Grabbing device and product carrying equipment

Abstract

The utility model relates to a grabbing device and product carrying equipment. The grabbing device comprises a mounting frame; the floating frame is in sliding connection with the mounting frame, and the sliding direction of the floating frame is in the first direction; the clamping assembly is installed on the floating frame, the clamping assembly comprises a product clamping finger, and the product clamping finger is located on the first direction side of the floating frame; the elastic reset mechanism is connected with the mounting frame and the floating frame, and the elastic reset mechanism provides elastic reset force pointing to the product clamping fingers for the floating frame. The clamping assembly is installed on the installation frame in a sliding mode through the floating frame, elastic reset force pointing to the product clamping fingers is provided for the floating frame through the elastic reset mechanism, the positioning requirement during product grabbing can be met under elastic supporting of the elastic reset mechanism, and when foreign matter or position deviation exists below the product, the product can be automatically clamped. The elastic reset mechanism can generate elastic deformation to adapt to the floating action of the floating plate, product damage caused by too large pressure is avoided, the reject ratio of products can be effectively reduced, and the production quality and the production efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of material handling equipment technology, and in particular to a gripping device and product handling equipment. Background Technology

[0002] In industrial automation equipment, product handling is a common core process.

[0003] In related technologies, cylinder fingers are commonly used to directly grip and place products. Such devices achieve gripping actions through rigid drive.

[0004] However, such solutions have significant drawbacks: First, if there are foreign objects or positional deviations under the product during the gripping process, the cylinder fingers will directly apply pressure, causing damage to the parts or products due to squeezing and collision, affecting product quality; Second, such mechanisms have extremely high requirements for the machining and assembly precision of parts, and even slight deviations may lead to unstable equipment operation, thereby increasing debugging and maintenance costs and reducing production efficiency.

[0005] Although existing technologies can meet basic automated grasping needs, their shortcomings in security, fault tolerance, and cost-effectiveness limit their wider application scenarios. Utility Model Content

[0006] Therefore, it is necessary to address the problem that if there are foreign objects or positional deviations under the product during the gripping process in existing product handling equipment, parts or products may be damaged due to squeezing and collision, affecting product quality.

[0007] This application provides a gripping device, comprising: a mounting frame; a floating frame slidably connected to the mounting frame, the floating frame sliding in a first direction; a clamping assembly mounted on the floating frame, the clamping assembly including product gripping fingers located on the first direction side of the floating frame; and an elastic reset mechanism connecting the mounting frame and the floating frame, the elastic reset mechanism providing an elastic reset force to the floating frame pointing towards the product gripping fingers.

[0008] According to one embodiment of this application, it further includes: a detection unit, installed on the mounting frame, the detection unit being used to acquire the position information of the floating frame.

[0009] According to one embodiment of this application, the detection unit includes a photoelectric sensor or a micro-switch sensor.

[0010] According to one embodiment of this application, the mounting bracket includes a sliding part, a mounting part, and a sliding assembly. The sliding assembly is mounted on the sliding part, the floating bracket is connected to the sliding assembly, the mounting part is fixedly connected to the sliding part, and the detection unit is mounted on the mounting part.

[0011] According to one embodiment of this application, the mounting part is located on the side of the floating frame away from the product gripper, and abuts against the floating frame when the floating frame slides a preset distance in the direction away from the product gripper.

[0012] According to one embodiment of this application, the elastic reset mechanism includes a floating rod and a compression spring. The floating rod is fixed to the side of the floating frame away from the product gripper and is slidably connected to the mounting frame. The compression spring is sleeved on the floating rod, with one end connected to the mounting frame and the other end connected to the floating frame.

[0013] According to one embodiment of this application, the mounting bracket includes a mounting portion, one end of the compression spring abuts against the mounting portion, and the other end of the compression spring abuts against the side of the floating bracket away from the product gripper.

[0014] According to one embodiment of this application, a groove is provided on the side of the mounting portion near the floating frame, and the end of the compression spring pointing towards the mounting portion is located in the groove.

[0015] According to one embodiment of this application, a plurality of clamping components are provided, the plurality of clamping components are arranged along a second direction, and the plurality of clamping components are all mounted on the floating frame; wherein, the second direction is perpendicular to the first direction.

