height of the free end of the second gripper relative to the limiting surface.

[0016] In one embodiment, the limiting member includes a main body, two first lugs and two second lugs. The two first lugs protrude along the first direction and are disposed at opposite ends of the main body in the first direction. The two second lugs protrude along the second direction and are disposed at opposite ends of the main body in the second direction. The first gripper forms a first clearance space for passing through the first lugs, and the second gripper forms a second clearance space for passing through the second lugs.

[0017] One technical advantage of one embodiment of this application is that, since the first gripping mechanism and the second gripping mechanism are simultaneously mounted on the supporting mechanism, the gripping device can perform the function of gripping two different types of workpieces. That is, two different gripping functions are integrated into one gripping device, thus reducing the number of gripping devices, thereby simplifying the structure of the gripping device and reducing its manufacturing cost. Furthermore, it reduces the switching time for gripping two different types of workpieces, thereby improving the working efficiency of the gripping device. Moreover, it improves the versatility of the gripping device, enabling it to meet higher standards of automation and intelligence requirements. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a gripping device provided in one embodiment.

[0019] Figure 2 for Figure 1 A partial three-dimensional structural diagram of the gripping device.

[0020] Figure 3 for Figure 1 A partial three-dimensional structural diagram of the gripping device when gripping a first type of workpiece.

[0021] Figure 4 for Figure 1 A partial three-dimensional structural diagram of the gripping device when gripping a second type of workpiece.

[0022] Figure 5 for Figure 1 A three-dimensional structural diagram of the gripping device from another perspective.

[0023] Figure 6 for Figure 5 Enlarged structural diagram at point A in the middle.

[0024] Reference numerals: gripping device 10, first type workpiece 21, second type workpiece 22, bearing mechanism 100, base 140, first driver 110, first sliding member 111, second driver 120, second sliding member 121, third driver 130, bearing member 150, limiting member 160, limiting surface 164, main body 163, first lug 161, second lug 162, first gripping mechanism 200, first cylinder 210, first gripper 220, clamping plate 221, first clearance space 222, second gripping mechanism 300, second cylinder 310, second gripper 320, clamping column 321, second clearance space 322. Detailed Implementation

[0025] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0026] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0027] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0031] See Figure 1 , Figure 2 , Figure 3 and Figure 4 An embodiment of this application provides a gripping device 10, including a support mechanism 100, a first gripping mechanism 200, and a second gripping mechanism 300. The first gripping mechanism 200 is disposed on the support mechanism 100 and is used to grip a first type of workpiece 21, which may be a rectangular carrier or the like. The second gripping mechanism 300 is disposed on the support mechanism 100 and is used to grip a second type of workpiece 22, which may be a circular letter ring or the like.

[0032] Using two gripping devices 10, each designed for gripping different types of workpieces, would increase the number of gripping devices 10, hindering structural simplification and cost reduction. Furthermore, switching between the two gripping devices 10 would involve significant waiting time, impacting work efficiency. Moreover, each gripping device 10 is limited to gripping only one type of workpiece, preventing it from handling other types and thus affecting its versatility.

[0033] Regarding the gripping device 10 in the above embodiments, since the first gripping mechanism 200 and the second gripping mechanism 300 are simultaneously arranged on the supporting mechanism 100, the gripping device 10 can have the function of gripping two different types of workpieces. That is, two different gripping functions are integrated into one gripping device 10, which can reduce the number of gripping devices 10, thereby simplifying the structure of the gripping device 10 and reducing the manufacturing cost of the gripping device 10. Furthermore, it reduces the switching time for gripping two different types of workpieces, thereby improving the working efficiency of the gripping device 10. Moreover, it can improve the versatility of the gripping device 10, enabling it to meet higher standards of automation and intelligence requirements.

