Gripping device

Abstract

This application discloses a gripping device including a fixing mechanism and at least one internal support mechanism. The fixing mechanism is used to fix the internal support mechanism to a conveying device. The internal support mechanism includes a connecting assembly, a fixed internal support assembly, and an adjustable internal support assembly. The connecting assembly includes a flange rod, a fixed base, at least two drive cylinders, and a slide rail. The flange rod is vertically fixed to the fixed base. The fixed base is connected to the flange rod and the drive cylinders. The two drive cylinders are symmetrically arranged at two opposite ends of the fixed base and symmetrically arranged relative to the flange rod. The slide rail is located at the bottom of the fixed base. The fixed internal support assembly and the adjustable internal support assembly are slidably fixed to two opposite ends of the slide rail. The drive cylinders are used to drive the fixed internal support assembly and the adjustable internal support assembly to move along the slide rail from an initial position away from the fixed base. When the fixed internal support assembly and the adjustable internal support assembly are in contact with the inner wall of the material, they grip the material using an internal support method.

Description

Technical Field

[0001] This application relates to the field of automated production technology, and more particularly to a gripping device. Background Technology

[0002] Manual feeding stations still exist in existing automated production lines. Manual feeding has a low degree of automation and is prone to material abnormalities during the handling process, such as material damage or surface contamination. Utility Model Content

[0003] In view of this, this application provides a gripping device to solve the problem of low automation and to avoid material abnormalities during the gripping and placing process.

[0004] This application provides a gripping device including a gripping and fixing mechanism and at least one internal support mechanism. The fixing mechanism is used to fix the internal support mechanism to a conveying device. The internal support mechanism includes a connecting assembly, a fixed internal support assembly, and an adjustable internal support assembly. The connecting assembly includes a flange rod, a fixed base, at least two drive cylinders, and a slide rail. The flange rod is vertically fixed to the fixed base. The fixed base is connected to the flange rod and the drive cylinders. The two drive cylinders are symmetrically arranged at two opposite ends of the fixed base and symmetrically arranged relative to the flange rod. The slide rail is located at the bottom of the fixed base. The fixed internal support assembly and the adjustable internal support assembly are slidably fixed to two opposite ends of the slide rail. The drive cylinders are used to drive the fixed internal support assembly and the adjustable internal support assembly to move along the slide rail from an initial position away from the fixed base. When the fixed internal support assembly and the adjustable internal support assembly are in contact with the inner wall of the material, they grip the material in an internal support manner.

[0005] In some embodiments, the gripping device further includes at least one rotating mechanism; each inner support mechanism corresponds to one rotating mechanism; the rotating mechanism is used to drive the inner support mechanism to rotate in the horizontal plane; the rotating mechanism includes a rotating cylinder; the rotating cylinder is fixedly disposed above the flange rod and fixedly connected to the fixed base through the flange rod; when the rotating cylinder rotates, it drives the fixed inner support assembly and the adjustable inner support assembly to rotate in the horizontal plane through the flange rod and the fixed base.

[0006] In some embodiments, the fixed inner support assembly includes a first sliding base and at least two fixed inner support members; the adjustable inner support assembly includes a second sliding base and at least two adjustable inner support members; the first sliding base and the second sliding base are slidably fixed to two opposite ends of the slide rail; the at least two fixed inner support members and the at least two adjustable inner support members correspond to different reference edges of the material; the at least two fixed inner support members and the at least two adjustable inner support members, driven by the drive cylinder, respectively contact the reference edges of the material and fit tightly against the material in an inner support manner.

[0007] In some embodiments, the fixed inner support assembly and the adjustable inner support assembly automatically return to their initial positions when the drive cylinder stops working; the fixed inner support assembly further includes at least one first elastic portion; the adjustable inner support assembly further includes at least one second elastic portion; one end of the first elastic portion is fixed to the fixed base, and the other end is fixed to the first sliding base; one end of the second elastic portion is fixed to the fixed base, and the other end is fixed to the second sliding base; the first elastic portion and the second elastic portion are stretched and generate elastic force when the drive cylinder drives the first sliding base away from the fixed base, and recover elastic deformation and drive the first sliding base to move closer to the fixed base when the drive cylinder stops driving the first sliding base.

[0008] In some embodiments, the first sliding base includes a first body, a first fixed extension arm, and a second fixed extension arm; the first body is slidably fixed to a slide rail; the first fixed extension arm and the second fixed extension arm extend from two opposite ends of the first body in a direction away from the first body; the extension direction of the first fixed extension arm is parallel to the extension direction of the slide rail and is set at a certain angle to the extension direction of the second fixed extension arm; at least two fixed inner supports are fixed to the first fixed extension arm and the second fixed extension arm, respectively.

[0009] In some embodiments, the fixed inner support includes a first inner support arm, a mounting block, and a first anti-slip rod; the first inner support arm is fixedly disposed on a first fixed extension arm or a second fixed extension arm; the mounting block is fixedly disposed on the end of the first inner support arm away from the first sliding base; a positioning hole is provided on the mounting block; the diameter of the positioning hole varies from large to small; the diameter of the end of the positioning hole near the first inner support arm is larger than the diameter of the end of the positioning hole away from the first inner support arm, and the diameter of the end of the positioning hole away from the first inner support arm is equal to the diameter of the first anti-slip rod; the first anti-slip rod has a first threaded end for preventing material from slipping.

[0010] In some embodiments, the second sliding base includes a second body, a first adjustable extension arm, and a second adjustable extension arm; the second body is slidably fixed to a slide rail; the first adjustable extension arm and the second adjustable extension arm are arranged parallel to each other and extend from two opposite ends of the second body in a direction away from the second body; the extension directions of the first adjustable extension arm and the second adjustable extension arm are set at a certain angle to the extension direction of the slide rail; at least two adjustable inner supports are respectively fixed to the first adjustable extension arm and the second adjustable extension arm.