[0016] According to one embodiment of this application, multiple elastic reset mechanisms are provided, and the multiple elastic reset mechanisms are arranged along a second direction. Each of the multiple elastic reset mechanisms is connected to the mounting frame and the floating frame; the second direction is perpendicular to the first direction.

[0017] According to one embodiment of this application, the clamping assembly further includes a cylinder clamping finger connected to the product clamping finger, the cylinder clamping finger being adapted to drive the product clamping finger to perform clamping and releasing actions.

[0018] This application also provides a product handling device, including: a gripping device according to the above embodiments; and a moving mechanism connected to a mounting frame of the gripping device for driving the mounting frame to move.

[0019] According to one embodiment of this application, the gripping device includes a detection unit, which is signal-connected to the control system of the moving mechanism, and the control system of the moving mechanism is configured to control the movement of the moving mechanism based on the detection signal of the detection unit.

[0020] The gripping device and product handling equipment described above have their gripping components slidably mounted on the mounting frame via a floating frame. An elastic reset mechanism provides the floating frame with an elastic reset force pointing towards the product gripping fingers. Under the elastic support of the elastic reset mechanism, the positioning requirements during product gripping can be met. Furthermore, when there are foreign objects or positional deviations under the product, the elastic reset mechanism can generate elastic deformation to adapt to the floating action of the floating plate, avoiding excessive pressure that could damage the product. This effectively reduces the product defect rate and improves production quality and efficiency. Attached Figure Description

[0021] Figure 1 This is a perspective view of a gripping device provided in an embodiment of this application.

[0022] Figure 2 This is a front view of a gripping device provided in an embodiment of this application.

[0023] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0024] Figure label:

[0025] 100. Mounting bracket; 110. Sliding part; 120. Mounting part; 121. Groove; 130. Sliding assembly;

[0026] 200. Floating frame;

[0027] 300. Clamping assembly; 310. Product clamping finger; 320. Cylinder clamping finger;

[0028] 400. Elastic reset mechanism; 410. Floating rod; 420. Compression spring; 421. Nut;

[0029] 500. Detection unit. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] See Figure 1 , Figure 1 This is a perspective view of a gripping device provided in an embodiment of this application.

[0037] An embodiment of this application provides a gripping device including a mounting frame 100, a floating frame 200, a clamping assembly 300, and an elastic reset mechanism 400. The floating frame 200 is slidably connected to the mounting frame 100, and the sliding direction of the floating frame 200 is along a first direction. The clamping assembly 300 is mounted on the floating frame 200 and includes product gripping fingers 310 located on the first direction side of the floating frame 200. The elastic reset mechanism 400 connects the mounting frame 100 and the floating frame 200, and the elastic reset mechanism 400 provides an elastic reset force to the floating frame 200 pointing towards the product gripping fingers 310.

[0038] In this embodiment, the product gripper 310 of the clamping assembly 300 is used to grip the product. The product gripper 310 is located on the first direction side of the floating frame 200. Therefore, when gripping and transporting the product, the product is also located on the first direction side of the floating frame 200. For example, when gripping the product, the product gripper 310 faces downward and grips the product below, so the first direction is the vertically downward direction. The mounting frame 100 is usually used to connect with the moving mechanism and can perform translation or rotation under the drive of the moving mechanism, thereby driving the floating frame 200, the clamping assembly 300, the elastic reset mechanism 400, etc. to move, so as to realize the transport of the product. The floating frame 200 is slidably mounted on the mounting frame 100 and can slide along the first direction. Therefore, when there is an obstacle in the product gripping direction (first direction) that squeezes the product and the product gripper 310, the floating frame 200 can slide in the opposite direction to the first direction, avoiding damage to the product or gripping device due to excessive pressure. The elastic reset mechanism 400 connects the mounting bracket and the floating frame 200, providing the floating frame 200 with an elastic reset force pointing towards the product gripper 310. When the product and the product gripper 310 are not subjected to the squeezing force of the obstacle, the elastic reset mechanism 400 provides the floating frame 200 with an elastic reset force that can keep the floating frame 200 at the maximum sliding stroke position in the first direction. When the product and the product gripper 310 are not subjected to the squeezing force of the obstacle, the elastic reset mechanism 400 can generate elastic deformation to adapt to the positional movement of the floating frame 200. After the product and the product gripper 310 stop being subjected to the squeezing force of the obstacle, the floating frame 200 is driven to reset, thus meeting the positioning requirements for product handling.

