Paw and material collecting device

Abstract

The utility model relates to the technical field of paws, and particularly discloses a paw and a material collecting device. The gripper comprises a base; the first driving assembly comprises a first driving piece arranged on the base and a first connecting piece connected with the first driving piece; the second driving assembly comprises a second driving piece which is arranged on the base and is parallel to the first driving piece and a second connecting piece which is connected with the second driving piece; the first clamping jaw assembly is connected with the end, deviating from the first driving piece, of the first connecting piece; the second clamping jaw assembly is connected with the end, away from the second driving piece, of the second connecting piece, the length of the second connecting piece is larger than that of the first connecting piece, and a fall is formed between the second clamping jaw assembly and the first clamping jaw assembly; the visual assembly is arranged on the base and located between the first driving piece and the second driving piece. The gripper is simple and compact in structure and high in response speed, the reliability of the gripper is improved, the failure rate of the gripper is reduced, and then the material transfer efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of gripper technology, specifically to a gripper and a material receiving device. Background Technology

[0002] In industrial production processes, materials often need to be transferred between different workstations or structures, such as transferring processed materials to the feeder rods of a cleaning frame. Since the feeder rods of the cleaning frame are usually horizontally arranged, complex gripper mechanisms and associated sensors are currently used to achieve material transfer. However, these gripper mechanisms suffer from low reliability and high failure rates due to their complex structure, thus affecting the efficiency of material transfer. Utility Model Content

[0003] In view of the above, it is necessary to provide a gripper and a receiving device to improve the reliability of the gripper, reduce the failure rate of the gripper, and thus improve the efficiency of material transfer.

[0004] This application provides a gripper, including:

[0005] Base;

[0006] A first drive assembly includes a first drive member and a first connector, wherein the first drive member is disposed on the base and the first connector is connected to the first drive member;

[0007] The second drive assembly includes a second drive member and a second connector. The second drive member is disposed on the base and is arranged in parallel with the first drive member. The second connector is connected to the second drive member. The first drive member and the second drive member have the same driving direction.

[0008] The first gripper assembly is connected to the end of the first connector that is away from the first drive member;

[0009] The second gripper assembly is connected to the end of the second connector opposite to the second drive member, wherein the length of the second connector along the drive direction is greater than the length of the first connector along the drive direction, so that a height difference is formed between the second gripper assembly and the first gripper assembly; and

[0010] A vision component is disposed on the base and located between the first drive member and the second drive member.

[0011] In some embodiments, the vision component includes a vision element and a light source, the vision element being disposed on the base and located between the first driving element and the second driving element, and the light source being disposed on the base and located in the detection optical path of the vision element.

[0012] In some embodiments, the first gripper assembly includes a first power member and a first gripper finger. The first power member is connected to the first connector. The number of the first gripper fingers is two. The two first gripper fingers are arranged opposite to each other and are both connected to the first power member. The first power member drives the two first gripper fingers to move closer to or further away from each other.

[0013] In some embodiments, the second gripper assembly includes a second power member and a second gripper finger. The second power member is connected to the second connector. The number of the second gripper fingers is two. The two second gripper fingers are arranged opposite to each other and are both connected to the second power member. The second power member drives the two second gripper fingers to move closer to or further away from each other.

[0014] In some embodiments, the first connector has a first groove at its end facing the first gripper assembly, and the first gripper assembly is adapted to be disposed in the first groove; and / or, the second connector has a second groove at its end facing the second gripper assembly, and the second gripper assembly is adapted to be disposed in the second groove.

[0015] In some embodiments, the first connector has a first weight-reducing hole; and / or, the second connector has a second weight-reducing hole.

[0016] In some embodiments, the base includes a substrate, a connecting plate, and reinforcing members. The connecting plate is perpendicularly connected to the substrate. There are two reinforcing members, which are spaced apart and connected between the connecting plate and the substrate. The first driving component, the second driving component, and the vision component are all disposed on the substrate and away from the reinforcing members.