[0011] In some embodiments, the adjustable inner support includes a second inner support arm, an adjusting bracket, and a second anti-slip rod; the second inner support arm is fixedly mounted on a first adjustable extension arm or a second adjustable extension arm; the adjusting bracket is located on the side of the second inner support arm away from the second sliding base; the adjusting bracket has a sliding groove, and the distance between the second anti-slip rod and the second inner support arm can be adjusted by adjusting the relative position between the sliding groove and the second inner support arm to accommodate materials of different sizes; the second anti-slip rod is located at the end of the adjusting bracket away from the second inner support arm; the extension direction of the second anti-slip rod is perpendicular to the extension direction of the adjusting bracket; the second anti-slip rod has a second threaded end; the second threaded end is used to prevent materials from slipping.

[0012] In some embodiments, the gripping device further includes at least one sensing mechanism; each inner support mechanism corresponds to one sensing mechanism; the sensing mechanism is fixedly disposed above the inner support mechanism and located between the rotating mechanism and the inner support mechanism; the sensing mechanism is used to sense whether the inner support mechanism has gripped the material and to sense the orientation mark on the material; when the sensing mechanism identifies the material and the orientation mark on the material, the drive cylinder drives the fixed inner support assembly and the adjustable inner support assembly to move away from the fixed base so as to fit against the reference edge corresponding to the material; when the sensing mechanism senses the material but does not identify the orientation mark on the material, the rotating mechanism drives the inner support mechanism to rotate in the horizontal plane to adjust the relative position between the inner support mechanism and the material.

[0013] In some embodiments, the sensing mechanism includes two fixed rings, a positioning bracket, and a photoelectric sensor; the fixed rings are generally D-shaped; the openings of the two fixed rings are arranged opposite to each other, and they cooperate to form a circular receiving space; the receiving space houses the connecting rod of the flange rod; the positioning bracket is locked to the side of either fixed ring; the positioning bracket has a positioning adjustment groove and an assembly groove; the positioning adjustment groove is used to adjust the relative distance between the photoelectric sensor and the fixed ring, and the assembly groove is used to provide assembly space to fix the photoelectric sensor on the positioning bracket.

[0014] The aforementioned gripping equipment uses an internal support method to grasp materials, enabling automatic feeding, increasing the automation level of the production line, and reducing labor costs. Simultaneously, it ensures the integrity and cleanliness of materials during gripping and handling, further reducing production costs. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 This is a three-dimensional schematic diagram of the gripping device and materials provided in the embodiments of this application.

[0017] Figure 2 for Figure 1 A partially exploded diagram of the grabbing device.

[0018] Figure 3 for Figure 1 A partially exploded diagram of the connecting components.

[0019] Figure 4 for Figure 1 Partial exploded view of the fixed internal support component.

[0020] Figure 5 for Figure 4 A three-dimensional schematic diagram of the first sliding base from another angle.

[0021] Figure 6 for Figure 4 A partially exploded diagram of the adjustable internal support component.

[0022] Figure 7 for Figure 6 A three-dimensional schematic diagram of the second sliding base from another angle.

[0023] Figure 8 for Figure 1 A partially exploded diagram of the sensing mechanism.

[0024] Figure 9 for Figure 1 A three-dimensional schematic diagram of the grabbing device from another angle.

[0025] Figure 10 for Figure 1 A schematic diagram of the application environment of the capture device.

[0026] Explanation of main component symbols

[0027] 100. Gripping device; 200. Material; 300. Handling equipment; 400. Control terminal; 10. Fixing mechanism; 20. Rotating mechanism; 30. Internal support mechanism; 40. Sensing mechanism; 11. Fixing plate; 111. Upper surface; 21. Rotary cylinder; 22. Protective cover; 23. Vent connector; 31. Connecting assembly; 32. Fixed internal support assembly; 33. Adjustable internal support assembly; 311. Flange rod; 312. Fixed base; 313. Drive cylinder; 314. Slide rail; 315. Limiting component; 31 6. Air pipe; 317. Seal; 3111. Top flange; 3112. Bottom flange; 3113. Connecting rod; 3110. Vent hole; 3121. Receiving part; 3122. Annular groove; 3123. Connecting hole; 3124. First fixed end; 3125. Second fixed end; 3131. Cylinder body; 3132. Piston rod; 3151. Base plate; 3152. Limiting part; 3171. First sealing ring; 3172. Second sealing ring; 321. First sliding base; 3211. 3212. Main body; 3213. First fixed extension arm; 3214. Second fixed extension arm; 3215. First receiving slot; 322, 322a, 322b, 322c. Fixed inner support; 323. First elastic part; 3221. First inner support arm; 3222. Mounting block; 3223. First anti-slip rod; 3224. Positioning hole; 3225. First cap-shaped end; 3226. First threaded end; 331. Second sliding base; 3311. Second main body; 3312. First adjustable extension arm; 3313. 3314. Second adjustable extension arm; 332, 332a, 332b, 332c. Adjustable inner support; 3321. Second inner support arm; 3322. Adjustment bracket; 3324. Hook; 3323. Second anti-slip rod; 3325. Second cap-shaped end; 3326. Second threaded end; 3227. Slide groove; 333. Second elastic part; 41. Fixing ring; 401. Receiving space; 42. Positioning bracket; 421. Positioning adjustment groove; 422. Assembly groove; 43. Photoelectric sensor.

