Material taking device and assembling equipment

Abstract

The embodiment of the utility model provides a material taking device and assembling equipment, and the material taking device comprises a base, a driving assembly and at least three clamping jaw assemblies; the clamping jaw assembly comprises a jaw body, a first sliding part and a support, the jaw body is connected with the first sliding part so as to move along with the first sliding part, the first sliding part is slidably connected with the support, and the support is connected with the base; at least one of the at least three clamping jaw assemblies is a double-shaft clamping jaw assembly, a support of the double-shaft clamping jaw assembly is a second sliding piece, and the second sliding piece is connected with the base in a sliding mode. Guide grooves are formed in the base, the number of the guide grooves is equal to that of the double-shaft clamping jaw assemblies, each double-shaft clamping jaw assembly further comprises a guide rod, the guide rods are connected with the first sliding parts, the guide rods are correspondingly embedded in the guide grooves, and at least part of the extending track of each guide groove is staggered with the line segment between the two ends of the extending track; the driving assembly is used for driving the first sliding parts to move so that the claw bodies can get close to or get away from one another.

Description

Technical Field

[0001] This application relates to the field of material handling device technology, and more particularly to a material handling device and assembly equipment. Background Technology

[0002] The material handling device acquires objects by moving the claws closer to or further apart from each other.

[0003] For example, when the object to be acquired is a box, each claw can be opened first, and then each claw can be moved to a position surrounding the box. Furthermore, each claw can be switched to a closed state, and the box can be grasped by claws that are close to each other.

[0004] For example, when the object to be acquired is a ring-shaped part (such as a sealing ring), the claws can first be in a retracted state, and then the retracted claws can be moved to the inner area of ​​the ring-shaped part; furthermore, the claws can be switched to an open state, and the claws that are far apart from each other can be used to support the inner wall of the ring-shaped part, thereby completing the grasping of the ring-shaped part.

[0005] In related technologies, each claw can only move closer to or further away from the others by moving in a straight line. This results in a single movement pattern for the claws in a material handling device, making it difficult to meet certain special application requirements. For example, if there are obstacles in the claw's straight-line movement trajectory, the claw may have difficulty avoiding them, potentially leading to a collision. Utility Model Content

[0006] This application provides a material handling device and an assembly equipment to solve the problem that the gripper can only move in a straight line and cannot meet some special usage requirements.

[0007] To solve the above-mentioned technical problems, this application is implemented as follows:

[0008] In a first aspect, embodiments of this application provide a material handling device.

[0009] The material handling device provided in this application includes: a base, a drive assembly, and at least three gripper assemblies; each gripper assembly includes a gripper body, a first sliding member, and a support, the gripper body being connected to the first sliding member to move with the first sliding member, the first sliding member being slidably connected to the support, and the support being connected to the base; at least one of the at least three gripper assemblies is a dual-axis gripper assembly, the support of the dual-axis gripper assembly being a second sliding member, the second sliding member being slidably connected to the base; the base is provided with guide grooves, the number of guide grooves being equal to the number of dual-axis gripper assemblies, each dual-axis gripper assembly further including a guide rod, the guide rod being connected to the first sliding member, and the guide rod being correspondingly embedded in the guide groove, the guide rod moving along the extension trajectory of the guide groove when driven, so as to drive the gripper body of the dual-axis gripper assembly to move synchronously with the first sliding member; the extension trajectory of the guide groove is at least partially misaligned with the line segment between the two ends of the extension trajectory; the drive assembly is used to drive each of the first sliding members to move, so that each gripper body moves closer to or further away from each other.

[0010] Optionally, the guide groove includes a first extension and a second extension connected to each other, the first extension extending in a straight line; as the guide rod moves from the first extension to the second extension, each of the claws moves away from each other.

[0011] Optionally, the number of dual-axis gripper assemblies is at least two, and the at least two dual-axis gripper assemblies include a first dual-axis gripper assembly and a second dual-axis gripper assembly; the number of guide grooves is also at least two, and the at least two guide grooves include a first guide groove and a second guide groove; the sliding direction of the second slider of the first dual-axis gripper assembly, the sliding direction of the second slider of the second dual-axis gripper assembly, the extension direction of the first extension section of the first guide groove, and the extension direction of the first extension section of the second guide groove are all parallel to each other; the sliding direction of the second slider of the first dual-axis gripper assembly is the same as the sliding direction of the second slider of the second dual-axis gripper assembly.

[0012] Optionally, the number of gripper assemblies is four, all of which are dual-axis gripper assemblies. The number of guide slots is also four, including a third guide slot and a fourth guide slot. The first guide slot and the second guide slot are symmetrically arranged relative to a first symmetrical plane, and the third guide slot and the fourth guide slot are also symmetrically arranged relative to the first symmetrical plane. The first guide slot and the third guide slot are symmetrically arranged relative to a second symmetrical plane, and the second guide slot and the fourth guide slot are also symmetrically arranged relative to the second symmetrical plane, which is perpendicular to the first symmetrical plane.

[0013] Optionally, the four dual-axis gripper assemblies further include a third dual-axis gripper assembly and a fourth dual-axis gripper assembly; the first dual-axis gripper assembly and the second dual-axis gripper assembly are symmetrically arranged relative to the first symmetrical face, and the third dual-axis gripper assembly and the fourth dual-axis gripper assembly are also symmetrically arranged relative to the first symmetrical face; the first dual-axis gripper assembly and the third dual-axis gripper assembly are symmetrically arranged relative to the second symmetrical face, and the second dual-axis gripper assembly and the fourth dual-axis gripper assembly are also symmetrically arranged relative to the second symmetrical face.

[0014] Optionally, the second slider of the first dual-axis gripper assembly and the second slider of the second dual-axis gripper assembly are fixedly connected.