[0034] See Figure 1 and Figure 2 In some embodiments, the supporting mechanism 100 includes a base 140 and a first driver 110. The first driver 110 is disposed on the base 140. The first gripping mechanism 200 and the second gripping mechanism 300 are both connected to the first driver 110. The first driver 110 drives the first gripping mechanism 200 and the second gripping mechanism 300 to move linearly in the horizontal direction, thus giving the first gripping mechanism 200 and the second gripping mechanism 300 a degree of freedom in one direction, allowing them to move to a designated position to grip the workpiece. The first driver 110 can be a first linear module. The main body 163 of the first linear module is fixed on the base 140. The first sliding member 111 of the first linear module is connected to the first gripping mechanism 200 and the second gripping mechanism 300. When the first sliding member 111 of the first linear module reciprocates linearly in the horizontal direction, the first gripping mechanism 200 and the second gripping mechanism 300 will follow the first sliding member 111 in reciprocating linearly in the horizontal direction. In other embodiments, the first driver 110 may be a belt drive unit, a cylinder, or a lead screw, etc.

[0035] See Figure 1 and Figure 2In some embodiments, the supporting mechanism 100 further includes a second driver 120, which is disposed on the first driver 110. For example, the second driver 120 can be fixedly disposed on the first sliding member 111 of the first linear module. The first driver 110 drives the second driver 120 to move linearly in the horizontal direction. The first gripping mechanism 200 and the second gripping mechanism 300 are both connected to the second driver 120, which drives the first gripping mechanism 200 and the second gripping mechanism 300 to move linearly in the vertical direction. Obviously, the horizontal direction and the vertical direction are perpendicular to each other. Therefore, under the combined action of the first driver 110 and the second driver 120, the first gripping mechanism 200 and the second gripping mechanism 300 can reciprocate linearly in both the horizontal and vertical directions, thus giving the first gripping mechanism 200 and the second gripping mechanism 300 two degrees of freedom in two directions, allowing them to move more accurately to the designated position to grip the workpiece.

[0036] See Figure 1 and Figure 2 The second driver 120 can be a second linear module. The main body 163 of the second linear module is fixed to the first sliding member 111 of the first linear module base. The second sliding member 121 of the second linear module is connected to the first gripping mechanism 200 and the second gripping mechanism 300. When the second sliding member 121 of the second linear module performs reciprocating linear motion in the vertical direction, the first gripping mechanism 200 and the second gripping mechanism 300 will follow the second sliding member 121 in performing reciprocating linear motion in the vertical direction. In other embodiments, the second driver 120 can be a belt transmission unit, a cylinder, or a lead screw, etc.

[0037] See Figure 1 and Figure 2In some embodiments, the supporting mechanism 100 further includes a supporting member 150 and a third actuator 130. The supporting member 150 is disposed on the second actuator 120. For example, the supporting member 150 can be disposed on the second sliding member 121 of the second linear module, so that the supporting member 150 can follow the second sliding member 121 to perform reciprocating linear motion in the vertical direction. The third actuator 130 is disposed on the supporting member 150. The third actuator 130 can be a rotary cylinder, etc. The first gripping mechanism 200 and the second gripping mechanism 300 are both connected to the third actuator 130. Therefore, when the supporting member 150 performs reciprocating linear motion in the vertical direction, the first gripping mechanism 200, the second gripping mechanism 300, and the third actuator 130 all follow the supporting member 150 to perform reciprocating linear motion in the vertical direction. The third actuator 130 drives the first gripping mechanism 200 and the second gripping mechanism 300 to rotate along an axis extending in the vertical direction. Therefore, under the combined action of the first driver 110, the second driver 120 and the third driver 130, the first gripping mechanism 200 and the second gripping mechanism 300 can move linearly in the horizontal direction, linearly in the vertical direction, and rotate about an axis extending in the vertical direction, so that the first gripping mechanism 200 and the second gripping mechanism 300 have three degrees of freedom of movement, which are two linear movements and one rotation.