[0028] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] In the description of this application, it should be understood that the terms "first," "second," "third," "fourth," and "fifth," etc., are used to distinguish different objects, rather than to describe a specific order.

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

[0032] The term "comprising," and any variations thereof, is intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or modules is not limited to the steps or modules listed, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to those processes, methods, products, or apparatuses.

[0033] Please see Figure 1 This is an assembly diagram of a gripping device 100 according to at least one embodiment of this application. The gripping device 100 is applied to an automated production line for gripping and transporting materials 200. In at least one embodiment of this application, the material 200 can be made of various materials, such as glass, metal, rubber, etc., but is not limited to these. The gripping device 100 can be used with a transport device 300 (such as...) Figure 10 The gripping device 100 is used in conjunction with, for example, a robotic arm, to automatically grasp the material 200, move it from an initial position to a release position, and then place the material 200. The gripping device 100 is detachably fixed to the conveying device 300. The initial position is located directly above the material-bearing device (not shown), and the release position is located directly above the component on the production line that interacts with the material 200. In at least one embodiment of this application, the gripping device 100 is fixedly mounted on a lead screw (not shown) or a robotic arm (not shown) of the conveying device 300. In other embodiments, the gripping device 100 may also be fixed to the conveying device 300 by locking or snap-fitting.

[0034] The gripping device 100 can simultaneously hold at least one material 200. The gripping device 100 includes a fixing mechanism 10, at least one rotating mechanism 20, at least one inner support mechanism 30, and at least one sensing mechanism 40. Each inner support mechanism 30 corresponds to one rotating mechanism 20 and one sensing mechanism 40. In at least one embodiment of this application, the gripping device 100 simultaneously grips two materials 200, which includes two rotating mechanisms 20, two inner support mechanisms 30, and two sensing mechanisms 40.

[0035] Please refer to the following: Figure 2 , Figure 2 This is a partially exploded view of the gripping device 100. The fixing mechanism 10 is used to fix the gripping device 100 to the handling device 300. The fixing mechanism 10 includes a fixing plate 11. The fixing plate 11 is generally rectangular. The fixing plate 11 is arranged horizontally and along a first direction (i.e., the X-axis direction). At least four mounting holes 101 are provided on the fixing plate 11. The fixing plate 11 is fixed to the handling device 300 through the mounting holes 101. In one embodiment indicated in this application, the mounting holes 101 are threaded into a lead screw in the handling device 300. In other embodiments, the mounting holes 101 may also be fixed to a robotic arm in the handling device 300.

[0036] A rotating mechanism 20 is placed on the upper surface 111 of the fixed plate 11. The rotating mechanism 20 drives the inner support mechanism 30 to rotate in the horizontal plane. The rotating mechanism 20 includes a rotating cylinder 21, a protective cover 22, and two vent joints 23. The rotating cylinder 21 is placed on the upper surface 111 of the fixed plate 11. The rotating cylinder 21 can rotate in the horizontal plane. The protective cover 22 covers the rotating cylinder 21 to protect it. Each vent joint 23 is connected to the rotating cylinder 21 to supply gas generated by an air pump (not shown) to the rotating cylinder 21.

[0037] The internal support mechanism 30 includes a connecting component 31, a fixed internal support component 32, and an adjustable internal support component 33.

[0038] Please refer to the following: Figure 3 , Figure 3 This is a partially exploded view of the connecting assembly 31. The connecting assembly 31 includes a flange rod 311, a fixed base 312, at least two drive cylinders 313, a slide rail 314, a limiting member 315, an air pipe 316, and a seal 317.

[0039] A flange rod 311 is vertically mounted on a fixed base 312. The flange rod 311 connects the fixed base 312 and the rotary cylinder 21 as a single unit. The flange rod 311 includes a top flange 3111, a bottom flange 3112, and a connecting rod 3113. The top flange 3111 is secured to the bottom of the rotary cylinder 21 with screws (not shown). The bottom flange 3112 is secured to the surface of the fixed base 312 opposite to the rotating mechanism 20 with screws (not shown). In at least one embodiment of this application, the diameter of the top flange 3111 is larger than the diameter of the bottom flange 3112. The connecting rod 3113 is disposed between the top flange 3111 and the bottom flange 3112. The connecting rod 3113 is a hollow tubular shape. A vent hole 3110 is provided in the middle of the connecting rod 3113. The connecting rod 3113 extends along a second direction (i.e., the Y-axis direction).

[0040] The fixed base 312 is fixed to the rotary cylinder 21 by a flange rod 311. The fixed base 312 is generally rectangular. The length direction of the fixed base 312 forms a certain angle with the extension direction of the fixed plate 11. In at least one embodiment of this application, the angle between the length direction of the fixed base 312 and the extension direction of the fixed plate 11 is an acute angle. The middle part of the fixed base 312 is recessed inward to form a receiving part 3121. The receiving part 3121 is adapted to the bottom flange 3112 and is used to receive the bottom flange 3112. The bottom surface of the receiving part 3121 is further provided with an annular groove 3122. The annular groove 3122 cooperates with the sealing element 317 and is used to receive the sealing element 317. A connecting hole 3123 is provided in the middle of the receiving part 3121. The connecting hole 3123 communicates with the connecting rod 3113. The fixed base 312 further includes two oppositely disposed first fixed ends 3124 and second fixed ends 3125. The first fixed end 3124 is fixed to the fixed inner support assembly 32, and the second fixed end 3125 is fixed to the adjustable inner support assembly 33.