[0017] In actual use, the first drive component of the first drive assembly drives the first connector and the first gripper assembly to move, so that the first gripper assembly can approach and grip the material. The second drive component of the second drive assembly drives the second connector and the second gripper assembly to move, so that the second gripper assembly can approach and grip the material. Since there is a height difference between the first gripper assembly and the second gripper assembly, when the first drive assembly and the second drive assembly drive the first gripper assembly and the second gripper assembly to move simultaneously, the first gripper assembly and the second gripper assembly can move asynchronously. The first gripper assembly and the second gripper assembly can grip the material simultaneously or sequentially without interfering with each other. After the gripper grips two materials, the gripper can be detected and positioned by the vision component, thereby adjusting the position of the gripper so that the first drive assembly can drive the first connector and the first gripper assembly to approach and place the material at the feeding position, such as the rod on the washing frame. The second drive assembly drives the second connector and the second gripper assembly to approach and place the material at the feeding position. Under the detection and positioning of the vision component, the first gripper assembly and the second gripper assembly can place the material at the feeding position respectively without interfering with each other, thereby realizing the transfer of materials. The gripper in this embodiment, through the coordinated operation of a first driving component, a second driving component, a first gripper component, a second gripper component, and a vision component, allows for asynchronous movement between the first and second gripper components, enabling material transfer under complex conditions. The gripper has a simple and compact structure, and a fast response speed, which improves its reliability, reduces its failure rate, and thus increases the efficiency of material transfer. Furthermore, the vision component can effectively perform positioning without direct contact between the gripper and the material placement area, reducing the risk of scratches and impacts.

[0018] This application embodiment also provides a material receiving device, including:

[0019] robotic arm;

[0020] As described in any of the preceding technical solutions, the gripper, the base is connected to the robotic arm; and

[0021] A receiving mechanism, located adjacent to the robotic arm, is used to receive materials transferred by the robotic arm and the gripper in cooperation.

[0022] In some embodiments, the receiving mechanism includes a base plate, a material frame, a guide rod, and a floating component. The material frame is disposed opposite to the base plate. There are multiple guide rods, which are spaced apart from each other in the material frame. There are multiple floating components, which are spaced apart and connected between the material frame and the base plate. The material frame is elastically connected to the base plate through the floating components.

[0023] In some embodiments, each of the floating components includes a connecting piece, a screw, a stopper, a locking member, a floating element, and an elastic element. The connecting piece is connected to the material frame. The screw passes through the connecting piece and the base plate. The stopper is connected to one end of the screw and is disposed on the side of the connecting piece away from the base plate. The locking member is threaded to the other end of the screw and is disposed on the side of the base plate away from the connecting piece. The floating element is sleeved on the screw and located between the base plate and the locking member. The side of the floating element facing the base plate is a conical surface, and part of the conical surface is inserted into the base plate. The elastic element is sleeved on the screw and abuts against the connecting piece and the base plate.

[0024] In actual use, the aforementioned material receiving device involves a robotic arm driving a gripper to move closer to the material to be transferred. The first drive component of the gripper's first drive assembly drives the first connector and the first gripper assembly to move, enabling the first gripper assembly to approach and grasp the material. Similarly, the second drive component of the second drive assembly drives the second connector and the second gripper assembly to move, allowing the second gripper assembly to approach and grasp the material. Due to the height difference between the first and second gripper assemblies, when both the first and second drive assemblies simultaneously drive the first and second gripper assemblies to move, they can move asynchronously. The gripper assemblies can grip materials simultaneously or sequentially without interference. After the gripper grips two materials, the robotic arm moves the gripper closer to the receiving mechanism. The gripper can be detected and positioned by a vision component. Based on the placement position on the receiving mechanism, the gripper position is adjusted so that the first drive component drives the first connector and the first gripper assembly to approach and place the material at the placement position, such as the rod on the washing frame. The second drive component drives the second connector and the second gripper assembly to approach and place the material at the placement position. Under the detection and positioning of the vision component, the first and second gripper assemblies can place the material at the placement position respectively without interference, thereby realizing the transfer of materials. The receiving device of this application embodiment, through the coordinated cooperation of the robotic arm, gripper, and receiving mechanism, allows the first and second gripper assemblies to move asynchronously, realizing the transfer of materials under complex conditions. The gripper has a simple and compact structure and a fast response speed, which helps to improve the reliability of the gripper, reduce the failure rate of the gripper, and thus improve the efficiency of material transfer. In addition, the vision component can effectively locate the material without the gripper directly contacting the feeding position on the receiving mechanism, reducing the risk of collisions and scratches. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the hand claw provided in an embodiment of this application.

[0026] Figure 2 This is a schematic diagram of the material receiving device provided in the embodiments of this application.

