Gripping mechanism and assembly device comprising same

Abstract

The utility model provides a kind of grabbing mechanism and the assembly device comprising it, it includes carrying part and clamping part, carrying part can along preset path first preset area corresponding to discharge port is moved to clamping part, clamping part can be switched between standby state and grabbing state, clamping part has oppositely arranged two grabbing units, the interval of two grabbing units in first linear direction is variable setting, grabbing mechanism further includes position adjustment part, clamping part is connected to carrying part by position adjustment part, position adjustment part can be moved in first linear direction between at least two alignment positions in clamping part;When clamping part is located in different alignment positions, the interval of two grabbing units when switching to grabbing state is different. By setting position adjustment part to make the position adjustment of clamping part to different alignment positions, the interval of two grabbing units when switching to grabbing state is different, the grabbing of different size material is realized.

Description

Technical Field

[0001] This utility model relates to the field of automated manufacturing technology, and in particular to a gripping mechanism and an assembly device including the same. Background Technology

[0002] In the process of automating product assembly through automated production lines, the grippers of the grasping mechanism need to hold the material from the material outlet to achieve material handling and assembly relative to other parts, so as to ultimately achieve the goal of mass production assembly of products.

[0003] For some similar products, due to differences in the dimensions of individual parts, the gripping mechanism cannot be compatible with gripping two different parts, resulting in the production line being unable to manufacture two similar products. This requires the addition of an extra automated device, which leads to significant waste in terms of assembly space and costs.

[0004] Therefore, how to enable a single assembly machine to adapt to the assembly of parts of various sizes has become a key research and development goal for technical personnel. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology, which is that a single assembly equipment cannot adapt to the assembly of a variety of parts of different sizes, resulting in a large assembly space occupation and high assembly cost. This utility model provides a gripping mechanism and an assembly device including the gripping mechanism.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] A gripping mechanism includes a conveying section and a clamping section. The conveying section is capable of moving the clamping section along a preset path to a first preset area corresponding to a discharge port. When the clamping section is located in the first preset area, it can switch between a waiting state and a gripping state. The clamping section has two gripping units arranged opposite to each other, and the distance between the two gripping units is variably set in a first straight line direction. The gripping mechanism also includes a position adjustment section. The clamping section is connected to the conveying section through the position adjustment section, and the position adjustment section is capable of moving the clamping section between at least two aligned positions in the first straight line direction.

[0008] When the clamping part is in different alignment positions, the spacing between the two gripping units when switching to the gripping state is different.

[0009] This gripping mechanism has two gripping units oppositely arranged in its clamping section, which are variably spaced in a first linear direction to grip materials. The gripping mechanism further includes a position adjustment section to move the clamping section between multiple alignment positions in the first linear direction. By being positioned in different alignment positions, the clamping section can be aligned with materials of different sizes. Therefore, by providing the position adjustment section to adjust the position of the clamping section to different alignment positions, the distance between the two gripping units when switching to the gripping state is different, enabling the gripping of materials of different sizes.

[0010] This gripping mechanism further incorporates a position adjustment section on top of the conveying section to adjust the position of the clamping section along the first straight line, enabling the clamping section to be compatible with gripping materials of different sizes. Moreover, this gripping mechanism has a simple structure and high reliability, and is particularly advantageous for simple modifications to existing production lines to be compatible with gripping materials of different sizes.

[0011] Preferably, there are multiple clamping parts, the relative positions of the multiple clamping parts remain unchanged, and the position adjustment part can move each clamping part synchronously in a first linear direction.

[0012] By incorporating multiple gripping parts, the gripping mechanism can simultaneously grasp multiple materials, improving efficiency. Simultaneously, the position adjustment unit moves these gripping parts synchronously in the first linear direction to achieve position adjustment and alignment with materials of different sizes, reducing the number of moving parts and simplifying the structure.

[0013] Preferably, the gripping mechanism further includes an adjustment section connected to the two clamping sections, the adjustment section being used to adjust the distance between the two clamping sections.

[0014] By setting an adjustment part to connect the two clamping parts, the adjustment part can adjust the distance between the clamping parts so that the relative positional relationship of each clamping part can be consistent with the relative positional relationship of the discharge port.

[0015] Preferably, the gripping mechanism further includes a fixing part, which is detachably connected to the two clamping parts respectively, and the fixing part is used to fix the distance between the two clamping parts.

[0016] By setting the fixing part to be detachably connected to the two clamping parts, the distance between the two clamping parts is fixed, ensuring that the distance between each clamping part can be fixed and preventing loosening and distance deviation under external force.

[0017] Preferably, the plurality of clamping portions are arranged sequentially in the first linear direction.

[0018] By arranging these clamping parts sequentially in the first straight direction, the structural layout is facilitated.

[0019] Preferably, the spacing between adjacent clamping portions is the same.

[0020] By making the spacing between adjacent clamping parts the same, the structural layout is facilitated.

[0021] Preferably, the position adjustment part is a piston cylinder, which has a first limit position and a second limit position located at both ends of the travel stroke, wherein,

[0022] When the piston cylinder is at its first extreme position, the clamping part is at the alignment position corresponding to the material of the first size;

[0023] And / or, when the piston cylinder is in the second limit position, the clamping part is in the alignment position corresponding to the material of the second size.

[0024] By moving the piston cylinder between two extreme positions at the two ends of the travel stroke, the clamping part is aligned with a material of one size when the piston cylinder moves it to one extreme position, and with a material of another size when it moves to the other extreme position. Precise positioning is achieved by stopping the piston cylinder at the extreme position, and the control scheme is simple.