[0041] Two drive cylinders 313 are located on both sides of the fixed base 312 and are symmetrically arranged relative to the flange rod 311. The drive cylinders 313 are fixedly disposed in the middle of the fixed base 312. The drive cylinders 313 are used to drive the fixed inner support assembly 32 and / or the adjustable inner support assembly 33 to move. The drive cylinder 313 includes a cylinder body 3131 and a piston rod 3132. The cylinder body 3131 is inserted into the fixed base 312. The cylinder body 3131 is generally a hollow cylinder. The central axis of the cylinder body 3131 is perpendicular to the extending direction of the fixed base 312. In at least one embodiment of this application, the piston rod 3132 is housed within the cylinder body 3131 and partially exposed relative to the cylinder body 3131. The piston rod 3132 can slide within the cylinder body 3131 along the central axis of the cylinder body 3131 to drive the fixed inner support assembly 32 and the adjustable inner support assembly 33 to move relative to the fixed base 312. The two piston rods 3132 are arranged facing each other. When the air pump is working, the piston rods 3132 can slide along the slide rail 314 away from the fixed base 312, and when the air pump stops working, they can slide along the slide rail 314 towards the fixed base 312. In at least one embodiment of this application, the drive cylinder 313 is a single-acting cylinder, whose intake or exhaust is controlled by a solenoid valve, thereby driving the piston rods 3132 to move within the cylinder body 3131.

[0042] A slide rail 314 is located between the fixed base 312 and the limiting member 315. The slide rail 314 defines the sliding trajectory of the fixed inner support assembly 32 and the adjustable inner support assembly 33. The slide rail 314 is arranged parallel to the drive cylinder 313. The extension direction of the slide rail 314 is at an angle to the length direction of the fixed base 312. The length of the slide rail 314 is greater than the width of the fixed base 312, such that the two opposite ends of the slide rail 314 are exposed relative to the fixed base 312. In at least one embodiment of this application, the extension direction of the slide rail 314 is perpendicular to the length direction of the fixed base 312.

[0043] The limiting member 315 is used to fix the slide rail 314 to the bottom of the fixed base 312. The limiting member 315 includes a base plate 3151 and two limiting portions 3152. The base plate 3151 and the fixed base 312 are approximately the same size. The two limiting portions 3152 are disposed on two parallel and opposite edges of the base plate 3151. In at least one embodiment of this application, the two limiting portions 3152 are symmetrically arranged along the width direction of the base plate 3151. The limiting portions 3152 extend from the edge of the base plate 3151 in a direction away from the base plate 3151. The limiting portions 3152 are generally flat. The free end of the limiting portion 3152 is hook-shaped, and the opening direction of the free end of the limiting portion 3152 faces the base plate 3151. The limiting portions 3152 are used to limit the movement distance of the fixed inner support assembly 32 and the adjustable inner support assembly 33 relative to the fixed base 312. When the fixed inner support assembly 32 or the adjustable inner support assembly 33 comes into contact with the free end of the limiting part 3152, the moving distance of the fixed inner support assembly 32 and the adjustable inner support assembly 33 relative to the fixed base 312 reaches its maximum.

[0044] The air pipe 316 is inserted into the vent 3110. The air pipe 316 is used to connect to an air pump (not shown) to supply the gas generated by the air pump to the drive cylinder 313 through the flange rod 311 and the fixed base 312.

[0045] The seal 317 includes a first sealing ring 3171 and at least two second sealing rings 3172. The first sealing ring 3171 is disposed within the annular groove 3122 and contacts the bottom flange 2112. The first sealing ring 3171 seals the gap between the receiving portion 3121 and the bottom flange 2112, thereby preventing gas leakage at the connection between the flange rod 211 and the fixed base 312. The two second sealing rings 3172 correspond to the drive cylinder 313 respectively. In at least one embodiment of this application, the diameter of the second sealing ring 3172 is smaller than the diameter of the first sealing ring 3171. The second sealing rings 3172 are disposed between the drive cylinder 313 and the fixed base 312 to seal the gap between the drive cylinder 313 and the fixed base 312, thereby preventing gas leakage at the connection between the drive cylinder 313 and the fixed base 312.

[0046] Please refer to the following: Figure 4 , Figure 5 as well as Figure 9 , Figure 4 This is a partially exploded view of the fixed internal support assembly 32. Figure 5 This is a three-dimensional schematic diagram of the first sliding base 321 from another angle. Figure 9This is a perspective view of the gripping device 100 from another angle. The fixed inner support assembly 32 corresponds to at least two reference edges of the material 200 and cooperates with the adjustable inner support assembly 33 to tightly fit the material 200 in an inner support manner. The fixed inner support assembly 32 is slidable relative to the fixed base 312. The fixed inner support assembly 32 corresponds to at least one reference edge of the material 200 and is used to grip the material 200 in an inner support manner under the drive of the drive cylinder 313. The fixed inner support assembly 32 includes a first sliding base 321, at least two fixed inner support members 322, and at least one first elastic portion 323.

[0047] The first sliding base 321 is slidably mounted on the slide rail 314 and can slide along the slide rail 314 under the drive of the drive cylinder 313. The first sliding base 321 includes a first body 3211, a first fixed extension arm 3212, and a second fixed extension arm 3213. The first body 3211 is generally triangular in shape. The first body 3211 is slidably fixed on the slide rail 314. A first receiving groove 3214 is provided at the bottom of the first body 3211 (e.g., ...). Figure 5 (As shown). The first receiving groove 3214 is used to receive the end of the slide rail 314 adjacent to the first sliding base 321 and the limiting part 3152. The first fixed extension arm 3212 and the second fixed extension arm 3213 extend from the two opposite ends of the first body 3211 in a direction away from the first body 3211. The extension direction of the first fixed extension arm 3212 is parallel to the extension direction of the slide rail 314, and is set at a certain angle to the extension direction of the second fixed extension arm 3213.