[0015] Optionally, the driving assembly includes a rotating member with a sliding groove. One of the guide rods of the first dual-axis gripper assembly and the second dual-axis gripper assembly is embedded in the sliding groove, so that during the rotation of the rotating member, the gripper body of the first dual-axis gripper assembly is driven to move with the corresponding first sliding member, and the gripper body of the second dual-axis gripper assembly is driven to move with the corresponding first sliding member.

[0016] Optionally, the second sliding members of the first dual-axis gripper assembly and the second sliding members of the second dual-axis gripper assembly are spaced apart; the driving assembly includes a rotating member, the rotating member having at least two sliding grooves, the guide rod of the first dual-axis gripper assembly being embedded in one of the sliding grooves, and the guide rod of the second dual-axis gripper assembly being embedded in the other sliding groove, so that during the rotation of the rotating member, the guide rod of the first dual-axis gripper assembly is driven to move the gripper body of the first dual-axis gripper assembly along with the corresponding first sliding member, and the guide rod of the second dual-axis gripper assembly is driven to move the gripper body of the second dual-axis gripper assembly along with the corresponding first sliding member.

[0017] Optionally, the material handling device further includes a support member, which is fixedly connected to the base; the claw body is slidably connected to the first sliding member in a direction perpendicular to the base; the gripper assembly further includes an elastic element, which is connected to the claw body and the first sliding member respectively, and the elastic element is used to apply a force to the claw body to extend the claw body relative to the base; when each claw body is switched to the extended state, an annular positioning area is formed around each claw body, and the support member is located on the side of the annular positioning area facing the base.

[0018] Secondly, embodiments of this application provide an assembly device.

[0019] The assembly equipment provided in this application includes: a transfer device and any one of the material handling devices provided in this application, wherein the transfer device is used to drive the material handling device to move.

[0020] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0021] In the embodiments of this application, at least a portion of the gripper assembly of the material handling device is a dual-axis gripper assembly. The dual-axis gripper assembly has two sliding axes, thus enabling the gripper connected to the first sliding member to move in two directions. This solves the problem in related technologies where the gripper can only move in a straight line, failing to meet some special usage requirements.

[0022] Furthermore, the base is provided with a guide groove, and the guide rod connected to the first sliding member is embedded in the guide groove. In this way, by reasonably opening the guide groove, the first sliding member and the claw of the dual-axis gripper assembly can be guided to move along a preset trajectory. Thus, when the first sliding member is driven, it can move along the preset trajectory, thereby causing the claw of the dual-axis gripper assembly to move along the preset trajectory.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the first material handling device provided in the embodiments of this application;

[0026] Figure 2 for Figure 1 A partial schematic diagram of the first type of material handling device is shown in the figure;

[0027] Figure 3 A schematic diagram of a base provided for an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of a second material handling device provided in an embodiment of this application;

[0029] Figure 5 A schematic diagram of the second material handling device and the annular component provided in the embodiments of this application;

[0030] Figure 6 In order to be in Figure 4 The second type of material handling device shown in the figure has components such as support parts hidden.

[0031] Figure 7 In order to be in Figure 6 The top view of the second type of material handling device shown in the figure;

[0032] Figure 8 In order to be in Figure 6 The second type of material handling device shown in the figure has components such as rotating parts hidden.

[0033] Figure 9 In order to be in Figure 8 The top view of the second type of material handling device shown in the figure;

[0034] Figure 10 A schematic diagram of a base, a rotating member, a guide rod, and a first sliding member provided for an embodiment of this application;

[0035] Figure 11 for Figure 8 The second type of material handling device is shown in the case where each claw is in a retracted state;

[0036] Figure 12 for Figure 11 The top view of the second type of material handling device shown in the figure;

[0037] Figure 13 A top view of a base provided in an embodiment of this application;

[0038] Figure 14 A schematic diagram of the third material handling device provided in the embodiments of this application;

[0039] Figure 15 A schematic diagram of the third material handling device and the annular component provided in the embodiments of this application;

[0040] Figure 16 In order to be in Figure 14 The second type of material handling device shown in the figure has components such as support parts hidden.

[0041] Figure 17 In order to be in Figure 16 The second type of material handling device shown in the figure has components such as rotating parts hidden.

[0042] Figure 18 In order to be in Figure 17 The top view of the second type of material handling device shown in the figure;

[0043] Figure 19A schematic diagram of a claw body in a retracted state, located within an annular component, provided in an embodiment of this application;

[0044] Figure 20 This is a schematic diagram showing a claw in an open state engaging with the inner wall of a ring-shaped component, as provided in an embodiment of this application.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1- Material handling device;

[0047] 100 - Base; 110 - Guide groove; 110a - First guide groove; 110b - Second guide groove; 110c - Third guide groove; 110d - Fourth guide groove; 111 - First extension section; 112 - Second extension section;

[0048] 200 - Drive assembly; 210 - Rotating component; 211 - Slide groove;

[0049] 300-Gripper assembly; 310-Gripper body; 320-First sliding element; 330-Support; 350-First straight line; 360-Second straight line; 370-Elastic element;

[0050] 400 - Dual-axis gripper assembly; 400a - First dual-axis gripper assembly; 400b - Second dual-axis gripper assembly; 400c - Third dual-axis gripper assembly; 400d - Fourth dual-axis gripper assembly; 430 - Second slider; 440 - Guide rod;

[0051] 500-support component;

[0052] 610 - First plane of symmetry; 620 - Second plane of symmetry;

[0053] 2-Ring component. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0056] Furthermore, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application specification may have been selected by the applicant at his or her own discretion, and their detailed meanings are explained in the relevant sections of this description.