[0025] Preferably, the conveying unit includes a lifting drive module, which is used to move the clamping part between a position relatively close to the discharge port and a position relatively far from the discharge port in the height direction. When the clamping part is in a position relatively close to the discharge port, the clamping part can switch from a waiting state to a gripping state.

[0026] The conveying unit is equipped with a lifting drive module so that the clamping part can move closer to and further away from the discharge port in the height direction. When it is close to the discharge port, the clamping part switches from the waiting state to the gripping state to grip the material. When it is far away from the discharge port, the clamping part has enough space to adjust its position, which is conducive to the position adjustment unit moving the clamping part to different alignment positions corresponding to different sizes of materials.

[0027] Preferably, the conveying unit includes a translation drive module, which is used to move the clamping part between a position relatively close to the discharge port and a position relatively far from the discharge port in the horizontal direction. When the clamping part is in a position relatively close to the discharge port, the clamping part can switch from a waiting state to a gripping state.

[0028] The conveying unit is equipped with a translation drive module so that the clamping unit can move closer to and further away from the discharge port in the horizontal direction. When it is close to the discharge port, the clamping unit switches from the waiting state to the gripping state to grip the material. When it is far away from the discharge port, the clamping unit has enough space to adjust its position, which is conducive to the position adjustment unit moving the clamping unit to different alignment positions corresponding to materials of different sizes.

[0029] An assembly apparatus comprising:

[0030] The grasping mechanism described above;

[0031] A discharge mechanism, the discharge mechanism including a discharge port, the discharge port having a positioning part, the positioning part being able to position the material in the discharge port in a first linear direction;

[0032] Specifically, based on the dimensional differences of materials of different sizes located at the discharge port in the first straight direction, the position adjustment unit moves the clamping unit to different alignment positions.

[0033] The gripping mechanism and the discharge mechanism of the assembly device realize the gripping and movement of materials through the corresponding clamping part and discharge port. The positioning part provided in the discharge port can position the material located in the discharge port along the first straight line direction, so that the reference of materials of different sizes located in the discharge port in the first straight line direction remains unchanged, so that the clamping part of the gripping mechanism can grasp these materials of different sizes with only simple and small position adjustments.

[0034] Therefore, this assembly device achieves the purpose of gripping materials of different sizes through a simple and reliable structure, which is especially beneficial for making simple modifications to existing production lines to make it compatible with gripping materials of different sizes.

[0035] Preferably, the positioning part includes a fixed reference, which is positioned by abutting against the outer surface of the material in a first linear direction.

[0036] The positioning unit includes a fixed reference, which is positioned by abutting the fixed reference against the outer surface of the material in the discharge port in the first straight direction. It has a simple structure, high positioning accuracy, and can be compatible with the positioning of materials of different sizes.

[0037] Preferably, the positioning part further includes a floating reference, the fixed reference and the floating reference are disposed opposite to each other in a first straight line direction, and the floating reference is moved to change the distance between it and the fixed reference.

[0038] Further, a floating reference is set, and the distance between the two is changed by moving relative to the fixed reference. When the fixed reference and the floating reference are at a large distance, the material can move in or out between them. When the fixed reference and the floating reference are at a small distance, the material can be clamped and positioned between them, ensuring that the fixed reference positions the material.

[0039] Preferably, when the clamping part is in the alignment position corresponding to the material of the first size, the symmetry plane of the two gripping units coincides with the central axis of the material of the first size in the first straight direction.

[0040] When positioning the material at the discharge port, the position adjustment unit moves the clamping unit to a position where the symmetrical plane of the two gripping units coincides with the central axis of the material of the first size in the first straight direction, thereby aligning the center of the clamping unit with the center of the material, which is more conducive to the clamping unit clamping the material.

[0041] Preferably, multiple clamping parts and discharge ports are provided in a one-to-one correspondence, the relative positions between each clamping part are consistent with the relative positions between each discharge port, and the position adjustment part can synchronously move each clamping part in a first linear direction.

[0042] By setting up multiple one-to-one corresponding clamping parts and discharge ports, the gripping mechanism can simultaneously grip materials from multiple discharge ports through these clamping parts, improving efficiency. At the same time, the position adjustment part moves these clamping parts synchronously in the first linear direction to achieve position adjustment and alignment with materials of different sizes, which can reduce the number of moving parts and simplify the structure.

[0043] The positive and progressive effects of this utility model are as follows:

[0044] In the gripping mechanism and the assembly device including it, the gripping mechanism is provided with a position adjustment part so that the position of the clamping part can be adjusted to different alignment positions, and the distance between the two gripping units when switching to the gripping state is different, so as to realize the gripping of materials of different sizes.

[0045] The gripping mechanism, assembly device, and assembly method compatible with materials of different sizes enable the clamping part to grip materials of different sizes. Moreover, the gripping mechanism has a simple structure and high reliability, and is particularly beneficial for simple modifications to existing production lines to enable gripping of materials of different sizes. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the gripping mechanism of Embodiment 1 of this utility model.

[0047] Figure 2 This is a schematic diagram (I) of the gripping mechanism in the first embodiment of this utility model.

[0048] Figure 3 This is a schematic diagram (II) of the gripping mechanism in the usage state of Embodiment 1 of this utility model.

[0049] Figure 4 This is a schematic diagram (I) of the assembly device in use according to Embodiment 1 of this utility model.

[0050] Figure 5 This is a schematic diagram (II) of the assembly device in use according to Embodiment 1 of this utility model.

[0051] Figure 6 This is a schematic diagram of the discharge port structure of Embodiment 1 of this utility model.

[0052] Figure 7 This is a schematic diagram of the assembly device according to Embodiment 2 of this utility model.