[0048] At least two fixed inner support members 322 are respectively fixed to the first fixed extension arm 3212 and the second fixed extension arm 3213, and correspond to the reference edge of the material 200. Each fixed inner support member 322 includes a first inner support arm 3221, a mounting block 3222, and a first anti-slip rod 3223. One end of the first inner support arm 3221 is fixedly mounted on the first sliding base 321. The mounting block 3222 is located at the other end of the first inner support arm 3221 away from the first sliding base 321. A positioning hole 3224 is provided on the mounting block 3222. The diameter of the positioning hole 3224 decreases from large to small. The diameter of the positioning hole 3224 at the end closer to the first inner support arm 3221 is larger than the diameter at the end farther from the first inner support arm 3221, and the diameter of the positioning hole 3224 at the end farther from the first inner support arm 3221 is equal to the diameter of the first anti-slip rod 3223. The first anti-slip rod 3223 is inserted into the positioning hole 3224 near the first inner support arm 3221 through the positioning hole 3224, and slides under external force to the end of the positioning hole 3224 away from the first inner support arm 3221. The first anti-slip rod 3223 has a first cap-shaped end 3225 and a first threaded end 3226 disposed opposite to each other. The first cap-shaped end 3225 is used to contact the surface of the mounting block 3222 to lock the first anti-slip rod 3223 into the positioning hole 3224. The first threaded end 3226 is provided with annular threads to prevent the material 200 adhering to it from slipping off the first inner support arm 3221. The first anti-slip rod 3223 is fixed to the mounting block 3222 by a locking screw (not shown in the figure).

[0049] In at least one embodiment of this application, the fixed inner support assembly 32 includes three fixed inner support members 322a-322c. Each of the fixed inner support members 322a-322c has a mounting block 3222 and a first anti-slip rod 3223. The main difference between the three lies in the shape of the first inner support arm 3221. The first inner support arm 3221 in fixed inner support member 322a is generally elongated, the first inner support arm 3221 in fixed inner support member 322b is generally L-shaped, and the first inner support arm 3221 in fixed inner support member 322c is generally U-shaped. The first inner support arm 3221 in fixed inner support member 322a extends along a first direction (i.e., the X-axis direction). The fixed end of the first inner support arm 3221 in fixed inner support member 322b extends along the first direction (i.e., the X-axis direction), and its free end extends along a third direction (i.e., the Z-axis direction). The first direction, the second direction, and the third direction form a rectangular coordinate system. The opening of the first inner support arm 3221 in the fixed inner support member 322c faces the first sliding base 321. Fixed inner support members 322a and 322b correspond to the first reference edge of the material 200. Fixed inner support member 322c corresponds to the second reference edge of the material 200. The first and second reference edges are arranged adjacent to each other. Fixed inner support member 322a is disposed on the first fixed extension arm 3212 of the first sliding base 321, and fixed inner support members 322b and 322c are symmetrically disposed on the second fixed extension arm 3213 of the first sliding base 321. In other embodiments, the shape of the first inner support arm 3221 in the fixed inner support member 322 can be adjusted according to the shape of the material 200 to adapt to materials 200 of different shapes.

[0050] One end of the first elastic portion 323 is fixedly disposed on the fixed base 312, and the other end is fixedly disposed on the first sliding base 321. The first elastic portion 323 is stretched and generates elastic force when the drive cylinder 313 drives the first sliding base 321 away from the fixed base 312, and recovers its elastic deformation and drives the first sliding base 321 to move closer to the fixed base 312 when the drive cylinder 313 stops driving the first sliding base 321. In at least one embodiment of this application, the fixed inner support assembly 32 includes two first elastic portions 323. One first elastic portion 323 is fixedly disposed on the first fixed end 3124, and the other first elastic portion 323 is fixedly disposed on the second fixed end 3125.

[0051] Please refer to the following: Figure 6 , Figure 7 as well as Figure 9 , Figure 6 This is a partially exploded view of the adjustable internal support component 33. Figure 7 This is a three-dimensional schematic diagram of the second sliding base 331 from another angle. Figure 9This is a perspective view of the gripping device 100 from another angle. The adjustable inner support assembly 33 corresponds to at least two reference edges of the material 200 and cooperates with the fixed inner support assembly 32 to fit tightly against the material 200 in an inner support manner. The adjustable inner support assembly 33 includes a second sliding base 331, at least one adjustable inner support member 332, and at least one second elastic part 333.

[0052] The second sliding base 331 is slidably mounted on the slide rail 314 and can slide along the slide rail 314 under the drive of the drive cylinder 313. The second sliding base 331 includes a second body 3311, a first adjustable extension arm 3312, and a second adjustable extension arm 3313. The second body 3311 is generally triangular in shape. The second body 3311 is slidably fixed on the slide rail 314. The first adjustable extension arm 3312 and the second adjustable extension arm 3313 extend from the two opposite ends of the second body 3311 in a direction away from the second body 3311. The first adjustable extension arm 3312 and the second adjustable extension arm 3313 are parallel to each other. The extension directions of the first adjustable extension arm 3312 and the second adjustable extension arm 3313 are set at a certain angle to the extension direction of the slide rail 314. A second receiving groove 3314 is provided at the bottom of the second body 3311 (e.g., Figure 7 (As shown). The second receiving groove 3314 is used to receive the end of the slide rail 314 adjacent to the second sliding base 331 and the limiting part 3152.