[0057] Furthermore, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0058] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0059] This application provides a material handling device. (See reference...) Figures 1 to 20 The material handling device 1 provided in this application embodiment includes: a base 100, a drive assembly 200, and at least three gripper assemblies 300.

[0060] In embodiments of this application, the gripper assembly 300 includes a gripper body 310, a first slider 320, and a support 330. The gripper body 310 is connected to the first slider 320 and moves with the first slider 320. The first slider 320 is slidably connected to the support 330. The support 330 is connected to the base 100.

[0061] At least one of the at least three gripper assemblies 300 is a dual-axis gripper assembly 400. The support 330 of the dual-axis gripper assembly 400 is a second slider 430, which is slidably connected to the base 100.

[0062] For example, with Figure 1 Taking the shown orientation as an example, the gripper assembly 300 located in the upper left corner is a dual-axis gripper assembly 400, while the other gripper assemblies 300 are single-axis gripper assemblies. It should be noted that in some embodiments, all gripper assemblies 300 may be dual-axis gripper assemblies 400. That is, gripper assemblies 300 may not include single-axis gripper assemblies.

[0063] It should be noted that the dual-axis gripper assembly 400 refers to the gripper assembly 300 having two sliding axes. Specifically, the second sliding member 430 slides relative to the base 100, and the first sliding member 320 slides relative to the second sliding member 430. This allows the gripper body 310, connected to the first sliding member 320, to move relative to the base 100 in two directions, thus giving the gripper body 310 the ability to move in two directions.

[0064] It should also be noted that the single-axis gripper assembly refers to the gripper assembly 300 having a sliding shaft. Specifically, the first sliding member 320 slides relative to the support 330, and the support 330 is fixed relative to the base 100. Therefore, when the first sliding member 320 is driven, it performs linear motion.

[0065] Furthermore, the base 100 is provided with guide grooves 110, the number of which is equal to the number of dual-axis gripper assemblies 400. The dual-axis gripper assembly 400 also includes a guide rod 440, which is connected to the first sliding member 320 and is correspondingly embedded in the guide groove 110. When driven, the guide rod 440 moves along the extension trajectory of the guide groove 110, thereby causing the gripper body 310 of the dual-axis gripper assembly 400 to move synchronously with the first sliding member 320.

[0066] In this way, by embedding the guide rod 440 in the guide groove 110, the guide rod 440 moves along the extension direction of the guide groove 110, thereby causing the first sliding member 320 and the claw body 310 connected to the guide rod 440 to also move along the same movement trajectory as the extension trajectory of the guide groove 110. Therefore, by embedding the guide rod 440 in the guide groove 110 and combining this with the method of opening the guide groove 110 along a preset extension direction, the first sliding member 320 can drive the claw body 310 to move along a preset movement trajectory. Thus, by reasonably opening the guide groove 110, the first sliding member 320 and the claw body 310 can be guided to move along a preset movement trajectory.

[0067] refer to Figure 3 In this application, the extension trajectory of the guide groove 110 is at least partially misaligned with the line segment between its two ends. The extension trajectory of the guide groove 110 is the trajectory of its centerline. Figure 3 For example, the extension trajectory of the guide groove 110 is a broken line.

[0068] In the embodiments of this application, since the extension trajectory of the guide groove 110 is at least partially misaligned with the line segments between its two ends, the extension trajectory of the guide groove 110 is not a straight line. Therefore, the movement trajectory of the claw body 310 of the dual-axis gripper assembly 400 is not a straight line. This allows the movement trajectory of the claw body 310 of the dual-axis gripper assembly 400 to be free from the constraint of a "straight line trajectory," thus increasing the diversity of the movement trajectory of the claw body 310 of the dual-axis gripper assembly 400 by flexibly adjusting the extension trajectory of the guide groove 110, thereby enhancing the adaptability of the material handling device 1.

[0069] It should be noted that, although Figure 3 The illustration only shows the case where the extension trajectory of the guide groove 110 includes a first straight line segment and a second straight line segment. However, in other embodiments, the extension trajectory of the guide groove 110 can be a curve, a combination of curves and straight lines, or a combination of curves and broken lines, which will not be listed here.

[0070] Furthermore, the drive assembly 200 is used to drive each of the first sliders 320 to move so that each claw body 310 moves closer to or further away from each other.

[0071] It should be noted that the method of guiding the first sliding member 320 by opening the guide groove 110 is mainly used to limit the movement trajectory of the first sliding member 320 and the claw body 310. Furthermore, a drive assembly 200 can be provided to drive each of the first sliding members 320 to move. Thus, since the guide groove 110 can act as a sliding guide, the first sliding member 320 can move along a preset trajectory as it moves the claw body 310 closer or further apart.

[0072] In this manner, in the embodiments of this application, at least a portion of the gripper assembly 300 of the material handling device 1 is a dual-axis gripper assembly 400. The dual-axis gripper assembly 400 has two sliding axes, which enables the gripper body 310 connected to the first sliding member 320 to move in two directions, thus solving the problem in the related art that the gripper body can only move in a straight line and cannot meet some special usage requirements.

[0073] Furthermore, the base 100 is provided with a guide groove 110, and the guide rod 440 connected to the first sliding member 320 is embedded in the guide groove 110. Thus, by appropriately opening the guide groove 110, the first sliding member 320 and the claw body 310 of the dual-axis gripper assembly 400 can be guided to move along a preset trajectory. Therefore, when the first sliding member 320 is driven, it can move along the preset trajectory, thereby causing the claw body 310 of the dual-axis gripper assembly 400 to move along the preset trajectory.

[0074] For example, if the claw 310 moves in a straight line and there is an obstacle on the straight movement path of the claw 310, then by setting a non-linear guide groove 110 that can make the claw 310 offset from the obstacle, the claw 310 of the dual-axis gripper assembly 400 can move in a non-linear trajectory under the guidance of the non-linear guide groove 110 during the movement, thereby offsetting from the obstacle.