[0039] As can be seen, the gripping device in this embodiment effectively avoids product or equipment damage caused by the pressure of obstacles during product gripping and handling, effectively reduces product defect rate, improves production quality and efficiency, and extends the service life of the gripping device.

[0040] In some embodiments, the gripping device further includes a detection unit 500, which is mounted on the mounting frame 100 and is used to acquire position information of the floating frame 200.

[0041] Understandably, by detecting the position information of the floating frame 200, its movement status can be determined in real time, thereby identifying the presence of obstacles and the extent of their impact on the gripping device. The detection results from the detection unit 500 provide precise data support for the motion control of the gripping device and the moving mechanism that drives its movement, thus achieving intelligent operation control. This not only effectively avoids the risk of squeezing and collision caused by obstacles but also improves the equipment's fault tolerance and safety, creating favorable conditions for safe production. Simultaneously, it reduces the need for manual intervention and enhances the efficiency and reliability of automated production.

[0042] It is understandable that the detection unit 500 can detect the position of the floating frame 200 by directly detecting the position of the floating frame 200, or by detecting the position of other components fixed to the floating frame 200. No specific limitation is made here.

[0043] Optionally, the detection unit 500 includes a photoelectric sensor or a microswitch sensor. The high sensitivity of the photoelectric sensor or microswitch sensor ensures the accuracy and timeliness of the detection, enabling the gripping device to stop immediately upon encountering resistance, avoiding further squeezing and collision, and thus effectively protecting products and parts from damage. Furthermore, this detection method is simple in structure, easy to install and maintain, and can significantly improve the reliability and safety of the equipment, while reducing reliance on machining and assembly precision, providing a more intelligent and efficient solution for automated production.

[0044] Of course, the detection unit 500 can also take other forms such as a camera, image sensor, or laser rangefinder, which will not be described here.

[0045] In some embodiments, the mounting bracket 100 includes a sliding portion 110, a mounting portion 120, and a sliding assembly 130. The sliding assembly 130 is mounted on the sliding portion 110, the floating bracket 200 is connected to the sliding assembly 130, the mounting portion 120 is fixedly connected to the sliding portion 110, and the detection unit 500 is mounted on the mounting portion 120.

[0046] For example, the first direction is vertical, and the sliding part 110 and the floating frame 200 are vertically arranged and parallel plate structures. The sliding component 130 includes, but is not limited to, a slide rail slider structure. The side of the floating frame 200 near the sliding part 110 is slidably connected to the sliding part 110 through at least one sliding component 130. Preferably, the side of the floating frame 200 near the sliding part 110 is slidably connected to the sliding part 110 through two sliding components 130. The mounting part 120 is fixedly connected to the sliding part 110 by means of bolt fixing or snap-fit ​​fixing, etc. The detection unit 500 is fixedly connected to the mounting part 120 by means of, for example, plug-in or snap-fit ​​fixing, etc., and the detection end of the detection unit 500 faces the floating frame 200, thereby realizing the detection of the position of the floating frame 200.

[0047] Optionally, the mounting part 120 is located on the side of the floating frame 200 away from the product gripper 310, and abuts against the floating frame 200 when the floating frame 200 slides a preset distance in the direction away from the product gripper 310. The position where the floating frame 200 abuts against the mounting part 120 is the maximum stroke position of the floating frame 200 in the direction away from the product gripper 310 (the opposite direction of the first direction). Under the blocking effect of the mounting part 120, excessive movement of the floating frame 200 can be avoided, preventing damage to components such as the elastic reset mechanism 400 and the detection unit 500, and also preventing the floating frame 200 from disengaging from the sliding part 110. In addition, the location of the mounting part 120 on the side of the floating frame 200 away from the product gripper 310 also facilitates the installation of the detection unit 500, so that the detection unit 500 faces the floating frame 200.

[0048] refer to Figure 2 and Figure 3 , Figure 2 This is a front view of a gripping device provided in an embodiment of this application. Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0049] In some embodiments, the elastic reset mechanism 400 includes a floating rod 410 and a compression spring 420. The floating rod 410 is located on the side of the floating frame 200 away from the product clamp finger 310 and is fixedly connected to the floating frame 200. The compression spring 420 is sleeved on the floating rod 410. One end of the compression spring 420 is connected to the mounting frame 100 and the other end is connected to the floating frame 200.