[0053] Figure 8 This is a schematic diagram (I) of the assembly device in use according to Embodiment 2 of this utility model.

[0054] Figure 9 This is a schematic diagram (II) of the usage state of the assembly device in Embodiment 2 of this utility model.

[0055] Figure 10 This is a schematic diagram of the specific structure of the assembly device in Embodiment 2 of this utility model.

[0056] Figure 11 This is a schematic diagram of the specific structure of the gripping mechanism in Embodiment 2 of this utility model.

[0057] Figure 12 This is a front view of the gripping mechanism in Embodiment 2 of this utility model.

[0058] Figure 13 This is a schematic diagram of the back structure of the gripping mechanism in Embodiment 2 of this utility model.

[0059] Figure 14 This is a schematic diagram of one layout of the clamping part of the gripping mechanism in Embodiment 3 of this utility model.

[0060] Figure 15 This is a schematic diagram of another layout of the clamping part of the gripping mechanism in Embodiment 3 of this utility model.

[0061] Explanation of reference numerals in the attached figures:

[0062] Assembly device 100

[0063] Grasping mechanism 10, first linear direction A

[0064] Transport unit 11, lifting drive module 111, translation drive module 112, rotation drive module 113

[0065] Clamping part 12, gripping unit 121, symmetry plane 1211

[0066] Position adjustment unit 13

[0067] Actuating cylinder 131, first limit position 132, second limit position 133, guide rail slider 134

[0068] Adjustment part 14, fixing part 15

[0069] Discharge mechanism 20, discharge port 21

[0070] Fixed datum 221, floating datum 222

[0071] Material conveying channel 22

[0072] Assembly disc 30

[0073] Positioning clamp 40

[0074] Material 200, central shaft 201 Detailed Implementation

[0075] The present invention will be described more clearly and completely below with reference to the accompanying drawings, using a preferred embodiment.

[0076] Example 1

[0077] like Figure 1 As shown, this utility model provides a gripping mechanism 10, which includes a conveying part 11 and a clamping part 12. The conveying part 11 can move the clamping part 12 along a preset path to a first preset area corresponding to the discharge port 21 (i.e., Figure 1 (The area where the clamping part 12 is located) is used to grab material 200 from the discharge port 21. Figure 2 As shown, the clamping part 12 has two gripping units 121 arranged opposite each other. The distance between these two gripping units 121 in the first linear direction A is variable. By bringing the two gripping units 121 closer together, they contact the two side surfaces of the material 200 to achieve gripping. Therefore, by adjusting the distance between the two gripping units 121 in the first linear direction A, the clamping part 12 can switch between a waiting state and a gripping state when it is located in the first preset area (see details). Figure 2 When in the waiting state, the distance between the two gripping units 121 is greater than the size of the material 200 in the first linear direction A, and the clamping part 12 does not contact the material 200; when in the gripping state, the distance between the two gripping units 121 is equal to the size of the material 200 in the first linear direction A, so that the clamping part 12 grips the material 200, and further moves the gripped material 200 to other positions under the drive of the conveying part 11 to carry out subsequent processes.

[0078] In this embodiment, as Figure 1 and Figure 3 As shown, the clamping part 12 is connected to the conveying part 11 via the position adjustment part 13, and the position adjustment part 13 is capable of moving the clamping part 12 between at least a plurality of alignment positions in the first linear direction A. Figure 1 As shown, when it is necessary to grab Figure 1When the material 200 of the first size is in the middle, the position adjustment part 13 moves the clamping part 12 along the first linear direction A, so that the clamping part 12 moves to the alignment position corresponding to the material 200 of the first size. For example Figure 3 As shown, when it is necessary to grab Figure 3 When the material 200 of the second size is in the middle, the position adjustment part 13 moves the clamping part 12 along the first straight direction A, so that the clamping part 12 moves to the alignment position corresponding to the material 200 of the second size. By setting the position adjustment part 13, when the clamping part 12 is in the first preset area, the position of the clamping part 12 is adjusted along the first straight direction A, so that the clamping part 12 moves to different alignment positions to align with the material 200 of different sizes.

[0079] Therefore, by setting the position adjustment unit 13 to adjust the position of the clamping unit 12 to different alignment positions, the spacing between the two gripping units 121 when switching to the gripping state is different, thereby enabling the gripping of materials 200 of different sizes. Specifically, in this embodiment, the material 200 is an arc-extinguishing chamber product. There are some size differences between different styles of arc-extinguishing chamber products. The above-mentioned structural arrangement allows the gripping mechanism 10 in the production line to be compatible with the gripping of these arc-extinguishing chamber products. When different styles of arc-extinguishing chamber products are located at the discharge port, the operator will manipulate the position adjustment unit 13 to adjust the position of the clamping unit 12, move it to the alignment position, and align it with the corresponding style of arc-extinguishing chamber product. In other embodiments, a more automated scheme can also be used to adjust the position of the clamping unit 12 by the position adjustment unit 13. For example, when different styles of arc-extinguishing chamber products are located at the discharge port, the external dimension parameters of the arc-extinguishing chamber product can be actively acquired by setting a sensor. Based on the acquired parameters, the position adjustment unit 13 can be automatically controlled to adjust the position of the clamping unit 12, so that the clamping unit 12 is aligned with the arc-extinguishing chamber product.

[0080] The gripping mechanism 10 further provides a position adjustment part 13 on the basis of the conveying part 11 to adjust the position of the clamping part 12 along the first straight direction A, so that the clamping part 12 can be compatible with gripping materials 200 of different sizes. Moreover, the gripping mechanism 10 has a simple structure and high reliability, and is especially conducive to simple modification of the original production line to be compatible with gripping materials 200 of different sizes.

