gripping device and transfer equipment

Abstract

This application provides a gripping device and a transfer device. The gripping device includes a device body and a suction module. The device body is mounted on the end of a robotic arm and has a ramp. The suction module is movably disposed on the ramp and includes a suction nozzle. The suction module adsorbs material through the suction nozzle and moves along the ramp. The transfer device includes a robotic arm and the aforementioned gripping device, which is disposed on the end of the robotic arm. Thus, the gripping device is driven by the robotic arm to move relative to the material to be transferred, which facilitates accurate material gripping by the suction module. The material transfer process is less affected by the height of the material stack. Furthermore, after the suction module absorbs the material, it can move along the ramp, gradually increasing the height of the material and causing it to gradually detach from its bearing surface. This allows the device body to smoothly support the entire material, improving the gripping stability.

Description

Technical Field

[0001] This application belongs to the technical field, specifically relating to a gripping device and a transfer device. Background Technology

[0002] In related technologies, gripping devices are needed to grab materials such as boxes and transfer them to a target location. For some materials, such as boxes with openings at the top and closed lids, it is not convenient to grab them from above; otherwise, only the lid can be grabbed, and the entire box cannot be transferred. Therefore, the gripping device needs to grab the material from the side. However, the gripping device can usually only be located on the ground or the material's bearing surface. For materials with stacking height, it is difficult for the gripping device to accurately align with the material, which is not conducive to the gripping and transfer of materials. Utility Model Content

[0003] The purpose of this application is to provide a gripping device that can solve the problem that gripping devices in the related art are inconvenient for gripping and transferring materials.

[0004] In a first aspect, embodiments of this application provide a gripping device, including a device body and a suction module. The device body is used to be installed at the end of a robotic arm. The device body is provided with a ramp. The suction module is movably disposed on the ramp. The suction module includes a suction nozzle. The suction module adsorbs material through the suction nozzle and moves along the ramp.

[0005] Secondly, embodiments of this application also provide a transfer device, including a robotic arm and the aforementioned gripping device, wherein the gripping device is disposed at the end of the robotic arm.

[0006] In this embodiment, the gripping device can be installed at the end of a robotic arm and moved by the robotic arm to be opposite the material to be transferred. This facilitates accurate gripping of the material by the suction module, and the material transfer process is less affected by material stacking or the height of the material. Furthermore, the device body is equipped with a ramp, allowing the suction module to move along the ramp after picking up the material. As the height of the material gradually increases, it gradually detaches from its supporting surface, which helps the device body smoothly support the entire material and improves the gripping stability. Attached Figure Description

[0007] Figure 1 This is one of the schematic diagrams showing the cooperation between the gripping device and the material disclosed in the embodiments of this application;

[0008] Figure 2 This is one of the structural schematic diagrams of the grasping device disclosed in the embodiments of this application;

[0009] Figure 3 This is a second schematic diagram of the gripping device disclosed in the embodiments of this application;

[0010] Figure 4 This is a schematic diagram of the lifting mechanism and suction module disclosed in the embodiments of this application;

[0011] Figure 5 This is one of the structural schematic diagrams of the grasping device disclosed in the embodiments of this application;

[0012] Figure 6 This is a second schematic diagram of the gripping device disclosed in the embodiments of this application;

[0013] Figure 7 This is a front view of the gripping device and the material when the robotic arm drives the gripping device to a position relative to the material, as disclosed in the embodiments of this application.