[0050] The floating rod 410 is a rod extending along a first direction, and its cross-sectional shape includes, but is not limited to, a circle, an ellipse, or a regular polygon. One end of the floating rod 410 is fixedly connected to the floating frame 200, allowing the floating rod 410 to move synchronously with the floating frame 200. The floating rod 410 is slidably connected to the mounting frame 100. For example, the mounting portion 120 of the mounting frame 100 has a sliding hole, and the floating rod 410 is slidably inserted into the sliding hole. The floating rod 410 can increase the stability of the sliding of the floating frame 200. Optionally, the end of the floating rod 410 facing away from the floating frame 200 is provided with an anti-detachment structure. For example, a nut 421 is threadedly connected to the end of the floating rod 410 facing away from the floating frame 200, which can prevent the floating rod 410 from detaching from the mounting portion 120 when sliding along the first direction, and can also limit the travel of the floating frame 200 sliding along the first direction, preventing the floating frame 200 from detaching from the mounting frame 100.

[0051] The compression spring 420 is sleeved on the floating rod 410, which can prevent the compression spring 420 from bending radially when it is under pressure, thus ensuring the elastic support effect of the compression spring 420.

[0052] Optionally, when the mounting bracket 100 includes the mounting portion 120, one end of the compression spring 420 abuts against the mounting portion 120, and the other end of the compression spring 420 abuts against the side of the floating bracket 200 away from the product clip 310. Elastic support is achieved using the mounting portion 120, eliminating the need for an additional support structure for the compression spring 420, resulting in a simpler and more stable structure.

[0053] Optionally, a groove 121 is provided on the side of the mounting portion 120 near the floating frame 200, and the end of the compression spring 420 pointing towards the mounting portion 120 is located in the groove 121. By providing the groove 121 in the mounting portion 120, a receiving space can be provided for the groove 121. Specifically, when the floating frame 200 slides toward the mounting portion 120 until the mounting portion 120 abuts against the floating frame 200, the compression spring 420 can be hidden in the groove 121, ensuring that the mounting portion 120 can limit the floating frame 200 and prevent the compression spring 420 from being over-compressed and damaged.

[0054] Combination Figure 1 Optionally, multiple clamping components 300 are provided, arranged along a second direction, and all of them are mounted on the floating frame 200; wherein the second direction is perpendicular to the first direction. For example, the width direction of the floating frame 200 is along the first direction, and the length direction of the floating frame 200 is along the second direction, where the first direction is vertical and the second direction is horizontal. Three clamping components 300 are arranged at equal intervals along the second direction and are all fixedly connected to the floating frame 200. This supports simultaneous operation at multiple workstations, which helps improve product handling efficiency. Furthermore, since multiple clamping components 300 are all mounted on the floating frame 200, excessive pressure that could damage the product can be avoided.

[0055] In some embodiments, multiple elastic reset mechanisms 400 are provided, arranged along a second direction, and each elastic reset mechanism 400 is connected to the mounting frame 100 and the floating frame 200. Exemplarily, two mounting portions 120 and two elastic mechanisms are spaced apart along the second direction, with each mounting portion 120 slidably connected to one elastic reset mechanism 400, and each elastic reset mechanism 400 is connected to the floating frame 200. In this embodiment, by providing elastic reset force to the floating frame 200 through multiple elastic reset mechanisms 400, the force on the floating frame 200 can be more balanced, preventing the floating frame 200 from tilting and making the sliding of the floating frame 200 more stable.

[0056] In some embodiments, the clamping assembly 300 further includes a cylinder gripper 320, which is connected to the product gripper 310 and is adapted to drive the product gripper 310 to perform clamping and releasing actions. The cylinder gripper 320, commonly referred to as a pneumatic finger or pneumatic gripper, is an actuator that uses compressed air as a power source to grip or grasp workpieces. Exemplarily, two product grippers 310 are provided, arranged opposite each other and both connected to the cylinder gripper 320. When the cylinder gripper 320 operates, it can drive the two oppositely arranged product grippers 310 to move closer or further apart, thereby driving the product grippers 310 to perform clamping and releasing actions.

[0057] This application embodiment also provides a product handling device, including the gripping device described above, and a moving mechanism connected to the mounting frame 100 of the gripping device, for driving the mounting frame 100 to move.