[0081] In one scheme, the position adjustment unit 13 adjusts the position of the clamping unit 12 to align it with materials 200 of different sizes. The position to which the position adjustment unit 13 moves the clamping unit 12 can be pre-set. For example, corresponding to a material 200 of a first size, the position adjustment unit 13 moves the clamping unit 12 to a predetermined first position; corresponding to a material 200 of a second size, the position adjustment unit 13 moves the clamping unit 12 to a predetermined second position. Alternatively, the position to which the position adjustment unit 13 moves the clamping unit 12 can be determined based on the actual size of the material 200. For example, by detecting the actual size of the material 200 located at the discharge port 21, the specific position to which the clamping unit 12 should move is obtained after calculation. The position adjustment unit 13 then moves the clamping unit 12 to that position, thereby achieving the gripping of materials 200 of a specific size.

[0082] In this embodiment, the conveying unit 11 includes a lifting drive module (not shown in the figure). The lifting drive module is used to move the clamping part 12 between a position relatively close to the discharge port 21 and a position relatively far away from the discharge port 21 in the height direction. When the clamping part 12 is relatively close to the discharge port 21, the clamping part 12 can switch from a waiting state to a gripping state. Specifically, the conveying unit 11 is provided with a lifting drive module so that the clamping part 12 can move closer to and further away from the discharge port 21 in the height direction. When close to the discharge port 21, the clamping part 12 switches from a waiting state to a gripping state to grip the material 200; while when far away from the discharge port 21, the clamping part 12 has sufficient space for position adjustment, which facilitates the position adjustment unit 13 to move the clamping part 12 to different alignment positions corresponding to materials 200 of different sizes.

[0083] Meanwhile, in this embodiment, the conveying unit 11 includes a translation drive module (not shown in the figure). The translation drive module is used to move the clamping part 12 between a position relatively close to the discharge port 21 and a position relatively far from the discharge port 21 in the horizontal direction. When the clamping part 12 is in a position relatively close to the discharge port 21, the clamping part 12 can switch from a waiting state to a gripping state. Specifically, the conveying unit 11 is provided with a translation drive module so that the clamping part 12 can move closer to and further away from the discharge port 21 in the horizontal direction. When it is close to the discharge port 21, the clamping part 12 switches from a waiting state to a gripping state to grip the material 200; while when it is far from the discharge port 21, the clamping part 12 has sufficient space for position adjustment, which facilitates the position adjustment unit 13 to move the clamping part 12 to different alignment positions corresponding to materials 200 of different sizes.

[0084] Specifically, in this embodiment, in order to provide sufficient moving space for the position adjustment unit 13 to move the clamping unit 12, when the clamping unit 12 is located at the first preset position corresponding to the discharge port 21, the lifting drive module 111 moves the clamping unit 12 to a higher position relatively far away from the discharge port 21, so that the position adjustment unit 13 has enough space to adjust the position of the clamping unit 12 and achieve alignment with the material 200 to be gripped. After alignment, the lifting drive module 111 moves the clamping unit 12 to a lower position relatively close to the discharge port 21, and the two gripping units 121 are relatively close to each other to grip the material 200.

[0085] Of course, the above-mentioned structural configuration and process control scheme are only one of the feasible cases. In other embodiments, the position adjustment unit 13 can also adjust the position of clamping in the first linear direction A during the process of the lifting drive module 111 driving the clamping unit 12 to descend, or the position adjustment unit 13 can adjust the position of clamping in the first linear direction A after the lifting drive module 111 drives the clamping unit 12 to descend to the low position. Specific feasible schemes will not be elaborated here.

[0086] Furthermore, the specific implementation schemes of the lifting drive module 111 and the translation drive module 112 of the position adjustment unit 13 and the conveying unit 11 are diverse and can be set according to the actual needs of the production line. For example, the lifting drive module 111 and the translation drive module 112 of the position adjustment unit 13 and the conveying unit 11 can use piston cylinders such as pneumatic cylinders and hydraulic cylinders to drive the clamping unit 12 to move, or they can use electric drive devices such as linear motion modules and electric push rods to drive the clamping unit 12 to move. Specifically, in this embodiment, the lifting drive module 111 and the translation drive module 112 of the position adjustment unit 13 and the conveying unit 11 are all implemented using pneumatic cylinders.

[0087] like Figure 4-5 As shown, this embodiment also provides an assembly device 100 employing the gripping mechanism 10 described above. Specifically, the assembly device 100 includes a discharge mechanism 20 and the gripping mechanism 10 described above. The discharge mechanism 20 includes a discharge port 21, which is used to discharge material for gripping by the clamping part 12.

[0088] Specifically, the discharge port 21 also has a positioning part, which can position the material 200 inside the discharge port 21 in the first linear direction A. Therefore, compared Figure 4 and Figure 5 As can be seen, based on the size difference of different sized materials 200 located at the discharge port 21 in the first straight direction A, the position adjustment unit 13 moves the clamping unit 12 to different alignment positions to grab materials 200 of different sizes respectively.

[0089] Specifically, in this embodiment, as Figure 4 and Figure 5As shown, the positioning part of the discharge port 21 can position the right side surface of the material 200 in the first linear direction A, so that the position of the right side surface of the material 200 remains unchanged when it is discharged from the discharge port 21 for different sizes. By using the positioning part to use the right side surface of the material 200 as a reference with a fixed position, the gripping part 12 of the gripping mechanism 10 can grip these materials 200 of different sizes with only simple and small position adjustments.