[0075] It should be noted that in some embodiments, the picking device 1 grasps the object by bringing the claws 310 together. For example, the claws 310 of the picking device 1 can be moved to an open position first. Then, the claws 310 can be positioned on the outer periphery of the object. Furthermore, the driving component 200 can drive the claws 310 to move closer together, so that the claws 310 grasp the object.

[0076] In some embodiments, the gripping device 1 grasps an object by moving its claws 310 apart from each other. For example, the claws 310 of the gripping device 1 can be moved to a retracted position first. Then, the claws 310 can be positioned inside the object. Further, the driving assembly 200 can drive the claws 310 apart from each other, causing the claws 310 to rest on the inner surface of the object to grip it.

[0077] It should also be noted that, for example, devices such as three-jaw chucks in related technologies involve using a drive mechanism to drive three jaws to move synchronously, approaching or moving away from each other. Therefore, the drive component 200 in the embodiments of this application can draw upon the drive mechanism of a three-jaw chuck in related technologies.

[0078] For ease of description, the following mainly uses the example of the material handling device 1 being supported against the inner wall of the annular part by the claws 310 moving away from each other to illustrate the specific structure of the material handling device 1.

[0079] refer to Figure 1 and Figure 2 In some embodiments, the second slider 430 of the dual-axis gripper assembly 400 is slidable relative to the base 100 along a first straight line 350. The first slider 320 of the dual-axis gripper assembly 400 is slidable relative to the second slider 430 along a second straight line 360. The angle between the orthographic projections of the first straight line 350 and the second straight line 360 ​​onto the base 100 is greater than 0 degrees and less than or equal to 90 degrees. In other words, the orthographic projections of the first straight line 350 and the second straight line 360 ​​onto the base 100 are not perpendicular.

[0080] For example, the angle between the orthographic projections of the first straight line 350 and the second straight line 360 ​​onto the base 100 can be greater than or equal to 30 degrees and less than or equal to 60 degrees. For instance, the angle between the orthographic projections of the first straight line 350 and the second straight line 360 ​​onto the base 100 is 45 degrees. Of course, in other embodiments, the angle between the orthographic projections of the first straight line 350 and the second straight line 360 ​​onto the base 100 can also be equal to 90 degrees, which will not be elaborated here.

[0081] refer to Figure 2 and Figure 3 In some embodiments, the guide groove 110 includes a first extension 111 and a second extension 112 connected to each other. The first extension 111 extends along a straight line. The first extension 111 is parallel to a first straight line 350. In some embodiments, the second extension 112 also extends along a straight line. Exemplarily, the angle between the second extension 112 and the second straight line 360 ​​is less than or equal to 10 degrees.

[0082] by Figure 2 Taking the shown orientation as an example, for the dual-axis gripper assembly 400 located in the upper left corner, when the first slider 320 is driven, the first slider 320, guide rod 440, gripper body 310, and second slider 430 first translate from right to left along the first straight line 350. When the guide rod 440 moves to the junction area of ​​the first extension 111 and the second extension 112, the first slider 320 moves relative to the second slider 430, and the second slider 430 moves relative to the base 100, so that the first slider 320 performs a compound movement relative to the base 100, thereby causing the first slider 320, guide rod 440, and gripper body 310 to move obliquely from the lower right to the upper left along the second extension 112 of the guide groove 110.

[0083] refer to Figure 2 and Figure 3 In the case where the guide groove 110 includes a first extension 111 and a second extension 112 connected to each other, and the first extension 111 extends in a straight line, the claws 310 move away from each other as the guide rod 440 moves from the first extension 111 to the second extension 112. Thus, by making the first extension 111 extend in a straight line, the claws 310 can move in a straight line during the initial opening phase, reducing the complexity of the claw movement and simplifying the construction of the guide groove 110.

[0084] Furthermore, when the second extension segment 112 also extends in a straight line, the extension direction of the second extension segment 112 intersects the extension direction of the first extension segment 111. In this way, by making the second extension segment 112 extend in a straight line, the claw body 310 can also move in a straight line during the later stage of opening, thereby reducing the movement complexity of the claw body 310 and simplifying the construction of the guide groove 110.

[0085] It should be noted that, in order to allow the guide rod 440 to move more smoothly at the transition section between the first extension 111 and the second extension 112, in some embodiments, the transition section between the first extension 111 and the second extension 112 is arc-shaped. The transition section is tangent to the first extension 111 and the second extension 112, respectively.

[0086] refer to Figures 4 to 13 In some embodiments, the number of dual-axis gripper assemblies 400 is at least two, including a first dual-axis gripper assembly 400a and a second dual-axis gripper assembly 400b. In other words, the number of dual-axis gripper assemblies 400 is at least two. One of the dual-axis gripper assemblies 400 is referred to as the first dual-axis gripper assembly 400a, and the other dual-axis gripper assembly 400 is referred to as the second dual-axis gripper assembly 400b.

[0087] The number of guide grooves 110 is also at least two, and the at least two guide grooves 110 include a first guide groove 110a and a second guide groove 110b. In other words, the number of guide grooves 110 is also at least two. One of the guide grooves 110 is called the first guide groove 110a, and the other guide groove 110 is called the second guide groove 110b.

[0088] The sliding direction of the second slider 430 of the first dual-axis gripper assembly 400a, the sliding direction of the second slider 430 of the second dual-axis gripper assembly 400b, the extension direction of the first extension 111 of the first guide groove 110a, and the extension direction of the first extension 111 of the second guide groove 110b are all parallel to each other.