[0038] See Figure 2 , Figure 3 and Figure 4In some embodiments, the first gripping mechanism 200 includes a first cylinder 210 and two first grippers 220. The two grippers 220 are slidably connected to the first cylinder 210. The first cylinder 210 can push the two grippers 220 to move towards or away from each other along a first direction. When the first cylinder 210 pushes the two grippers 220 to move towards each other, the two grippers 220 can grip the first type of workpiece 21. When the first cylinder 210 pushes the two grippers 220 to move away from each other, the two grippers 220 can unload the first type of workpiece 21. The first direction can be perpendicular to the direction of movement of the second driver 120 relative to the first driver 110 and perpendicular to the vertical direction. The second gripping mechanism 300 includes a second cylinder 310 and two grippers 320. The two grippers 320 are slidably connected to the second cylinder 310. The second cylinder 310 can push the two grippers 320 to move towards or away from each other along a second direction. When the second cylinder 310 pushes the two grippers 320 to move towards each other, the two grippers 320 can grip the second type of workpiece 22. When the second cylinder 310 pushes the two grippers 320 to move away from each other, the two grippers 320 can unload the second type of workpiece 22. The second direction can be parallel to the movement direction of the second driver 120 relative to the first driver 110 and perpendicular to the vertical direction. Therefore, the first direction and the second direction are perpendicular to each other, and the line connecting the two first grippers 220 intersects perpendicularly with the line connecting the two second grippers 320.

[0039] See Figure 2 , Figure 3 and Figure 4 In some embodiments, the first gripper 220 includes a clamping plate 221. The clamping plates 221 of the two first grippers 220 are spaced apart along a first direction. The two clamping plates 221 apply a clamping force to the first type of workpiece 21 along the first direction, thereby enabling the two first grippers 220 to grasp the first type of workpiece 21. The second gripper 320 includes a clamping post 321, which can be cylindrical or prismatic. The number of clamping posts 321 is two. The two clamping posts 321 on the same second gripper 320 can be spaced apart along the first direction, and the clamping posts 321 on different second grippers 320 can be spaced apart along a second direction. By applying a clamping force to the second type of workpiece 22 along the second direction using the clamping posts 321 on the two second grippers 320, the two second grippers 320 can grasp the second type of workpiece 22.

[0040] See Figure 5 and Figure 6In some embodiments, the bearing mechanism 100 further includes a limiting member 160, which is connected to the third driver 130. The first gripping mechanism 200 and the second gripping mechanism 300 are both disposed on the limiting member 160, such that the first cylinder 210 and the second cylinder 310 are both disposed on the limiting member 160. The limiting member 160 has a limiting surface 164, which is used to abut against the first type of workpiece 21 and the second type of workpiece 22 in the vertical direction, thereby limiting the gripped first type of workpiece 21 and second type of workpiece 22. The clamping plate 221 of the first gripper 220 and the clamping post 321 of the second gripper 320 are both arranged around the limiting surface 164. The free ends of the clamping plate 221 and the free ends of the clamping post 321 can both be located below the limiting surface 164. It can be understood that the free ends of both the clamping plate 221 and the clamping post 321 protrude a certain height relative to the limiting surface 164, and the heights of the free ends of the clamping plate 221 and the clamping post 321 protruding relative to the limiting surface 164 can be unequal. When either the clamping plate 221 or the clamping post 321 clamps a workpiece of a certain type, the other will not interfere with the workpiece, ensuring that the workpiece is clamped smoothly. For example, the protrusion height of the free end of the clamping plate 221 relative to the limiting surface 164 can be higher than the protrusion height of the free end of the clamping post 321 relative to the limiting surface 164. When the clamping plate 221 clamps the first type of workpiece 21, the clamping post 321 can be located above the first type of workpiece 21, thereby effectively avoiding interference between the clamping post 321 and the first type of workpiece 21, ensuring that the first type of workpiece 21 is effectively clamped.