[0014] Figure 8 This is a front view of the gripping device and the material when the suction nozzle adsorbs material, as disclosed in the embodiments of this application;

[0015] Figure 9 This is a front view of the gripping device and the material when the suction nozzle lifts the material, as disclosed in the embodiments of this application;

[0016] Figure 10 This is a front view of the gripping device and the material when the suction nozzle moves the material along the slope, as disclosed in the embodiments of this application;

[0017] Figure 11 This is a schematic diagram of the structure of the gripping device and the material when the robotic arm drives the gripping device to a position relative to the material, as disclosed in the embodiments of this application;

[0018] Figure 12 This is a schematic diagram of the gripping device and the material when the suction nozzle adsorbs the material, as disclosed in the embodiments of this application;

[0019] Figure 13 This is a schematic diagram of the gripping device and the material when the suction nozzle lifts the material, as disclosed in the embodiments of this application;

[0020] Figure 14 This is a schematic diagram of the gripping device and the material when the suction nozzle moves the material along the slope, as disclosed in the embodiments of this application.

[0021] Explanation of reference numerals in the attached figures:

[0022] 10-Grip device

[0023] 100 - Device body, 110 - Inclined ramp, 120 - Robotic arm flange

[0024] 200-Suction module, 210-Suction nozzle, 220-Support component, 230-Connecting rod, 240-Elastic component, 250-First connecting block, 260-Second connecting block, 270-Rotating shaft,

[0025] 300 - Lifting mechanism, 310 - Lifting drive component, 320 - Lead screw, 330 - Transmission connection component

[0026] 400 - Translation drive mechanism, 410 - Translation drive component, 420 - First transmission wheel, 430 - Second transmission wheel, 440 - First transmission belt, 450 - Second transmission belt

[0027] 500 - Support frame, 510 - First guide rail, 520 - First guide component, 530 - Second guide rail, 540 - Second guide component

[0028] 610 - First sensing element, 620 - Second sensing element

[0029] 700-Camera Device

[0030] 800-Light Source

[0031] S - Material. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0033] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] The grasping device and transfer equipment provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0035] Please refer to Figures 1-14The gripping device 10 disclosed in this application is used to grip and transfer material S. The gripping device 10 includes a device body 100 and a suction module 200. The device body 100 serves as the mounting component of the suction module 200 and is mounted on the end effector of a robotic arm. The robotic arm drives the device body 100 and the suction module 200 to move relative to the material S, so that the material S is positioned opposite the suction module 200, and the suction module 200 can pick up the material S. The material S can be, but is not limited to, a box, and the suction module 200 can pick up the side wall of the box.

[0036] Optionally, the robotic arm and the device body 100 can be detachably connected, allowing the device body 100 to be connected to or separated from the robotic arm. Further optionally, refer to... Figures 1-3 As shown, the device body 100 is provided with a robot arm flange 120. The robot arm flange 120 can be located at the top of the device body 100. The device body 100 is connected to the robot arm through the robot arm flange 120. Of course, the device body 100 can also be connected to the robot arm in other ways.

[0037] Thus, the gripping device 10 can be installed at the end of the robotic arm and moved by the robotic arm to be opposite the material S to be transferred. This is beneficial for the suction module 200 to accurately grip the material S to be transferred. The suction module 200 can grip the material S at a lower position or at a higher position. The transfer process of the material S is not easily affected by the stacking of the material S or the height of the material S.

[0038] Specifically, refer to Figure 1 As shown, the device body 100 is provided with a ramp 110, and the suction module 200 is movably disposed on the ramp 110. The suction module 200 moves relative to the device body 100 along the inclination direction of the ramp 110. Optionally, the device body 100 may include a triangular structure forming the ramp 110. The ramp 110 is provided with opposing bearing surfaces and an inclined surface. The bearing surface can contact an external bearing surface, and the inclined surface is used for the suction module 200 to move. The angle between the bearing surface and the inclined surface can be 30°-60°, that is, the inclination angle of the ramp 110 is 30°-60°. Of course, the ramp 110 can also be other inclination angles. The embodiments of this application do not limit the inclination angle of the ramp 110. The suction module 200 and the ramp 110 can be slidably connected by a sliding rail and a sliding member. Of course, the suction module 200 and the ramp 110 can also be slidably connected by other structures.