[0089] The sliding direction of the second slider 430 of the first dual-axis gripper assembly 400a is the same as the sliding direction of the second slider 430 of the second dual-axis gripper assembly 400b.

[0090] refer to Figure 9 , Figure 12 and Figure 13The sliding direction of the second slider 430 of the first dual-axis gripper assembly 400a and the sliding direction of the second slider 430 of the second dual-axis gripper assembly 400b are both along the first direction. The extension direction of the first extension 111 of the first guide groove 110a and the extension direction of the first extension 111 of the second guide groove 110b are both parallel to the first direction. Furthermore, the sliding direction of the second slider 430 of the first dual-axis gripper assembly 400a is the same as the sliding direction of the second slider 430 of the second dual-axis gripper assembly 400b. (Reference) Figure 9 and Figure 12 The second slider 430 of the first dual-axis gripper assembly 400a and the second slider 430 of the second dual-axis gripper assembly 400b both slide in a left-to-right direction to... Figure 9 The displayed state is switched to Figure 12 The state shown.

[0091] Thus, through the above scheme, when the material handling device 1 is in the initial stage of claw opening, the claw bodies 310 of the first dual-axis gripper assembly 400a and the second dual-axis gripper assembly 400b move in the same direction, so that the claw bodies 310 of the first dual-axis gripper assembly 400a and the second dual-axis gripper assembly 400b do not separate from each other too early. This simplifies the construction of the first dual-axis gripper assembly 400a and the second dual-axis gripper assembly 400b.

[0092] refer to Figures 4 to 13 In some embodiments, the number of gripper assemblies 300 is four, and all four gripper assemblies 300 are dual-axis gripper assemblies 400. The number of guide grooves 110 is also four, including a third guide groove 110c and a fourth guide groove 110d. The first guide groove 110a and the second guide groove 110b are symmetrically arranged with respect to the first symmetry plane 610, and the third guide groove 110c and the fourth guide groove 110d are also symmetrically arranged with respect to the first symmetry plane 610. The first guide groove 110a and the third guide groove 110c are symmetrically arranged with respect to the second symmetry plane 620, and the second guide groove 110b and the fourth guide groove 110d are also symmetrically arranged with respect to the second symmetry plane 620. The second symmetry plane 620 is perpendicular to the first symmetry plane 610.

[0093] Thus, combined Figure 19 and Figure 20 During the process of switching from the retracted state to the extended state, each claw body 310 is guided by the guide groove 110. Specifically, the two claw bodies 310 on the left move synchronously to the left first, and the two claw bodies 310 on the right move synchronously to the right first. Furthermore, when the four claw bodies 310 move synchronously to the corner position of each guide groove 110, each claw body 310 moves in a direction away from each other.

[0094] refer to Figure 19 Using the solution provided in this application embodiment, each claw body 310 can be reduced in size and assembled into a circle. This results in a smaller overall size of the assembled body when each claw body 310 is in a retracted state, facilitating insertion of the assembled body into the inner side of the annular member 2. In other words, even if the annular member 2 undergoes significant deformation, as long as the area within the deformed annular member 2 can accommodate the assembled body of each claw body 310, the assembled body can be inserted into the annular member 2. By distancing the assembled bodies from each other, they abut against the inner side of the annular member 2, thus connecting the material handling device 1 to the annular member 2.

[0095] refer to Figure 20 By adopting the solution provided in the embodiments of this application, in the later stage when each claw body 310 moves away from each other, each claw body 310 can move in a manner facing each corner of the ring member 2, so that when each claw body 310 is in a support-cooperation with the inner side of the ring member 2, the pressure applied to the ring member 2 by each claw body 310 is more uniform.

[0096] In some embodiments, the four dual-axis gripper assemblies 400 further include a third dual-axis gripper assembly 400c and a fourth dual-axis gripper assembly 400d. The first dual-axis gripper assembly 400a and the second dual-axis gripper assembly 400b are symmetrically arranged with respect to a first plane of symmetry 610, and the third dual-axis gripper assembly 400c and the fourth dual-axis gripper assembly 400d are also symmetrically arranged with respect to the first plane of symmetry 610. The first dual-axis gripper assembly 400a and the third dual-axis gripper assembly 400c are symmetrically arranged with respect to a second plane of symmetry 620, and the second dual-axis gripper assembly 400b and the fourth dual-axis gripper assembly 400d are also symmetrically arranged with respect to the second plane of symmetry 620.

[0097] In this way, by making the four dual-axis gripper assemblies 400 symmetrical to each other, the structure of each dual-axis gripper assembly 400 can be simplified, thereby improving the versatility of the parts of each dual-axis gripper assembly 400 and reducing production costs.

[0098] It should be noted that this is for reference only. Figure 12 and Figure 18 In some embodiments, when each claw body 310 is in the retracted state, the claw bodies 310 abut against each other to bring the claw bodies 310 as close as possible. When each claw body 310 is in the extended state, each claw body 310 abuts against the inner side of the annular member 2.

[0099] refer to Figures 14 to 18In some embodiments, the second slider 430 of the first dual-axis gripper assembly 400a and the second slider 430 of the second dual-axis gripper assembly 400b are fixedly connected. This allows the second slider 430 of the first dual-axis gripper assembly 400a and the second slider 430 of the second dual-axis gripper assembly 400b to move synchronously relative to the base 100.

[0100] In some embodiments, the drive assembly 200 includes a rotating member 210. The rotating member 210 is provided with a groove 211. One of the guide rods 440 of the first dual-axis gripper assembly 400a and the second dual-axis gripper assembly 400b is embedded in the groove 211, so that during the rotation of the rotating member 210, the gripper body 310 of the first dual-axis gripper assembly 400a is driven to move with the corresponding first sliding member 320, and the gripper body 310 of the second dual-axis gripper assembly 400b is driven to move with the corresponding first sliding member 320.