[0090] Therefore, the assembly device 100 achieves the purpose of gripping materials 200 of different sizes through a simple and reliable structure, which is especially beneficial for simple modification of the original production line to be compatible with gripping materials 200 of different sizes.

[0091] Of course, in this embodiment, the right side surface of the material 200 is positioned by the positioning part of the discharge port 21, so that the position of the right side surface of the material 200 of different sizes does not change, which further facilitates the position adjustment part 13 to move the clamping part 12 slightly to grasp the material 200 of different sizes. In other embodiments, the method and position of the positioning part in positioning the material 200 can also be changed according to actual needs. For example, the position of the left side surface of the material 200 of different sizes can be kept unchanged, or the position of the central axis 201 of the material 200 of different sizes can be kept unchanged, etc. Specific feasible solutions will not be described in detail here.

[0092] like Figure 6 As shown, to ensure that the position of the right side surface of materials 200 of different sizes remains unchanged when they are in the discharge port 21, the positioning unit in this embodiment includes a fixed reference 221. The fixed reference 221 is arranged on the right side of the material 200 and abuts against the right side surface of the material 200, thus ensuring that the position of the right side surface of materials 200 of different sizes remains unchanged. The positioning unit achieves positioning by setting the fixed reference 221 and abutting against the outer surface of the material 200 in the first linear direction A. This method has a simple structure, high positioning accuracy, and is compatible with the positioning of materials 200 of different sizes.

[0093] In this embodiment, the positioning unit further includes a floating reference 222. The fixed reference 221 and the floating reference 222 are arranged opposite to each other in the first linear direction A. The floating reference 222 moves to change the distance between it and the fixed reference 221, so that when the fixed reference 221 and the floating reference 222 are at a large distance, the material 200 can move into or out of the distance between them. When the fixed reference 221 and the floating reference 222 are at a small distance, the material 200 can be clamped and positioned between them, ensuring that the fixed reference 221 positions the material 200.

[0094] The specific implementation scheme for driving the floating reference 222 to move is diverse and can be set according to the actual needs of the production line. For example, it can be moved by piston cylinders such as pneumatic cylinders or hydraulic cylinders, or by electric drive equipment such as linear motion modules or electric push rods.

[0095] In this embodiment, the positioning part of the discharge port 21 positions the right side surface of the material 200 so that the positional change of the left side surface of different materials 200 is equal to the size change of the material 200. At the same time, the positional change of the central axis 201 of different materials 200 is half of the size change of the material 200. This allows the position adjustment part 13 to keep the symmetry plane 1211 of the two gripping units 121 of the gripping part 12 aligned with the central axis 201 of the material 200 by simply adjusting the position of the gripping part 12 in the straight line.

[0096] Therefore, by adjusting the position of the clamping part 12, the symmetry plane 1211 of the two gripping units 121 of the clamping part 12 is aligned with the central axis 201 of the material 200 of different sizes, so as to achieve reliable clamping.

[0097] like Figure 4 and Figure 5 As shown, for example, Figure 4 Material 200 and Figure 5 The materials in the 200 have different sizes. Figure 4 The dimension L1 of material 200 in the first linear direction A is 22.9 mm. Figure 5 The dimension L2 of material 200 in the first linear direction A is 24.9 mm. Since the right side surfaces of both materials 200 are positioned and remain unchanged, the result is obtained by subtracting dimension L2 from dimension L1. Figure 5 The left side surface of material 200 in the middle is opposite to Figure 4 The left surface of material 200 in the middle is offset to the left by 2mm. Furthermore, through simple division calculations, it can be concluded that... Figure 5 The central axis 201 of the material 200 is relative to Figure 4 The central axis 201 of the material 200 is offset to the left by 1 mm. Therefore, for gripping these two different sized materials 200, the position adjustment unit 13 only needs to move the clamping unit 12 to the left or right by 1 mm.

[0098] This embodiment also provides an assembly method compatible with materials 200 of different sizes. Specifically, after the gripping part 12 of the gripping mechanism 10 is moved to the first preset area corresponding to the discharge port 21, the assembly method further includes the following steps:

[0099] S1. Adjust the position of the clamping part 12 along the variable spacing direction of the two gripping units 121 of the clamping part 12 (i.e., the first straight line direction A in this embodiment) so that the clamping part 12 is aligned with the material 200 located at the discharge port 21.

[0100] S2, the two gripping units 121 of the clamping part 12 approach each other along the variable spacing direction and grip the material 200 from the feeding port 21.

[0101] This assembly method can achieve the gripping of materials 200 with different external dimensions, and has a simple structure and high reliability. It is especially conducive to the simple modification of the original production line. By adding a mechanism to the gripping mechanism 10 that can adjust the position of the clamping part 12 along the variable spacing direction of the two gripping units 121, it can be compatible with the gripping of materials 200 with different external dimensions.

[0102] In step S2 of the assembly method, the position of the clamping part 12 can be adjusted so that the symmetry plane 1211 of the two gripping units 121 coincides with the central axis 201 of the material 200 located at the discharge port 21. By aligning the symmetry plane 1211 of the two gripping units 121 with the central axis 201 of the material 200 located at the discharge port 21, the two gripping units 121 can simultaneously contact both sides of the material 200 when they approach synchronously, thus achieving reliable gripping.

[0103] Specifically, in this embodiment, the position adjustment part 13 is used to adjust the position of the clamping part 12 to align with the material 200 at the discharge port 21. This alignment is achieved by the position adjustment part 13's cylinder reciprocating the clamping part 12 along the first linear direction A. Of course, in other embodiments, other driving components can be provided to adjust the position of the clamping part 12 along the variable spacing direction of the two gripping units 121 (i.e., the first linear direction A in this embodiment), so that the clamping part 12 is aligned with the material 200 at the discharge port 21.