[0027] Figure 3 yes Figure 2 The shown is a cross-sectional view of the receiving device along line III-III.

[0028] Explanation of main component symbols: Material receiving device 1, gripper 100, base 10, base plate 12, connecting plate 14, reinforcing member 16, first drive assembly 20, first drive member 22, first connecting member 24, first groove 242, first weight reduction hole 244, second drive assembly 30, second drive member 32, second connecting member 34, second groove 342, second weight reduction hole 344, first gripper assembly 40, first power member 42, first gripper finger 44, second gripper assembly 50, second power member 52, second gripper finger 54, vision assembly 60, vision member 62, light source 64, material receiving mechanism 200, base plate 202, embedding groove 2022, material frame 204, string rod 206, floating assembly 208, connecting piece 2081, screw 2082, blocking member 2083, locking member 2084, floating member 2085, conical surface 2086, elastic member 2087, material 2. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0030] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0032] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0033] Please see Figure 1 This application provides a gripper 100. The gripper 100 is used to pick up and put down material 2. In this embodiment, material 2 can be of an irregular shape. It is understood that in other embodiments, material 2 can also be of a regular shape or other shapes.

[0034] The gripper 100 includes a base 10, a first drive assembly 20, a second drive assembly 30, a first gripper assembly 40, a second gripper assembly 50, and a vision assembly 60.

[0035] The base 10 is used to connect with an external robotic arm (not shown) so that the gripper 100 can move in three-dimensional space under the drive of the external robotic arm, and the gripper 100 and the robotic arm can cooperate to transfer the material 2.

[0036] The first drive assembly 20 includes a first drive member 22 and a first connecting member 24. The first drive member 22 is disposed on the base 10, and the first connecting member 24 is connected to the first drive member 22. The first drive member 22 can be a linear cylinder, and it drives the first connecting member 24 to perform linear reciprocating motion. The second drive assembly 30 includes a second drive member 32 and a second connecting member 34. The second drive member 32 is disposed on the base 10 and is arranged parallel to the first drive member 22. The second connecting member 34 is connected to the second drive member 32. The first drive member 22 and the second drive member 32 have the same driving direction. The second drive member 32 can be a linear cylinder, and it drives the second connecting member 34 to perform linear reciprocating motion. It is understood that in other embodiments, the first drive member 22 and the second drive member 32 can also be an electric telescopic rod, a linear module, a lead screw module, or other functional structures capable of linear reciprocating motion.

[0037] The first gripper assembly 40 is connected to the end of the first connector 24 opposite to the first drive member 22, and the first gripper assembly 40 is used to grip material 2. The second gripper assembly 50 is connected to the end of the second connector 34 opposite to the second drive member 32, and the second gripper assembly 50 is used to grip material 2. The length of the second connector 34 along the driving direction is greater than the length of the first connector 24 along the driving direction, so that a height difference is formed between the second gripper assembly 50 and the first gripper assembly 40. By limiting the length of the second connector 34 to be greater than the length of the first connector 24, a height difference is created between the first gripper assembly 40 and the second gripper assembly 50. The first gripper assembly 40 and the second gripper assembly 50 are arranged on a structure with a height difference, and the first gripper assembly 40 and the second gripper assembly 50 can move asynchronously, allowing the grippers to change the height difference during use to meet the gripping and releasing of material 2 under complex conditions, thus increasing the usability of the gripper 100. For example, when the grippers place irregular material 2 on different rods of the cleaning frame, the second drive component 30 drives the second gripper assembly 50 to move to place material 2 first. Then, the first drive component 20 drives the first gripper assembly 40 to move to place material 2 later, thereby avoiding interference between the material 2 on the first gripper assembly 40 and the second gripper assembly 50. For example, when the grippers place material 2 on different surfaces of the cleaning frame on different rods, since there is a height difference between the first gripper assembly 40 and the second gripper assembly 50, the first drive component 20 and the second drive component 30 simultaneously drive the first gripper assembly 40 and the second gripper assembly 50 to move to pick up material on different surfaces at the same time; the first drive component 20 and the second drive component 30 simultaneously drive the first gripper assembly 40 and the second gripper assembly 50 to move to place material 2 at the same time.