[0101] For example, in some embodiments, the second slider 430 of the third dual-axis gripper assembly 400c and the second slider 430 of the fourth dual-axis gripper assembly 400d are fixedly connected. This makes it easier to make the second slider 430 of the third dual-axis gripper assembly 400c and the second slider 430 of the fourth dual-axis gripper assembly 400d move synchronously relative to the base 100.

[0102] In addition, the rotating component 210 is provided with two slide grooves 211. One of the guide rods 440 of the first dual-axis gripper assembly 400a and the second dual-axis gripper assembly 400b is embedded in one of the slide grooves 211; one of the guide rods 440 of the third dual-axis gripper assembly 400c and the fourth dual-axis gripper assembly 400d is embedded in the other slide groove 211.

[0103] refer to Figures 4 to 12 In other embodiments, the second slider 430 of the first dual-axis gripper assembly 400a and the second slider 430 of the second dual-axis gripper assembly 400b are spaced apart. In some embodiments, the second slider 430 of the first dual-axis gripper assembly 400a and the second slider 430 of the second dual-axis gripper assembly 400b are spaced apart.

[0104] The drive assembly 200 includes a rotating member 210, which has at least two sliding grooves 211. The guide rod 440 of the first dual-axis gripper assembly 400a is embedded in one of the sliding grooves 211, and the guide rod 440 of the second dual-axis gripper assembly 400b is embedded in the other sliding groove 211. During the rotation of the rotating member 210, the guide rod 440 of the first dual-axis gripper assembly 400a is driven to move the gripper body 310 of the first dual-axis gripper assembly 400a along with the corresponding first sliding member 320, and the guide rod 440 of the second dual-axis gripper assembly 400b is driven to move the gripper body 310 of the second dual-axis gripper assembly 400b along with the corresponding first sliding member 320.

[0105] With the second sliding members 430 of the third dual-axis gripper assembly 400c and the second sliding members 430 of the fourth dual-axis gripper assembly 400d also spaced apart, the rotating member 210 is provided with four sliding grooves 211. The guide rods 440 of the first dual-axis gripper assembly 400a, the second dual-axis gripper assembly 400b, the third dual-axis gripper assembly 400c, and the fourth dual-axis gripper assembly 400d are respectively embedded in a sliding groove 211.

[0106] by Figure 7 Taking the orientation shown as an example, the first dual-axis gripper assembly 400a is located in the upper left corner of the base 100, the third dual-axis gripper assembly 400c is located in the upper right corner of the base 100, the fourth dual-axis gripper assembly 400d is located in the lower right corner of the base 100, and the second dual-axis gripper assembly 400b is located in the lower left corner of the base 100.

[0107] Combination Figure 8 and Figure 9 During the process of the drive assembly 200 driving each claw body 310 to move closer to each other, the second sliding member 430 of the first dual-axis gripper assembly 400a located in the upper left corner moves from right to left; the second sliding member 430 of the first dual-axis gripper assembly 400a located in the upper right corner moves from left to right; the second sliding member 430 of the first dual-axis gripper assembly 400a located in the lower right corner moves from left to right; and the second sliding member 430 of the first dual-axis gripper assembly 400a located in the lower left corner moves from left to right.

[0108] In some embodiments, the drive assembly 200 further includes a rotary driver. The rotary driver is driven to rotate the rotating member 210.

[0109] Furthermore, in other embodiments, based on the principle of a crank-connecting rod mechanism, the guide rods 440 can be driven to move closer or further away from each other relative to the axis of rotation of the rotating member 210. This causes the first sliding member 320 connected to the guide rod 440 to move closer or further away from each other relative to the axis of rotation of the rotating member 210, thereby causing the claw bodies 310 connected to the first sliding member 320 to move closer or further away from each other.

[0110] refer to Figure 16 During the rotation of the rotating component 210, the rotating component 210 drives the two guide rods 440 embedded in the slide groove 211 to move towards each other.

[0111] Specifically, the guide rod 440 of the second dual-axis gripper assembly 400b located in the lower left corner moves toward the axis of rotation of the rotating member 210, thereby causing the second sliding member 430 of the first dual-axis gripper assembly 400a and the second sliding member 430 of the second dual-axis gripper assembly 400b to move synchronously toward the axis of rotation of the rotating member 210. This, in turn, causes the first sliding member 320 of the first dual-axis gripper assembly 400a located in the upper left corner to also move toward the axis of rotation of the rotating member 210.

[0112] The guide rod 440 of the third dual-axis gripper assembly 400c located in the upper right corner moves toward the axis of rotation of the rotating member 210, thereby causing the second sliding member 430 of the third dual-axis gripper assembly 400c and the second sliding member 430 of the fourth dual-axis gripper assembly 400d to move synchronously toward the axis of rotation of the rotating member 210. This, in turn, causes the first sliding member 320 of the third dual-axis gripper assembly 400c located in the lower right corner to also move toward the axis of rotation of the rotating member 210.

[0113] In this way, the rotating part 210 can be made with only two sliding grooves 211, thus reducing the machining difficulty of the rotating part 210.

[0114] refer to Figures 11 to 15 In some embodiments, the material handling device 1 further includes a support member 500, which is fixedly connected to the base 100.

[0115] The claw body 310 is slidably connected to the first slider 320 in a direction perpendicular to the base 100. For example, when the base 100 is horizontally arranged, the claw body 310 also slides and extends relative to the first slider 320 in a vertical direction.

[0116] The gripper assembly 300 also includes an elastic element 370, which is connected to the gripper body 310 and the first sliding member 320 respectively. The elastic element 370 is used to apply a force to the gripper body 310 to extend the gripper body 310 relative to the base 100.