[0104] Example 2

[0105] This embodiment provides a gripping mechanism 10 and an assembly device 100 including the gripping mechanism 10. Its structure is largely the same as the gripping mechanism 10 and assembly device 100 in Embodiment 1, except that in this embodiment, as... Figure 7As shown, there are two clamping parts 12. The relative position between these two clamping parts 12 remains unchanged, and the position adjustment part 13 can synchronously move these two clamping parts 12 in the first linear direction A to achieve alignment with materials 200 from different discharge ports 21. By providing multiple clamping parts 12, the gripping mechanism 10 can simultaneously grip multiple materials 200 through these clamping parts 12, improving efficiency. At the same time, the position adjustment part 13 synchronously moves these clamping parts 12 in the first linear direction A to achieve position adjustment and alignment with materials 200 of different sizes, which can reduce the number of moving parts and simplify the structure.

[0106] Simultaneously, corresponding to the two clamping parts 12 of the gripping mechanism 10, the discharging mechanism 20 is also provided with two discharging ports 21. Each discharging port 21 is provided with a corresponding positioning part to position the material 200. The relative positional relationship between the two clamping parts 12 is consistent with the relative positional relationship between the two discharging ports 21, so that the position adjustment part 13 can synchronously align with the material 200 in the two discharging ports 21 by synchronously moving these clamping parts 12 in the first linear direction A.

[0107] Specifically, such as Figure 8 and Figure 9 As shown, in Figure 8 In this process, each of the two discharge ports 21 contains material 200 of a first size. The dimension L1 of this first-size material 200 in the first linear direction A is 22.9 mm. The clamping part 12 is already aligned with the material 200 in the discharge port 21, so the position adjustment part 13 does not need to adjust the position of the two clamping parts 12. After the material 200 is gripped and transported, as... Figure 9 As shown, both discharge ports 21 contain materials 200 of a second size. The dimension L2 of the second-sized material 200 in the first linear direction A is 24.9 mm. Since the position of the right surface of the second-sized material 200 has not changed, it can also be calculated that... Figure 9 The central axis 201 of the second-sized material 200 is relative to Figure 8 The central axis 201 of the material 200 of the first size is offset to the left by 1 mm. Therefore, for gripping the two different sizes of material 200, the position adjustment unit 13 only needs to move the two clamping parts 12 to the left by 1 mm.

[0108] In this embodiment, when the discharge mechanism 20 has two discharge ports 21, two material conveying channels 22 can be set to supply material 200 to the two discharge ports 21 respectively, or one material conveying channel 22 can be set to supply material 200 to the two discharge ports 21 simultaneously. The specific material 200 supply scheme can be set according to the actual situation of the production line.

[0109] like Figure 10 The diagram shows a schematic representation of the assembly device 100 in this embodiment. As can be seen, the gripping mechanism 10 of the assembly device 100 transports the material 200 from the discharge port 21 of the discharge mechanism 20 to the positioning fixture 40 on the assembly disc 30. After each transport of material 200 from the discharge port 21 of the discharge mechanism 20 to the positioning fixture 40 on the assembly disc 30, the assembly disc 30 rotates at a certain angle, causing the empty positioning fixture 40 to face the gripping mechanism 10 and the discharge mechanism 20, for the next transport of material 200. In this embodiment, the so-called preset path refers to the path of the reciprocating clamping part 12 between the discharge port 21 and the positioning fixture 40, which is implemented by the transport part 11 of the gripping mechanism 10. Figure 10 As can be seen from the figure, the discharge mechanism 20 in this embodiment is provided with only one material conveying channel 22, through which material 200 is supplied to the two discharge ports 21 of the discharge mechanism 20.

[0110] Among them, such as Figure 11 The figure shows a schematic diagram of the specific structure of the gripping mechanism 10 in this embodiment. As can be seen from the figure, the conveying unit 11 of the gripping mechanism 10 in this embodiment includes three modules: a lifting drive module 111, a translation drive module 112, and a rotation drive module 113. All three modules are driven by cylinders. The lifting drive module 111 drives the two clamping parts 12 to move vertically, the translation drive module 112 drives the two clamping parts 12 to move horizontally, and the rotation drive module 113 drives the two clamping parts 12 to rotate horizontally to adjust the orientation of the clamping parts 12. Through the coordinated action of these three modules, the material 200 gripped by the clamping parts 12 is moved out of the first preset area. The rotation drive module 113 adjusts the orientation of the clamping parts 12, moves the clamping parts 12 along a preset path, and places the gripped material 200 into the corresponding positioning fixture 40.

[0111] like Figure 11 and Figure 12As shown, the two clamping parts 12 are connected to the conveying part 11 via the position adjustment part 13. After the two clamping parts 12 move to the first preset area corresponding to the discharge port 21 under the drive of the conveying part 11, the position adjustment part 13 synchronously adjusts the position of the two clamping parts 12 in the first straight direction A, so that they are aligned with the material 200 in the corresponding two discharge ports 21. In this embodiment, the position adjustment part 13 is composed of multiple parts such as the execution cylinder 131, the first limit position 132, the second limit position 133, and the guide rail slider 134. The cylinder rod of the execution cylinder 131 is connected to the two clamping parts 12. The extension and retraction of the cylinder rod drives the two clamping parts 12 to reciprocate in the first straight direction A. The first limit position 132 and the second limit position 133 are set at both ends of the cylinder's movement stroke. The movement stroke is limited between the two first limit positions 132 and the second limit position 133 by abutting against the surface of the clamping part 12. The guide rail slider 134 is used to connect the two clamping parts 12 and guide the movement of the clamping parts 12 in the first linear direction A.