[0041] See Figure 5 and Figure 6In some embodiments, the limiting member 160 includes a main body 163, a first lug 161, and a second lug 162. There are two first lugs 161 and two second lugs 162. The main body 163 is connected to the third driver 130. The two first lugs 161 protrude along a first direction and are disposed at opposite ends of the main body 163 in the first direction. The two second lugs 162 protrude along a second direction and are disposed at opposite ends of the main body 163 in the second direction. Thus, the line connecting the two first lugs 161 intersects perpendicularly with the line connecting the two second lugs 162. The clamping plate 221 of the first gripper 220 forms a first clearance space 222. During the relative movement of the two clamping plates 221, the first lugs 161 can pass through the first clearance space 222, effectively preventing the first lugs 161 from interfering with the movement of the two clamping plates 221 and ensuring that the two clamping plates 221 effectively clamp the first type of workpiece 21. A second clearance space 322 is formed between the two clamping posts 321 on the same second jaw 320. During the process of the two clamping posts 321 moving towards each other, the second lug 162 can pass through the second clearance space 322. This can effectively prevent the second lug 162 from interfering with the movement of the two clamping posts 321 and ensure that the two clamping posts 321 can effectively clamp the second type of workpiece 22.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A gripping device, characterized in that, include: Bearing mechanism; A first gripping mechanism is disposed on the bearing mechanism and is used to grip a first type of workpiece; and The second gripping mechanism is mounted on the carrying mechanism and is used to grip the second type of workpiece.

2. The gripping device according to claim 1, characterized in that, The supporting mechanism includes a base and a first driver. The first driver is disposed on the base. The first gripping mechanism and the second gripping mechanism are both connected to the first driver. The first driver drives the first gripping mechanism and the second gripping mechanism to move linearly in the horizontal direction.

3. The gripping device according to claim 2, characterized in that, The first driver is a first linear module, and the first slider of the first linear module is connected to the first gripping mechanism and the second gripping mechanism.

4. The gripping device according to claim 2, characterized in that, The supporting mechanism further includes a second driver, which is disposed on the first driver. The first driver drives the second driver to move linearly along the horizontal direction. The first gripping mechanism and the second gripping mechanism are both connected to the second driver. The second driver drives the first gripping mechanism and the second gripping mechanism to move linearly along a vertical direction perpendicular to the horizontal direction.

5. The gripping device according to claim 4, characterized in that, The second driver is a second linear module, and the second slider of the second linear module is connected to the first gripping mechanism and the second gripping mechanism.

6. The gripping device according to claim 4, characterized in that, The supporting mechanism further includes a supporting member and a third driver. The supporting member is disposed on the second driver, and the second driver drives the supporting member to move linearly along the vertical direction. The third driver is disposed on the supporting member. The first gripping mechanism and the second gripping mechanism are both connected to the third driver. The third driver drives the first gripping mechanism and the second gripping mechanism to rotate along an axis extending in the vertical direction.

7. The gripping device according to claim 1, characterized in that, The first gripping mechanism includes a first cylinder and two first grippers, the first grippers being slidably connected to the first cylinder and capable of moving towards or away from each other along a first direction; the second gripping mechanism includes a second cylinder and two second grippers, the second grippers being slidably connected to the second cylinder and capable of moving towards or away from each other along a second direction, the first direction and the second direction being perpendicular to each other.

8. The gripping device according to claim 7, characterized in that, The first gripper includes a plate-shaped gripping plate, and the second gripper includes a plurality of columnar gripping columns spaced apart.

9. The gripping device according to claim 7, characterized in that, The bearing mechanism further includes a limiting member, on which the first cylinder and the second cylinder are both disposed. The limiting member has a limiting surface for abutting against the first type of workpiece and the second type of workpiece. The first gripper and the second gripper are disposed around the limiting surface. The protrusion height of the free end of the first gripper relative to the limiting surface is not equal to the protrusion height of the free end of the second gripper relative to the limiting surface.

10. The gripping device according to claim 9, characterized in that, The limiting member includes a main body, two first lugs and two second lugs. The two first lugs protrude along the first direction and are disposed at opposite ends of the main body in the first direction. The two second lugs protrude along the second direction and are disposed at opposite ends of the main body in the second direction. The first gripper forms a first clearance space for passing through the first lugs, and the second gripper forms a second clearance space for passing through the second lugs.

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