[0053] At least two adjustable inner support members 332 are respectively fixed to the first adjustable extension arm 3312 and the second adjustable extension arm 3313. Each adjustable inner support member 332 includes a second inner support arm 3321, at least one adjusting bracket 3322, and a second anti-slip rod 3323. One end of the second inner support arm 3321 is fixedly mounted on either the first adjustable extension arm 3312 or the second adjustable extension arm 3313. The adjusting bracket 3322 is secured to the side of the second inner support arm 3321 away from the second sliding base 331 by screws (not shown). The free end of the adjusting bracket 3322 away from the second inner support arm 3321 is bent towards the side closer to the second inner support arm 3321 to form a hook 3324. The adjusting bracket 3322 can be installed at different positions on the second inner support arm 3321 to adjust the relative distance between the second anti-slip rod 3323 and the second inner support arm 3321, thereby adapting to materials 200 of different sizes. The hook portion 3324 is used to receive and fix the second anti-slip rod 3323. The second anti-slip rod 3323 is disposed at the end of the adjusting bracket 3322 away from the second inner support arm 3321 and engages with the hook portion 3324. The extending direction of the second anti-slip rod 3323 is perpendicular to the extending direction of the adjusting bracket 3322. The second anti-slip rod 3323 has a second cap-shaped end 3325 and a second threaded end 3326 disposed opposite to each other. The second cap-shaped end 3325 is used to contact the hook portion 3324 to lock the second anti-slip rod 3323 into the hook portion 3324. The second threaded end 3326 is provided with an annular thread to prevent the material 200 adhering to it from slipping off the second anti-slip rod 3323. The adjusting bracket 3322 is provided with a sliding groove 3327. The relative distance between the hook portion 3324 and the second inner support arm 3321 can be adjusted by adjusting the relative position of the sliding groove 3327 and the second inner support arm 3321.

[0054] In at least one embodiment of this application, the adjustable inner support assembly 33 includes three adjustable inner support members 332a-332c. Each of the adjustable inner support members 332a-332c has an adjustment bracket 3322 and a second anti-slip rod 3323. The main difference between the three lies in the shape of the second inner support arm 3321. The second inner support arm 3321 in adjustable inner support member 332a is approximately L-shaped, while the second inner support arm 3321 in adjustable inner support members 332b and the third adjustable inner support member 332c is approximately cuboid. Adjustable inner support member 332a corresponds to the third reference side of the material 200, while adjustable inner support members 332b and 332c correspond to the fourth reference side of the material 200. The third and fourth reference sides are arranged adjacent to each other. An adjustable inner support member 332a is disposed on the first adjustable extension arm 3312 of the second sliding base 331, and adjustable inner support members 332b and 332c are symmetrically disposed on the second adjustable extension arm 3313 of the second sliding base 331. In other embodiments, the shape of the second inner support arm 3321 in the adjustable inner support member 332 can be adjusted according to the shape of the material 200 to adapt to materials 200 of different shapes. The fixed end of the second inner support arm 3321 in the adjustable inner support member 332a extends along a first direction (i.e., the X-axis direction). The second inner support arms 3321 in the adjustable inner support members 332b and 332c extend along the first direction.

[0055] One end of the second elastic portion 333 is fixedly disposed on the fixed base 312, and the other end is fixedly disposed on the second sliding base 331. The second elastic portion 333 is stretched and generates elastic force when the drive cylinder 313 drives the second sliding base 331 away from the fixed base 312, and recovers its elastic deformation and drives the second sliding base 331 to move closer to the fixed base 312 when the drive cylinder 313 stops driving the second sliding base 331. In at least one embodiment of this application, the adjustable inner support assembly 33 includes two second elastic portions 333. One second elastic portion 333 is fixedly disposed on the first fixed end 3124, and the other second elastic portion 333 is fixedly disposed on the second fixed end 3125.

[0056] Please refer to the following: Figure 1 and Figure 8 , Figure 1 A three-dimensional schematic diagram of the grasping device 100, Figure 8 This is a partially exploded view of the sensing mechanism 40. The sensing mechanism 40 is fixedly mounted on the inner support mechanism 30. The sensing mechanism 40 is used to sense whether the inner support mechanism 30 is holding the material 200 and the orientation of the held material 200. The sensing mechanism 40 includes two fixing rings 41, a positioning bracket 42, and a photoelectric sensor 43.

[0057] The two retaining rings 41 are approximately D-shaped. The openings of the two retaining rings 41 are positioned opposite each other. The two retaining rings 41 cooperate to form a circular receiving space 401 and are secured with screws (not shown). The receiving space 401 houses the connecting rod 3113. The retaining rings 41 are positioned above the bottom flange 2112 and below the vent 3110. The positioning bracket 42 is secured to the side of either retaining ring 41 with screws (not shown). The positioning bracket 42 extends along the length of the fixing plate 11. The positioning bracket 42 has a positioning adjustment groove 421 and an assembly groove 422. The positioning adjustment groove 421 is used to adjust the relative distance between the photoelectric sensor 43 and the retaining ring 41, and the assembly groove 422 provides assembly space to fix the photoelectric sensor 43 to the positioning bracket 42. The photoelectric sensor 43 is secured to the positioning bracket 42 with screws (not shown). The photoelectric sensor 43 is used to sense whether material 200 exists below the inner support mechanism 30. When material 200 exists below the inner support mechanism 30, the photoelectric sensor 43 is also used to further sense whether the placement orientation of material 200 is correct. The material 200 is further provided with an orientation mark. In at least one embodiment of this application, when material 200 is placed upright, the photoelectric sensor 43 is aligned with the orientation mark on material 200; when material 200 is placed in reverse, the photoelectric sensor 43 is misaligned with the orientation mark on material 200. The photoelectric sensor 43 generates an upright placement sensing signal when it senses the orientation mark; and generates a reverse placement sensing signal when it does not sense the orientation mark.