[0112] Specifically Figure 12 In this embodiment, the first limit position 132 on the right side abuts against the right side surface of the clamping part 12 to limit further rightward movement of the clamping part 12, and the second limit position 133 on the left side abuts against the left side surface of the clamping part 12 to limit further leftward movement of the clamping part 12. Furthermore, in this embodiment, when the clamping part 12 moves and abuts against the first limit position 132 on the right side, it can be aligned with a material 200 of a certain size; when the clamping part 12 moves and abuts against the second limit position 133 on the left side, it can be aligned with a material 200 of another size. Specifically, taking the material 200 of the first size as 22.9mm and the material 200 of the second size as 24.9mm as an example: the first limit position 132 and the second limit position 133 limit the movement stroke of the clamping part 12 in the first linear direction A to 1mm. The cylinder of the position adjustment part 13 drives the two clamping parts 12 to move to the right and abut against the first limit position 132, aligning the clamping part 12 with the material of the first size. The cylinder of the position adjustment part 13 drives the two clamping parts 12 to move to the left by 1mm and abut against the second limit position 133, aligning the clamping part 12 with the material of the second size.

[0113] In addition, as can be seen from the figure, the two extreme positions used to abut against the clamping part 12 in this embodiment actually travel to the end of the screw. Therefore, the specific positions of these two extreme positions can be finely adjusted by turning the screw to achieve precise alignment.

[0114] In this embodiment, by moving the clamping part 12 between two extreme positions at both ends of its travel stroke using a cylinder, alignment is achieved when the clamping part 12 moves to one extreme position with a material 200 of one size, and when it moves to the other extreme position with a material 200 of another size. Precise positioning is achieved by stopping the piston cylinder at the extreme position, resulting in a simple control scheme. Of course, in other embodiments, the position adjustment part 13 can also use a linear motion module, an electric actuator, or other electrically driven device to drive the clamping part 12 to move and achieve the purpose of stopping at multiple different positions. By stopping the clamping part 12 at multiple positions using the position adjustment part 13, more materials 200 of different sizes can be aligned, improving the compatibility of the assembly device 100 with materials 200 of different sizes.

[0115] like Figure 12 As shown, the gripping mechanism 10 also includes an adjustment section 14, which connects to two clamping sections 12. The adjustment section 14 is used to adjust the distance between the two clamping sections 12. By connecting the two clamping sections 12 with the adjustment section 14, the adjustment section 14 can adjust the distance between the clamping sections 12, ensuring that the relative positional relationship of each clamping section 12 is consistent with the relative positional relationship of the discharge port 21. Specifically, in this embodiment, the adjustment section 14 is a threaded screw, with both ends of the screw screwed to the surfaces of the two clamping sections 12. By rotating the screw, a displacement along a first linear direction A is generated relative to the clamping sections 12, thereby adjusting the distance between the two clamping sections 12. Of course, this screw-connection scheme is only a preferred implementation for adjusting the distance; other methods can be used to adjust the distance between the two clamping sections 12 in other embodiments.

[0116] like Figure 13 As shown, the gripping mechanism 10 also includes a fixing part 15, which is detachably connected to the two clamping parts 12. The fixing part 15 is used to fix the distance between the two clamping parts 12. By setting the fixing part 15 to be detachably connected to the two clamping parts 12, the distance between the two clamping parts 12 is fixed, ensuring that the distance between each clamping part 12 can be fixed and preventing loosening and distance deviation under external force. Specifically, in this embodiment, the fixing part 15 is a crossbar with a rectangular cross-section. The crossbar is set on the outer surface of the two clamping parts 12 and is detachably connected to the two clamping parts 12 by screws. After the adjusting part 14 completes the adjustment of the distance between the two clamping parts 12, the crossbar is installed to fix the distance between the two clamping parts 12, preventing deviation during use and improving the reliability of the equipment operation. Of course, this solution of using a crossbar and screws for fixing is only a preferred implementation. Other methods can be used to fix the distance between the two clamping parts 12 in other embodiments.

[0117] This embodiment also provides an assembly method compatible with materials 200 of different sizes. This assembly method is largely the same as the assembly method provided in Embodiment 1, with the main difference being that: in this embodiment, since two corresponding discharge ports 21 and clamping parts 12 are provided, step S2 of the assembly method specifically includes: synchronously adjusting the positions of the two clamping parts 12 so that the two clamping parts 12 are aligned with the materials 200 in the two discharge ports 21 respectively. When multiple clamping parts 12 are provided, by synchronously adjusting the positions of these clamping parts 12, the control process can be simplified on the one hand, and the efficiency of position adjustment can be improved on the other hand.

[0118] Specifically, in this embodiment, the object that synchronously adjusts the positions of the two clamping parts 12 to align with the material 200 in the discharge port 21 is the position adjustment part 13. Specifically, the clamping part 12 is aligned with the material 200 in the corresponding discharge port 21 by the reciprocating movement of the clamping part 12 in the first linear direction A by the cylinder of the position adjustment part 13. Of course, in other embodiments, other driving components can also be provided to adjust the positions of the two clamping parts 12 along the variable spacing direction of the two gripping units 121 (i.e., the first linear direction A in this embodiment) so that the clamping part 12 is aligned with the material 200 located in the discharge port 21.

[0119] Example 3

[0120] This embodiment provides a gripping mechanism 10 and an assembly device 100 including the gripping mechanism 10. Its structure is largely the same as the gripping mechanism 10 and assembly device 100 in Embodiment 1, except that in this embodiment, as... Figure 14 As shown, there are four clamping parts 12. The relative positions of these four clamping parts 12 remain unchanged, and the position adjustment part 13 can move these four clamping parts 12 synchronously in the first straight direction A to achieve synchronous alignment with the material 200 of the corresponding four discharge ports 21.