[0038] The vision component 60 is disposed on the base 10 and located between the first drive member 22 and the second drive member 32. The vision component 60 is used to position the feeding position (not shown) such as the rod on the cleaning frame so that the gripper 100 can place the material 2 gripped by the first gripper assembly 40 and the second gripper assembly 50 at the feeding position, and can avoid direct contact between the gripper 100 and the feeding position, reducing the risk of collision and scratch.

[0039] In actual use, the gripper 100 of this embodiment is driven by an external robotic arm to move closer to the material 2 to be transferred. The first drive member 22 of the first drive assembly 20 drives the first connector 24 and the first gripper assembly 40 to move, so that the first gripper assembly 40 can approach and grip the material 2. The second drive member 32 of the second drive assembly 30 drives the second connector 34 and the second gripper assembly 50 to move, so that the second gripper assembly 50 can approach and grip the material 2. Since there is a height difference between the first gripper assembly 40 and the second gripper assembly 50, when the first drive assembly 20 and the second drive assembly 30 drive the first gripper assembly 40 and the second gripper assembly 50 to move at the same time, the first gripper assembly 40 and the second gripper assembly 50 can move asynchronously. The first gripper assembly 40 and the second gripper assembly 50 can grip the material 2 simultaneously or sequentially without interfering with each other. The gripper 100 is suitable for dual-station material handling operations. After the gripper 100 picks up two materials 2, the external robotic arm drives the gripper 100 to move closer to the discharge position. Under the visual positioning effect of the vision component 60, the position of the gripper 100 is adjustable so that the first drive component 20 can drive the first connector 24 and the first gripper assembly 40 to approach and place the materials 2 at the discharge position, such as the rod on the washing frame. The second drive component 30 drives the second connector 34 and the second gripper assembly 50 to approach and place the materials 2 at the discharge position. Under the detection and positioning effect of the vision component 60, the first gripper assembly 40 and the second gripper assembly 50 can place the materials 2 at the discharge position respectively without interfering with each other, thereby realizing the transfer of materials 2.

[0040] In this embodiment, the base 10 includes a base plate 12, a connecting plate 14, and reinforcing members 16. The connecting plate 14 is perpendicularly connected to the base plate 12 and is used to connect to an external robotic arm. There are two reinforcing members 16, spaced apart and connected between the connecting plate 14 and the base plate 12. Each reinforcing member 16 is approximately trapezoidal in shape and has a hollow structure. The first drive assembly 20, the second drive assembly 30, and the vision assembly 60 are all disposed on the base plate 12 and positioned away from the reinforcing members 16. Thus, by setting the specific structure of the base 10 as described above, the connection to the external robotic arm is achieved through the connecting plate 14, the first drive assembly 20, the second drive assembly 30, and the vision assembly 60 are mounted through the base plate 12, and the reinforcing members 16 enhance the structural strength of the base 10, ensuring the stability of the gripper 100.

[0041] In this embodiment, the first connector 24 has a first groove 242 at its end facing the first gripper assembly 40, and the first gripper assembly 40 is adapted to be disposed in the first groove 242; the second connector 34 has a second groove 342 at its end facing the second gripper assembly 50, and the second gripper assembly 50 is adapted to be disposed in the second groove 342. Thus, by providing the first groove 242 and the second groove 342 at the ends of the first connector 24 and the second connector 34 respectively, the first gripper assembly 40 is connected to the first connector 24, and the second gripper assembly 50 is connected to the second connector 34.

[0042] Understandably, in other embodiments, one of the first connector 24 and the second connector 34 may have a corresponding groove, that is, the first connector 24 may be provided with a first groove 242, or the second connector 34 may be provided with a second groove 342. This application embodiment does not specifically limit this.

[0043] In this embodiment, the first connector 24 has a first weight-reduction hole 244, and the second connector 34 has a second weight-reduction hole 344. Thus, by providing the first weight-reduction hole 244 and the second weight-reduction hole 344 on the first connector 24 and the second connector 34 respectively, the weight of the first connector 24 and the second connector 34 is reduced, thereby reducing the weight of the gripper 100. This facilitates the external robotic arm's manipulation of the gripper 100 and improves the controllability of the gripper 100.

[0044] Understandably, in other embodiments, one of the first connector 24 and the second connector 34 may have a corresponding weight reduction hole, that is, the first connector 24 may be provided with a first weight reduction hole 244, or the second connector 34 may be provided with a second weight reduction hole 344. This application embodiment does not specifically limit this.