[0117] When each claw body 310 is switched to the extended state, an annular positioning area is formed around each claw body 310. The annular positioning area is used to accommodate the annular member 2. The support member 500 is located on the side of the annular positioning area facing the base 100.

[0118] Thus, for reference Figure 12 When the annular member 2 is engaged in the annular member positioning area, the support member 500 abuts against the annular member 2. For example, when installing the annular member 2 into the mounting area located above, the claw body 310 abuts against the inner part of the mounting area. Thus, when the material handling device 1 is further driven to rise, the claw body 310 retracts, and the annular member 2 can be installed in the mounting area under the pressure applied by the support member 500.

[0119] It should be noted that the above description of installing the annular component 2 from bottom to top is only one example. In other embodiments, for example, the annular component 2 can be installed from top to bottom with the annular component 2 facing downwards. Of course, in other embodiments, the annular component 2 can also be installed by driving the material handling device 1 to move in other directions. Further details will not be provided here.

[0120] It should also be noted that the claw body 310 floats relative to the first sliding member 320 via the elastic element 370. This allows it to fit against the reference surface of the ring member 2 to grasp the ring member 2. Even if the ring member 2 has a certain degree of torsional deformation, or if the material picking device 1 has a certain angular deviation relative to the ring member 2, it can still grasp the ring member 2 more accurately.

[0121] By employing a scheme where the claw 310 floats relative to the first sliding member 320 via the elastic element 370, the ring member 2 can be assembled without the need for the support member 500 to push it out. Through the floating of the claw 310 relative to the first sliding member 320 via the elastic element 370, combined with the fixed support member 500 and the movement of the robotic arm-driven material handling device 1, the assembly of the ring member 2 can be completed. This reduces the need for a power device and accessories to drive the extension and retraction of the support member 500, and also improves the assembly cycle time.

[0122] Therefore, the solution provided in this application embodiment can improve the assembly speed and reliability of the ring part 2. By employing a solution where the claw body 310 floats relative to the first sliding member 320 via the elastic element 370, the material handling device 1 can accurately grasp the ring part 2 even if it has a certain degree of deformation. Furthermore, the claw body 310 has diverse opening trajectories, allowing for "customized" opening trajectories according to different opening members, resulting in excellent opening effects.

[0123] This application provides an assembly device. The assembly device includes a transfer device and any of the material handling devices 1 provided in this application. The transfer device is used to drive the material handling device 1 to move. Exemplarily, the transfer device is a robotic arm. Therefore, the robotic arm can be used to drive the material handling device 1 to move.

[0124] Continuing with the example of installing ring component 2, the working principle of the assembly equipment will be briefly explained. For example, ring component 2 can be a belt or a sealing ring.

[0125] The operator can place the ring-shaped component 2 into the material bin (also called the feed bin). For example, the material bin can be a vibratory feeder or a climbing feeder. The material bin supplies the ring-shaped component 2 to the flexible vibratory feeder, which allows the ring-shaped component 2 to spread out. It should be noted that if there are too many ring-shaped components 2 on the flexible vibratory feeder, they can easily pile up, making it difficult for the picking device 1 to pick up individual ring-shaped components 2. Therefore, the material bin can periodically supply an appropriate number of ring-shaped components 2 to the flexible vibratory feeder.

[0126] An industrial camera is mounted on the top of the flexible vibratory feeder. The camera can capture images of the annular components 2 carried on the feeder, allowing the position of each component 2 to be determined based on these images. Then, the robotic arm can drive the material handling device 1 to move to the inner area of ​​the annular component 2, thereby picking up the component 2 by means of the claw 310 opening and pressing against the inner side of the component 2.

[0127] For example, if an image acquired by an industrial camera indicates that some of the ring-shaped components 2 are in a separated state, the flexible vibratory feeder can stop vibrating. A robotic arm can then drive the material handling device 1 to remove some of the separated ring-shaped components 2. After the separated ring-shaped components 2 have been removed, the flexible vibratory feeder can be vibrated again to separate the remaining ring-shaped components 2. In this way, after most or all of the ring-shaped components 2 have been removed, the material hopper can supply an appropriate number of ring-shaped components 2 to the flexible vibratory feeder again.

[0128] Before the robotic arm drives the material handling device 1 to acquire the annular piece 2, the drive assembly 200 first drives each claw 310 to move closer to each other. For example, each claw 310 moves to a position where it abuts against each other. Then, the robotic arm drives the material handling device 1 to move so that the claws 310 move into the inner region of the individual annular piece 2. Then, the drive assembly 200 drives each claw 310 away, so that each claw 310 rests against the inner wall of the annular piece 2.

[0129] Furthermore, the robotic arm drives the material handling device 1 to move, causing the annular component 2 to move to a position opposite to the annular component installation area. The robotic arm drives the material handling device 1 to continue moving towards the annular component installation area. Under the pushing action of the support member 500, the annular component 2 is pressed into the annular component installation area, and each claw 310 retracts, thus separating from the annular component 2. This completes the installation of the annular component 2.

[0130] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0131] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the embodiments of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A material handling device, characterized in that, include: The base (100), drive assembly (200), and at least three gripper assemblies (300); The gripper assembly (300) includes a gripper body (310), a first sliding member (320), and a support (330). The gripper body (310) is connected to the first sliding member (320) to move with the first sliding member (320). The first sliding member (320) is slidably connected to the support (330), and the support (330) is connected to the base (100). At least one of the at least three gripper assemblies (300) is a dual-axis gripper assembly (400), and the support (330) of the dual-axis gripper assembly (400) is a second sliding member (430), which is slidably connected to the base (100). The base (100) is provided with guide grooves (110), the number of which is equal to the number of the dual-axis gripper assembly (400). The dual-axis gripper assembly (400) also includes a guide rod (440), which is connected to the first sliding member (320) and is correspondingly embedded in the guide groove (110). When driven, the guide rod (440) moves along the extension trajectory of the guide groove (110) to drive the gripper body (310) of the dual-axis gripper assembly (400) to move synchronously with the first sliding member (320). The extension trajectory of the guide groove (110) is at least partially misaligned with the line segment between the two ends of the extension trajectory. The drive assembly (200) is used to drive each of the first sliders (320) to move so that each of the claws (310) moves closer to or further away from each other.