[0058] Please refer to the following: Figure 10 , Figure 10 This is a schematic diagram of the application environment of the grasping device 100. The grasping device 100 can further communicate wirelessly or wiredly with the control terminal 400 to transmit signals. In at least one embodiment of this application, the control terminal 400 can be a fixed terminal or a mobile terminal. The control terminal 400 is used to receive the forward placement sensing signal or the reverse placement sensing signal output by the sensing mechanism 40. The control terminal 400 is also used to control the movement of the drive cylinder 313.

[0059] The specific operation process of the grabbing device 100 is as follows:

[0060] Driven by the conveying device 300, the gripping device 100 moves vertically downward from its initial position to the material-picking position. The material-picking position can be located directly below the initial position or staggered horizontally from it. In at least one embodiment of this application, the relative relationship between the material-picking position and the initial position is not specifically limited. When the photoelectric sensor 43 of the sensing mechanism 40 senses the material 200 and detects an orientation mark on the material 200, it generates a positive placement sensing signal.

[0061] The control terminal 400 controls the gripping device 100 to perform a gripping operation based on the forward placement sensing signal. Specifically, the air pipe 316 receives gas generated by the air pump and supplies it to the drive cylinder 313 through the flange rod 311 and the fixed base 312. The piston rod 3132 in the drive cylinder 313 moves along the slide rail 314 away from the fixed base 312 to drive the fixed inner support assembly 32 and the adjustable inner support assembly 33 to move away from the connecting assembly 31. At this time, the first elastic part 323 and the second elastic part 333 are compressed and store elastic force. When the first sliding base 321 and / or the second sliding base 331 contact the free end of the limiting part 3152, the moving distance of the fixed inner support assembly 32 and the adjustable inner support assembly 33 relative to the fixed base 312 reaches its maximum. At this time, the fixed inner support assembly 32 is in contact with the first reference edge and the second reference edge of the material 200, and the adjustable inner support assembly 33 is in contact with the second reference edge and the third reference edge of the material 200, so that the material 200 is gripped by the inner support mechanism 30.

[0062] When the photoelectric sensor 43 fails to detect the orientation marking on the material 200, a reverse placement sensing signal is generated. The control terminal 400 controls the gripping device 100 to perform an adjustment operation based on the reverse placement sensing signal. Specifically, the inner support mechanism 30 moves upward to a position adjustment position under the drive of the conveying device 300. The adjustment position is a predetermined distance moved upward vertically from the gripping position. At this time, the vent connector 23 receives gas generated by the air pump and supplies it to the rotary cylinder 21. The rotary cylinder 21 drives the inner support mechanism 30 to rotate 180 degrees in the horizontal plane to adjust the relative position of the inner support mechanism 30 and the material 200. In other embodiments, the control terminal 400 can further set the rotation angle of the inner support mechanism 30 in the horizontal plane driven by the rotary cylinder 21 during the rotation operation.

[0063] After the adjustment operation is completed, the photoelectric sensor 43 generates a positive placement sensing signal when it detects the orientation mark on the material 200. The control terminal 400 controls the gripping device 100 to repeat the above gripping operation.

[0064] After completing the gripping operation, the control terminal 400 further controls the gripping device 100 to perform a release operation. Specifically, the gripping device 100 moves from the gripping position to the release position under the drive of the conveying device 300. After reaching the release position, the drive cylinder 313 stops working. In at least one embodiment of this application, the control terminal 400 can use the reversing operation of the solenoid valve to control whether the drive cylinder 313 drives the inner support mechanism 30 to move. At this time, the piston rod 3132 moves along the slide rail 314 towards the fixed base 312. The first sliding base 321 moves towards the fixed base 312 under the elastic force of the first elastic part 323, and the second sliding base 331 moves towards the fixed base 312 under the elastic force of the second elastic part 333. At this time, the material 200 separates from the fixed inner support assembly 32 and the adjustable inner support assembly 33, and is then placed on the release line. In at least one embodiment of this application, the movement mode and trajectory of the gripping device 100 driven by the conveying device 300 are not specifically limited.

[0065] After the release operation is completed, the control terminal 400 further controls the gripping device 100 to perform a reset operation. Specifically, the gripping device 100 moves from the release position to the initial position under the drive of the conveying device 300.

[0066] The aforementioned gripping device 100 uses an internal support method to grip the material 200. Furthermore, by adjusting the shape or position of the fixed internal support component 32 and the adjustable internal support component 33, it can adapt to materials 200 of different shapes, achieving automatic feeding, improving the automation level of the production line, and reducing labor costs. Simultaneously, it ensures the integrity and cleanliness of the material 200 during gripping and handling, further reducing production costs.

[0067] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application should fall within the scope of protection claimed by this application.

Claims

1. A gripping device, characterized in that, The gripping device includes a fixing mechanism and at least one internal support mechanism; the fixing mechanism is used to fix the internal support mechanism to the conveying equipment; the internal support mechanism includes a connecting component, a fixed internal support component, and an adjustable internal support component; the connecting component includes a flange rod, a fixed base, at least two drive cylinders, and a slide rail; the flange rod is vertically fixed to the fixed base; the fixed base is connected to the flange rod and the drive cylinders; the two drive cylinders are symmetrically arranged at two opposite ends of the fixed base and symmetrically arranged relative to the flange rod; the slide rail is located at the bottom of the fixed base; the fixed internal support component and the adjustable internal support component are slidably fixed to two opposite ends of the slide rail; the drive cylinders are used to drive the fixed internal support component and the adjustable internal support component to move from the initial position along the slide rail away from the fixed base, and when the fixed internal support component and the adjustable internal support component are in contact with the inner wall of the material, they grip the material in an internal support manner.