[0045] In this embodiment, the first gripper assembly 40 includes a first power member 42 and first gripping fingers 44. The first power member 42 is connected to the first connecting member 24. There are two first gripping fingers 44, which are arranged opposite each other and both are connected to the first power member 42. The first power member 42 drives the two first gripping fingers 44 to move closer or further apart. The first power member 42 can be a double-headed cylinder. Thus, by setting the specific structure of the first gripper assembly 40 as described above, the first gripper assembly 40 achieves the effect of gripping and releasing the material 2.

[0046] In this embodiment, the second gripper assembly 50 includes a second power member 52 and a second gripping finger 54. The second power member 52 is connected to the second connecting member 34. There are two second gripping fingers 54, which are arranged opposite each other and both are connected to the second power member 52. The second power member 52 drives the two second gripping fingers 54 to move closer or further apart. The second power member 52 can be a double-headed cylinder. Thus, by setting the specific structure of the second gripper assembly 50 as described above, the second gripper assembly 50 achieves the effect of gripping and releasing the material 2.

[0047] In this embodiment, the vision component 60 includes a vision element 62 and a light source 64. The vision element 62 can be a camera. The vision element 62 is disposed on the base 10 and located between the first driving element 22 and the second driving element 32. The light source 64 is disposed on the base 10 and located in the detection optical path of the vision element 62, and the light source 64 is used to emit light. Thus, by setting the vision component 60 with the above-described specific structure, visual positioning is performed by the camera, and the positioning effect of the vision element 62 is improved by the light source 64. It should be noted that the technical content of the camera used for visual positioning is not described in detail in this embodiment.

[0048] The gripper 100 in this embodiment, through the coordinated operation of the first drive component 20, the second drive component 30, the first gripper component 40, the second gripper component 50, and the vision component 60, allows the first gripper component 40 and the second gripper component 50 to move asynchronously, enabling the transfer of material 2 under complex conditions. The gripper 100 has a simple and compact structure and a fast response speed, which helps improve the reliability of the gripper 100, reduce the failure rate of the gripper 100, and thus improve the efficiency of material 2 transfer. In addition, the vision component 60 can effectively perform positioning without the gripper 100 directly contacting the material feeding position, reducing the risk of collisions and scratches.

[0049] Please see Figure 2 This application also provides a material receiving device 1. The material receiving device 1 is used to receive material 2. The material receiving device 1 includes a robotic arm (not shown), a gripper 100 as described in the above technical solution, and a material receiving mechanism 200.

[0050] The base 10 of the gripper 100 is connected to the robotic arm; specifically, the connecting plate 14 of the base 10 is connected to the robotic arm. A receiving mechanism 200 is located adjacent to the robotic arm and is used to receive the material 2 transferred by the robotic arm and gripper 100 in cooperation. The receiving mechanism 200 can be a cleaning frame.

[0051] In actual use, the receiving device 1 of this embodiment uses a robotic arm to move the gripper 100 closer to the material 2 to be transferred. The first drive member 22 of the first drive assembly 20 of the gripper 100 drives the first connecting member 24 and the first gripper assembly 40 to move, so that the first gripper assembly 40 can approach and grip the material 2. The second drive member 32 of the second drive assembly 30 drives the second connecting member 34 and the second gripper assembly 50 to move, so that the second gripper assembly 50 can approach and grip the material 2. Since there is a height difference between the first gripper assembly 40 and the second gripper assembly 50, when the first drive assembly 20 and the second drive assembly 30 simultaneously drive the first gripper assembly 40 and the second gripper assembly 50 to move, the first gripper assembly 40 and the second gripper assembly 50 can move asynchronously. The claw assembly 40 and the second gripper assembly 50 can simultaneously or sequentially grip the material 2 without interfering with each other. After the gripper 100 grips two materials 2, the robotic arm drives the gripper 100 to approach the receiving mechanism 200. Under the visual positioning effect of the vision component 60, the position of the gripper 100 can be adjusted according to the material placement position on the receiving mechanism 200, so that the first drive assembly 20 can drive the first connector 24 and the first gripper assembly 40 to approach and place the material 2 at the material placement position. The second drive assembly 30 drives the second connector 34 and the second gripper assembly 50 to approach and place the material 2 at the material placement position. Under the detection and positioning effect of the vision component 60, the first gripper assembly 40 and the second gripper assembly 50 can place the material 2 at the material placement position respectively without interfering with each other, thereby realizing the transfer of the material 2.