[0039] The suction module 200 includes a suction nozzle 210 for adsorbing material S. The suction module 200 adsorbs material S through the suction nozzle 210 and moves along the slope 110. The suction nozzle 210 can be connected to a negative pressure source, which provides negative pressure gas to the suction nozzle 210, creating a negative pressure environment inside the suction nozzle 210. The material S is adsorbed using the atmospheric pressure difference. This application embodiment does not limit the specific structure and form of the suction nozzle 210. Optionally, the suction module 200 may only include the suction nozzle 210, which may be directly and movably disposed on the slope 110; or, the suction module 200 may also include other components, with the suction nozzle 210 movably disposed on the slope 110 through these other components.

[0040] In this embodiment, the device body 100 is provided with a ramp 110. After the suction module 200 sucks up the material S, it can move along the ramp 110. As a result, the height of the material S gradually increases, and the material S gradually leaves its bearing surface and moves along the ramp 110. This is beneficial for the device body 100 to smoothly carry the entire material S and improve the gripping stability of the material S.

[0041] In an optional embodiment of this application, the suction module 200 further includes a support member 220, a connecting rod 230, and an elastic member 240. The support member 220 can be a support plate, used to support the connecting rod 230, the elastic member 240, and the suction nozzle 210. The support member 220 is movably disposed on the ramp 110. Optionally, the support member 220 and the ramp 110 can be slidably connected via a sliding rail and a sliding member. The first end of the connecting rod 230 is connected to the support member 220, and the second end of the connecting rod 230 is rotatably connected to the suction nozzle 210. That is, the suction nozzle 210 is rotatably disposed on the second end of the connecting rod 230, and the suction nozzle 210 can rotate relative to the connecting rod 230.

[0042] Optionally, refer to Figure 5 and Figure 6 As shown, the suction module 200 also includes a first connecting block 250, a second connecting block 260, and a rotating shaft 270. The second end of the connecting rod 230 is connected to the first connecting block 250, and the suction nozzle 210 is connected to the second connecting block 260. The rotating shaft 270 passes through the first connecting block 250 and the second connecting block 260. The first connecting block 250 and the second connecting block 260 are rotatably connected through the rotating shaft 270, thereby enabling the second end of the connecting rod 230 to be rotatably connected to the suction nozzle 210. The rotation axis of the suction nozzle 210 can be perpendicular to the extension direction of the connecting rod 230, or the rotation axis of the suction nozzle 210 can intersect with but not be perpendicular to the extension direction of the connecting rod 230. Of course, the connecting rod 230 and the suction nozzle 210 can also be rotatably connected through other structures.

[0043] The elastic element 240 can be, but is not limited to, a spring. The elastic element 240 is sleeved on the outside of the connecting rod 230 and acts on the suction nozzle 210. When the suction nozzle 210 adsorbs the material S and rotates relative to the connecting rod 230, the suction nozzle 210 will squeeze the elastic element 240, causing the elastic element 240 to undergo elastic deformation. After the suction nozzle 210 releases the material S, the force exerted by the material S on the suction nozzle 210 disappears. At this time, the elastic element 240 restores its elastic deformation and drives the suction nozzle 210 to rotate in the opposite direction relative to the connecting rod 230 to reset.

[0044] Optionally, the first end of the elastic element 240 directly abuts against the connecting rod 230, and the second end of the elastic element 240 directly abuts against the suction nozzle 210; or, the first end of the elastic element 240 is connected to the connecting rod 230 by welding or other means, and the second end of the elastic element 240 is connected to the suction nozzle 210 by welding or other means.

[0045] In this embodiment, when the suction nozzle 210 adsorbs material S, the suction nozzle 210 can rotate relative to the connecting rod 230 to adapt to the surface shape of the material S, ensuring smooth contact between the suction nozzle 210 and the surface of the material S, which is beneficial to improving the adsorption stability of the material S. Moreover, the suction module 200 is further provided with an elastic element 240. After the suction nozzle 210 releases the material S, the elastic element 240 can drive the suction nozzle 210 to rotate in the opposite direction relative to the connecting rod 230 to reset, which is beneficial to the suction nozzle 210 returning to its original position to continue the adsorption process of the next material S.