2. The gripping device according to claim 1, characterized in that, The gripping device further includes at least one rotating mechanism; each of the inner support mechanisms corresponds to one rotating mechanism; the rotating mechanism is used to drive the inner support mechanism to rotate in the horizontal plane; the rotating mechanism includes a rotating cylinder; the rotating cylinder is fixedly disposed above the flange rod and is fixedly connected to the fixed base through the flange rod; when the rotating cylinder rotates, it drives the fixed inner support assembly and the adjustable inner support assembly to rotate in the horizontal plane through the flange rod and the fixed base.

3. The gripping device according to claim 1, characterized in that, The fixed inner support assembly includes a first sliding base and at least two fixed inner support members; the adjustable inner support assembly includes a second sliding base and at least two adjustable inner support members; the first sliding base and the second sliding base are slidably fixed to two opposite ends of the slide rail; the at least two fixed inner support members and the at least two adjustable inner support members correspond to different reference edges of the material; the at least two fixed inner support members and the at least two adjustable inner support members, driven by the drive cylinder, respectively contact the reference edges of the material and fit tightly against the material in an inner support manner.

4. The gripping device according to claim 3, characterized in that, The fixed inner support assembly and the adjustable inner support assembly automatically return to their initial positions when the drive cylinder stops working; the fixed inner support assembly further includes at least one first elastic part; the adjustable inner support assembly further includes at least one second elastic part; one end of the first elastic part is fixed to the fixed base, and the other end is fixed to the first sliding base; one end of the second elastic part is fixed to the fixed base, and the other end is fixed to the second sliding base; the first elastic part and the second elastic part are stretched and generate elastic force when the drive cylinder drives the first sliding base away from the fixed base, and recover elastic deformation and drive the first sliding base to move closer to the fixed base when the drive cylinder stops driving the first sliding base.

5. The gripping device according to claim 3, characterized in that: The first sliding base includes a first body, a first fixed extension arm, and a second fixed extension arm; the first body is slidably fixed to the slide rail; the first fixed extension arm and the second fixed extension arm extend from two opposite ends of the first body in a direction away from the first body; the extension direction of the first fixed extension arm is parallel to the extension direction of the slide rail and is set at a certain angle to the extension direction of the second fixed extension arm; the at least two fixed inner supports are respectively fixed to the first fixed extension arm and the second fixed extension arm.

6. The gripping device according to claim 5, characterized in that, The fixed inner support includes a first inner support arm, a mounting block, and a first anti-slip rod; the first inner support arm is fixedly mounted on the first fixed extension arm or the second fixed extension arm; the mounting block is fixedly mounted on the end of the first inner support arm away from the first sliding base; the mounting block has a positioning hole; the diameter of the positioning hole varies from large to small; the diameter of the end of the positioning hole near the first inner support arm is larger than the diameter of the end of the positioning hole away from the first inner support arm, and the diameter of the end of the positioning hole away from the first inner support arm is equal to the diameter of the first anti-slip rod; the first anti-slip rod has a first threaded end for preventing the material from slipping.

7. The gripping device according to claim 3, characterized in that, The second sliding base includes a second body, a first adjustable extension arm, and a second adjustable extension arm; the second body is slidably fixed to the slide rail; the first adjustable extension arm and the second adjustable extension arm are arranged parallel to each other and extend from two opposite ends of the second body in a direction away from the second body; the extension directions of the first adjustable extension arm and the second adjustable extension arm are set at a certain angle to the extension direction of the slide rail; the at least two adjustable inner supports are respectively fixed to the first adjustable extension arm and the second adjustable extension arm.

8. The gripping device according to claim 7, characterized in that, The adjustable inner support includes a second inner support arm, an adjusting bracket, and a second anti-slip rod. The second inner support arm is fixedly mounted on either the first or second adjustable extension arm. The adjusting bracket is located on the side of the second inner support arm away from the second sliding base. The adjusting bracket has a groove, and the distance between the second anti-slip rod and the second inner support arm can be adjusted by adjusting the relative position between the groove and the second inner support arm to accommodate materials of different sizes. The second anti-slip rod is located at the end of the adjusting bracket away from the second inner support arm. The extension direction of the second anti-slip rod is perpendicular to the extension direction of the adjusting bracket. The second anti-slip rod has a second threaded end, which is used to prevent the material from slipping.

9. The gripping device according to claim 2, characterized in that, The gripping device further includes at least one sensing mechanism; each inner support mechanism corresponds to one sensing mechanism; the sensing mechanism is fixedly disposed above the inner support mechanism and located between the rotating mechanism and the inner support mechanism; the sensing mechanism is used to sense whether the inner support mechanism has gripped the material and to sense the orientation mark on the material; when the sensing mechanism identifies the material and the orientation mark on the material, the driving cylinder drives the fixed inner support assembly and the adjustable inner support assembly to move away from the fixed base so as to fit against the reference edge corresponding to the material; when the sensing mechanism senses the material but does not identify the orientation mark on the material, the rotating mechanism drives the inner support mechanism to rotate in the horizontal plane to adjust the relative position between the inner support mechanism and the material.

10. The gripping device according to claim 9, characterized in that, The sensing mechanism includes two fixing rings, a positioning bracket, and a photoelectric sensor. The fixing rings are approximately D-shaped. The openings of the two fixing rings are arranged opposite each other, and they cooperate to form a circular receiving space. The receiving space houses the connecting rod of the flange rod. The positioning bracket is locked to the side of either of the fixing rings. The positioning bracket has a positioning adjustment groove and an assembly groove. The positioning adjustment groove is used to adjust the relative distance between the photoelectric sensor and the fixing rings, and the assembly groove is used to provide assembly space to fix the photoelectric sensor to the positioning bracket.

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