[0052] In this embodiment, the receiving mechanism 200 includes a base plate 202, a material frame 204, connecting rods 206, and floating components 208. The base plate 202 is generally a planar plate structure. The material frame 204 is disposed opposite to the base plate 202 and is located above the base plate 202. Multiple connecting rods 206 are spaced apart from the material frame 204 and are arranged horizontally. The connecting rods 206 can be understood as material placement positions. Multiple floating components 208 are spaced apart and connected between the material frame 204 and the base plate 202. The material frame 204 is elastically connected to the base plate 202 through the floating components 208. In this embodiment, there are four sets of floating components 208. Thus, by setting the specific structure of the receiving mechanism 200 as described above, when the robotic arm and gripper 100 work together to place the material 2 onto the feeder 206, the feeder 206 and the material frame 204 can be oscillated by the floating component 208 to adaptively compensate for movement when subjected to horizontal force. This avoids abnormalities such as deformation and jamming of the robotic arm gripper 100 due to rigid positioning of the material frame 204 and the feeder 206, ensuring the normal operation of the receiving device 1. In addition, when the feeder 206 and the material frame 204 are subjected to vertical force, the feeder 100 can also be buffered to avoid abnormalities such as deformation and jamming of the robotic arm gripper 100 due to rigid positioning of the material frame 204 and the feeder 206, ensuring the normal operation of the receiving device 1.

[0053] Understandably, in other embodiments, the number of floating components 208 may be more or less, and can be set according to the actual situation. This application embodiment does not make a specific limitation in this regard.

[0054] Please refer to the above. Figure 3In this embodiment, each floating component 208 includes a connecting piece 2081, a screw 2082, a stopper 2083, a locking member 2084, a floating member 2085, and an elastic member 2087. The connecting piece 2081 is connected to the material frame 204 and is disposed opposite to the base plate 202. The screw 2082 passes through the connecting piece 2081 and the base plate 202. The stopper 2083 is connected to one end of the screw 2082 and is disposed on the side of the connecting piece 2081 away from the base plate 202. The stopper 2083 and the screw 2082 can be integrally formed. The locking member 2084 is threadedly connected to the other end of the screw 2082 and is disposed on the side of the base plate 202 away from the connecting piece 2081. The locking member 2084 can be a nut. A floating component 2085 is sleeved on the screw 2082 and located between the base plate 202 and the locking fastener 2084. The side of the floating component 2085 facing the base plate 202 is a conical surface 2086, and part of the conical surface 2086 is inserted into the base plate 202. An elastic component 2087 is sleeved on the screw 2082 and abuts against the connecting piece 2081 and the base plate 202. The elastic component 2087 can be a spring. Thus, by setting the above-described specific structure of the floating assembly 208, when the connecting rod 206 and the material frame 204 are subjected to force in the horizontal direction, the conical surface 2086 of the floating component 2085 and the elastic component 2087 can swing to adaptively compensate for the movement, avoiding the rigid positioning of the gripper 100 of the material frame 204 and the connecting rod 206, which could lead to abnormalities such as deformation and jamming of the robotic arm gripper 100, thus ensuring the normal operation of the receiving device 1. In addition, when the rod 206 and the material frame 204 are subjected to force in the vertical direction, the elastic element 2087 can buffer the gripper 100 to avoid the gripper 100 rigidly positioning the material frame 204 and the rod 206, which could cause abnormalities such as deformation and jamming of the robotic arm gripper 100, thus ensuring the normal operation of the receiving device 1.

[0055] In this embodiment, an embedding groove 2022 is provided on the base plate 202, and one end of the elastic member 2087 facing away from the connecting piece 2081 is disposed in the embedding groove 2022. Thus, by providing an embedding groove 2022 on the base plate 202, firstly, the stability of the floating component 208 is enhanced; secondly, deformation of the elastic member 2087 is prevented; and thirdly, the height of the receiving mechanism 200 is reduced, thereby improving applicability.