2. The material taking device according to claim 1, characterized in that The guide groove (110) includes a first extension section (111) and a second extension section (112) connected to each other, wherein the first extension section (111) extends in a straight line; As the guide rod (440) moves from the first extension (111) toward the second extension (112), each of the claw bodies (310) moves away from each other.

3. The material taking-out device according to claim 2, characterized by The number of the dual-axis gripper assemblies (400) is at least two, and the at least two dual-axis gripper assemblies (400) include a first dual-axis gripper assembly (400a) and a second dual-axis gripper assembly (400b); The number of guide grooves (110) is also at least two, and the at least two guide grooves (110) include a second guide groove (110b) of the first guide groove (110a); The sliding direction of the second slider (430) of the first dual-axis gripper assembly (400a), the sliding direction of the second slider (430) of the second dual-axis gripper assembly (400b), the extension direction of the first extension (111) of the first guide groove (110a) and the extension direction of the first extension (111) of the second guide groove (110b) are all parallel to each other. The sliding direction of the second slider (430) of the first dual-axis gripper assembly (400a) is the same as the sliding direction of the second slider (430) of the second dual-axis gripper assembly (400b).

4. The material taking-out device according to claim 3, characterized by The number of gripper assemblies (300) is four, and all four gripper assemblies (300) are the dual-axis gripper assemblies (400). The number of guide grooves (110) is also four, and the four guide grooves (110) further include a third guide groove (110c) and a fourth guide groove (110d). The first guide groove (110a) and the second guide groove (110b) are symmetrically arranged with respect to the first symmetry plane (610), and the third guide groove (110c) and the fourth guide groove (110d) are also symmetrically arranged with respect to the first symmetry plane (610). The first guide groove (110a) and the third guide groove (110c) are symmetrically arranged with respect to the second symmetry plane (620), and the second guide groove (110b) and the fourth guide groove (110d) are also symmetrically arranged with respect to the second symmetry plane (620). The second symmetry plane (620) is perpendicular to the first symmetry plane (610).

5. The material taking-out device according to claim 4, characterized by The four dual-axis gripper assemblies (400) further include a third dual-axis gripper assembly (400c) and a fourth dual-axis gripper assembly (400d); The first dual-axis gripper assembly (400a) and the second dual-axis gripper assembly (400b) are symmetrically arranged with respect to the first symmetry plane (610), and the third dual-axis gripper assembly (400c) and the fourth dual-axis gripper assembly (400d) are also symmetrically arranged with respect to the first symmetry plane (610). The first dual-axis gripper assembly (400a) and the third dual-axis gripper assembly (400c) are symmetrically arranged with respect to the second symmetry plane (620), and the second dual-axis gripper assembly (400b) and the fourth dual-axis gripper assembly (400d) are also symmetrically arranged with respect to the second symmetry plane (620).

6. The material taking-out device according to claim 3, wherein The second slider (430) of the first dual-axis gripper assembly (400a) and the second slider (430) of the second dual-axis gripper assembly (400b) are fixedly connected.

7. The material taking-out device according to claim 6, characterized by The drive assembly (200) includes a rotating member (210) with a groove (211). One of the guide rods (440) of the first dual-axis gripper assembly (400a) and the second dual-axis gripper assembly (400b) is embedded in the groove (211) so that during the rotation of the rotating member (210), the gripper body (310) of the first dual-axis gripper assembly (400a) is driven to move with the corresponding first sliding member (320), and the gripper body (310) of the second dual-axis gripper assembly (400b) is driven to move with the corresponding first sliding member (320).

8. The material taking-out device according to claim 3, characterized by The second slider (430) of the first dual-axis gripper assembly (400a) and the second slider (430) of the second dual-axis gripper assembly (400b) are spaced apart; The drive assembly (200) includes a rotating member (210) with at least two grooves (211). The guide rod (440) of the first dual-axis gripper assembly (400a) is embedded in one of the grooves (211), and the guide rod (440) of the second dual-axis gripper assembly (400b) is embedded in the other groove (211). During the rotation of the rotating member (210), the guide rod (440) of the first dual-axis gripper assembly (400a) is driven to move the claw body (310) of the first dual-axis gripper assembly (400a) with the corresponding first sliding member (320), and the guide rod (440) of the second dual-axis gripper assembly (400b) is driven to move the claw body (310) of the second dual-axis gripper assembly (400b) with the corresponding first sliding member (320).

9. The material handling device according to claim 1, characterized in that, The material handling device also includes a support member (500), which is fixedly connected to the base (100); The claw body (310) is slidably connected to the first sliding member (320) in a direction perpendicular to the base (100). The claw assembly (300) further includes an elastic element (370), which is connected to the claw body (310) and the first sliding member (320) respectively. The elastic element (370) is used to apply a force to the claw body (310) to cause the claw body (310) to extend relative to the base (100). When each of the claw bodies (310) is switched to the open state, an annular positioning area is formed around each of the claw bodies (310), and the support member (500) is located on the side of the annular positioning area facing the base (100).

10. An assembly apparatus, characterized by include: The transfer device and the material handling device according to any one of claims 1 to 9, wherein the transfer device is used to drive the material handling device to move.

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