[0058] The moving mechanism in this embodiment can be a four-axis or six-axis robotic arm, an electric cylinder, etc. The moving mechanism drives the mounting frame 100 to move, which can realize the transfer of the gripping device between different workstations. With the gripping and releasing actions of the gripping device, the product can be transported between different workstations.

[0059] When the gripping device includes a detection unit 500, the detection unit 500 may optionally be signal-connected to the control system of the moving mechanism, and the control system of the moving mechanism may be configured to control the movement of the moving mechanism based on the detection signal of the detection unit 500. For example, when the control system of the moving mechanism determines, based on the detection signal of the detection unit 500, that the floating frame 200 has moved to contact the mounting portion 120, it controls the moving mechanism to stop driving the gripping device to move in the first direction, or controls the moving mechanism to stop operating, or controls the moving mechanism to drive the gripping device to move in the opposite direction of the first direction, thereby avoiding excessive squeezing that could damage the product or equipment.

[0060] 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.

[0061] 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 The device comprises: a mounting frame; a floating frame connected to the mounting frame in a sliding manner, the sliding direction of the floating frame being along a first direction; a clamping assembly mounted on the floating frame, the clamping assembly comprising a product clamp finger, the product clamp finger being located on the side of the floating frame along the first direction; a resilient reset mechanism connected between the mounting frame and the floating frame, the resilient reset mechanism providing a resilient reset force to the floating frame in the direction of the product clamp finger.

2. The gripping device according to claim 1, characterized in that Further comprising: a detection unit mounted on the mounting frame, the detection unit being configured to obtain position information of the floating frame.

3. The gripping device according to claim 2, characterized in that The detection unit comprises a photoelectric sensor or a microswitch sensor.

4. The gripping device of claim 2, wherein The mounting frame comprises a sliding portion, a mounting portion, and a sliding assembly, the sliding assembly being mounted on the sliding portion, the floating frame being connected to the sliding assembly, the mounting portion being fixedly connected to the sliding portion, and the detection unit being mounted on the mounting portion.

5. The gripping device according to claim 4, characterized in that The mounting portion is located on the side of the floating frame away from the product clamp finger, and abuts against the floating frame when the floating frame slides a preset distance in the direction away from the product clamp finger.

6. The gripping device according to any one of claims 1 to 5, characterized in that The resilient reset mechanism comprises a floating rod and a compression spring, the floating rod being fixedly arranged on the side of the floating frame away from the product clamp finger and being connected to the mounting frame in a sliding manner, and the compression spring being sleeved on the floating rod, one end of the compression spring being connected to the mounting frame and the other end being connected to the floating frame.

7. The gripping device according to claim 6, characterized in that The mounting frame comprises a mounting portion, one end of the compression spring abutting against the mounting portion, and the other end of the compression spring abutting against the side of the floating frame away from the product clamp finger.

8. The gripping device according to claim 7, characterized in that The mounting portion is provided with a groove on the side close to the floating frame, and the end of the compression spring pointing to the mounting portion is located in the groove.

9. The gripping device according to any one of claims 1 to 5, characterized in that The clamping assembly is provided in plurality, the plurality of clamping assemblies being arranged along a second direction, and each of the plurality of clamping assemblies being mounted on the floating frame. The second direction is perpendicular to the first direction.

10. The gripping device according to any one of claims 1 to 5, characterized in that The resilient reset mechanism is provided in plurality, the plurality of resilient reset mechanisms being arranged along a second direction, and each of the plurality of resilient reset mechanisms being connected between the mounting frame and the floating frame. The second direction is perpendicular to the first direction.

11. The gripping device according to any one of claims 1 to 5, characterized in that The clamping assembly further comprises a pneumatic cylinder clamp finger, the pneumatic cylinder clamp finger being connected to the product clamp finger, and the pneumatic cylinder clamp finger being adapted to drive the product clamp finger to perform clamping and loosening actions.

12. A product handling apparatus, characterized by The device comprises: the gripping device according to any one of claims 1 to 11; a moving mechanism connected to the mounting frame of the gripping device, the moving mechanism being configured to drive the mounting frame to move.

13. The product handling apparatus of claim 12, wherein, The gripping device comprises a detection unit, the detection unit being connected to the control system of the moving mechanism in a signal manner, and the control system of the moving mechanism being configured to control the action of the moving mechanism based on the detection signal of the detection unit.

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