[0121] Specifically, from Figure 14 As can be seen, the four clamping parts 12 are arranged sequentially along the first straight direction A, and the spacing between adjacent clamping parts 12 along the first straight direction A is also the same. This arrangement is relatively more convenient for structural layout.

[0122] When the gripping mechanism 10 has multiple clamping parts 12, the clamping parts 12 can also be arranged in other directions, and the spacing between adjacent clamping parts 12 can also be different. As long as the relative positions between these clamping parts 12 remain unchanged, the position can be synchronously adjusted relative to the material 200 of different sizes at the discharge port 21 under the drive of the position adjustment part 13.

[0123] For example, such as Figure 15As shown, this is a schematic diagram of another layout of the four clamping parts 12 of the gripping mechanism 10 in this embodiment. Figure 15 This is a top view of the gripping mechanism 10. It can be seen that the four gripping parts 12 are arranged in a horizontal array, and the spacing between adjacent gripping parts 12 is not uniform (the spacing between the left and right gripping parts 12 is smaller, while the spacing between the front and rear gripping parts 12 is larger). Adjacent gripping parts 12 are fixed together by fixing parts 15 to maintain their relative positions. A position adjustment part 13 can be connected to one of the gripping parts 12, transmitting force through these fixing parts 15 to cause the four gripping parts 12 to move synchronously in the first linear direction A. The position adjustment part 13 can also be connected to all four gripping parts 12 simultaneously to drive them to move synchronously in the first linear direction A. In other embodiments, when the gripping mechanism 10 has multiple gripping parts 12, the positional layout of each gripping part 12 can be configured as needed according to the production line requirements.

[0124] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the scope of protection of this utility model.

Claims

1. A gripping mechanism comprising a conveying unit and a clamping unit, wherein the conveying unit is capable of moving the clamping unit along a preset path to a first preset area corresponding to a discharge port, and the clamping unit is capable of switching between a waiting state and a gripping state when located in the first preset area, characterized in that, The clamping part has two gripping units arranged opposite to each other, and the distance between the two gripping units in the first straight line direction is variably set. The gripping mechanism also includes a position adjustment part. The clamping part is connected to the conveying part through the position adjustment part. The position adjustment part is capable of moving the clamping part between at least two alignment positions in the first straight line direction. When the clamping part is in different alignment positions, the spacing between the two gripping units when switching to the gripping state is different.

2. The gripping mechanism as described in claim 1, characterized in that, The number of clamping parts is multiple, and the relative positions between the multiple clamping parts remain unchanged. The position adjustment part can move each clamping part synchronously in a first straight line direction.

3. The gripping mechanism as described in claim 2, characterized in that, The gripping mechanism further includes an adjustment section, which is connected to the two clamping sections and is used to adjust the distance between the two clamping sections. And / or, the gripping mechanism further includes a fixing part, which is detachably connected to the two clamping parts respectively, and the fixing part is used to fix the distance between the two clamping parts.

4. The gripping mechanism as described in claim 2, characterized in that, Multiple clamping portions are arranged sequentially in the first straight line direction; And / or, the spacing between adjacent clamping portions is the same.

5. The gripping mechanism as described in claim 1, characterized in that, The position adjustment part is a piston cylinder, which has a first limit position and a second limit position located at both ends of the movement stroke, wherein... When the piston cylinder is at its first extreme position, the clamping part is at the alignment position corresponding to the material of the first size; And / or, when the piston cylinder is in the second extreme position, the clamping part is in the alignment position corresponding to the material of the second size.

6. The gripping mechanism as described in any one of claims 1-5, characterized in that, The conveying unit includes a lifting drive module, which is used to move the clamping part between a position relatively close to the discharge port and a position relatively far from the discharge port in the height direction. When the clamping part is in a position relatively close to the discharge port, the clamping part can switch from a waiting state to a gripping state. And / or, the conveying unit includes a translation drive module for moving the clamping part in the horizontal direction between a position relatively close to the discharge port and a position relatively far from the discharge port, wherein when the clamping part is in a position relatively close to the discharge port, the clamping part can switch from a waiting state to a gripping state.

7. An assembly device, characterized in that, It includes: The gripping mechanism as described in any one of claims 1-6; A discharge mechanism, the discharge mechanism including a discharge port, the discharge port having a positioning part, the positioning part being able to position the material in the discharge port in a first linear direction; Specifically, based on the dimensional differences of materials of different sizes located at the discharge port in the first straight direction, the position adjustment unit moves the clamping unit to different alignment positions.

8. The assembly apparatus as described in claim 7, characterized in that, The positioning part includes a fixed reference, which is positioned by abutting against the outer surface of the material in a first linear direction.

9. The assembly apparatus as described in claim 8, characterized in that, The positioning part further includes a floating reference, and the fixed reference and the floating reference are arranged opposite to each other in a first straight line direction. The floating reference can be moved to change the distance between it and the fixed reference.

10. The assembly apparatus as claimed in claim 7, characterized in that, When the clamping part is aligned with the material of the first size, the symmetry plane of the two gripping units coincides with the central axis of the material of the first size in the first straight direction.

11. The assembly apparatus as claimed in claim 7, characterized in that, Multiple clamping parts and discharge ports are provided in a one-to-one correspondence. The relative positions between each clamping part are consistent with the relative positions between each discharge port. The position adjustment part can move each clamping part synchronously in the first linear direction.

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