[0056] The material receiving device 1 of this application embodiment, through the coordinated operation of the robotic arm, the gripper 100, and the material receiving mechanism 200, allows the first gripper assembly 40 and the second gripper assembly 50 to move asynchronously, enabling the transfer of material 2 under complex conditions. The gripper 100 has a simple and compact structure and a fast response speed, which helps to improve the reliability of the gripper 100, reduce the failure rate of the gripper 100, and thus improve the efficiency of material 2 transfer. In addition, the vision component 60 can effectively perform positioning without direct contact between the gripper 100 and the material placement position on the material receiving mechanism 200, reducing the risk of collisions and scratches.

[0057] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be incorporated into this application.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A handgrip, characterized in that The hand claw comprises: a base; a first driving assembly comprising a first driving member and a first connecting member, the first driving member being arranged on the base, and the first connecting member being connected with the first driving member; a second driving assembly comprising a second driving member and a second connecting member, the second driving member being arranged on the base and in parallel with the first driving member, the second connecting member being connected with the second driving member, and the driving directions of the first driving member and the second driving member being the same; a first clamping jaw assembly being connected with the end of the first connecting member away from the first driving member; a second clamping jaw assembly being connected with the end of the second connecting member away from the second driving member, wherein the length of the second connecting member along the driving direction is greater than the length of the first connecting member along the driving direction, so that a drop is formed between the second clamping jaw assembly and the first clamping jaw assembly; and a visual assembly being arranged on the base and between the first driving member and the second driving member. The visual assembly comprises a visual member and a light source, the visual member being arranged on the base and between the first driving member and the second driving member, and the light source being arranged on the base and on the detection light path of the visual member.

2. The gripper of claim 1, wherein, The first clamping jaw assembly comprises a first power member and first clamping fingers, the first power member being connected with the first connecting member, and the number of the first clamping fingers being two, the two first clamping fingers being oppositely arranged and each being connected with the first power member, and the first power member driving the two first clamping fingers to approach or move away from each other.

3. The gripper of claim 1, wherein, The second clamping jaw assembly comprises a second power member and second clamping fingers, the second power member being connected with the second connecting member, and the number of the second clamping fingers being two, the two second clamping fingers being oppositely arranged and each being connected with the second power member, and the second power member driving the two second clamping fingers to approach or move away from each other.

4. The gripper of claim 1, wherein, The end of the first connecting member facing the first clamping jaw assembly is provided with a first groove, and the first clamping jaw assembly is adaptively arranged in the first groove; and / or the end of the second connecting member facing the second clamping jaw assembly is provided with a second groove, and the second clamping jaw assembly is adaptively arranged in the second groove.

5. The gripper of claim 1, wherein, The first connecting member is provided with a first weight-reducing hole; and / or the second connecting member is provided with a second weight-reducing hole.

6. The gripper of claim 1, wherein, The base comprises a base plate, a connecting plate and reinforcing members, the connecting plate being perpendicularly connected with the base plate, and the number of the reinforcing members being two, the two reinforcing members being spaced apart and each being connected between the connecting plate and the base plate; wherein the first driving assembly, the second driving assembly and the visual assembly are arranged on the base plate and away from the reinforcing members.

7. The gripper of claim 1, wherein, The hand claw comprises:

8. A material collection device characterized by, a mechanical arm; the base being connected with the mechanical arm; and a material receiving mechanism being arranged adjacent to the mechanical arm and used for receiving the material transferred by the mechanical arm and the hand claw in cooperation. ​ 9. The material receiving apparatus of claim 8, wherein, The material receiving mechanism comprises a bottom plate, a material frame, a plurality of string rods and a plurality of floating assemblies, the material frame is arranged opposite to the bottom plate, the plurality of string rods are arranged at intervals in the material frame, and the plurality of floating assemblies are arranged at intervals and connected between the material frame and the bottom plate.

10. The material receiving apparatus of claim 9, wherein, Each floating assembly comprises a connecting plate, a screw rod, a stopper, a locking piece, a floating piece and an elastic piece, the connecting plate is connected to the material frame, the screw rod passes through the connecting plate and the bottom plate, the stopper is connected to one end of the screw rod and arranged on the side of the connecting plate away from the bottom plate, the locking piece is threadedly connected to the other end of the screw rod and arranged on the side of the bottom plate away from the connecting plate, the floating piece is sleeved on the screw rod and located between the bottom plate and the locking piece, one side of the floating piece facing the bottom plate is a tapered surface, part of the tapered surface is inserted into the bottom plate, and the elastic piece is sleeved on the screw rod and abuts between the connecting plate and the bottom plate.

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