[0046] Of course, in other embodiments, the suction module 200 may not have the elastic element 240, and the suction nozzle 210 may be directly fixed to the connecting rod 230. Optionally, the suction nozzle 210 and the connecting rod 230 may be fixedly connected by welding or other means.

[0047] In one alternative embodiment, the number of nozzle 210, connecting rod 230, and elastic element 240 is one.

[0048] In another embodiment, reference Figures 2-4 As shown, multiple suction nozzles 210, connecting rods 230 and elastic elements 240 are arranged at intervals, and the number of suction nozzles 210, connecting rods 230 and elastic elements 240 is equal, with each suction nozzle 210, connecting rod 230 and elastic element 240 corresponding to one another.

[0049] Optionally, multiple suction nozzles 210, connecting rods 230, and elastic elements 240 are spaced apart along the width direction of the device body 100. These nozzles 210, connecting rods 230, and elastic elements 240 can be evenly or unevenly distributed. Alternatively, multiple nozzles 210, connecting rods 230, and elastic elements 240 can be spaced apart along other directions. In this embodiment, there are three nozzles 210, three connecting rods 230, and three elastic elements 240.

[0050] In this embodiment, the number of suction nozzles 210, connecting rods 230, and elastic elements 240 increases. Therefore, different suction nozzles 210 can adsorb different positions of the same material S. The adsorption area of ​​multiple suction nozzles 210 on the material S increases, and the total adsorption force of the suction module 200 on the same material S increases. This is beneficial to improving the adsorption stability of the suction module 200 on the material S, and is more conducive to the subsequent stable transfer of the material S.

[0051] In an optional embodiment, refer to Figures 2-4 As shown, the gripping device 10 also includes a first sensing element 610, which is disposed on the support member 220 to detect whether the suction nozzle 210 has adsorbed the material S in place. When the first sensing element 610 detects that the suction nozzle 210 has adsorbed the material S in place, the suction module 200 drives the material S to move along the slope 110.

[0052] Optionally, the first sensing element 610 can be a distance sensor. The distance sensor can use a laser to measure the distance between itself and the material S. When the nozzle 210 is not adsorbing the material S, the first sensing element 610 detects a large distance between itself and the material S; when the nozzle 210 adsorbs the material S, the first sensing element 610 detects a small distance between itself and the material S. Therefore, the distance between itself and the material S is detected by the distance sensor to provide feedback on whether the nozzle 210 has properly adsorbed the material S. Of course, the first sensing element 610 can also be a magnetic sensor, or it can use other principles to detect whether the nozzle 210 has properly adsorbed the material S.

[0053] In this embodiment, the gripping device 10 is equipped with a first sensing element 610. The first sensing element 610 accurately detects whether the suction nozzle 210 has adsorbed the material S in place. The first sensing element 610 can promptly provide feedback on the situation where the suction nozzle 210 has not adsorbed the material S in place, so that the operator can handle the suction nozzle 210. This makes it easier for the suction nozzle 210 to successfully adsorb the material S and avoids the situation where the suction nozzle 210 moves along the slope 110 before adsorbing the material S in place.

[0054] Of course, in other embodiments, the gripping device 10 may not be equipped with the first sensing element 610, and the pressure change in the suction nozzle 210 may be used to indicate whether the suction nozzle 210 has adsorbed the material S in place.

[0055] In an optional embodiment, the gripping device 10 further includes a second sensing element 620 disposed on the device body 100 to detect whether the suction module 200 has moved into place along the ramp 110.

[0056] Optionally, the second sensing element 620 can be a photoelectric sensor. The photoelectric sensor uses laser detection to determine whether the absorption module 200 has moved into position along the ramp 110. When the absorption module 200 is not in position along the ramp 110, it will not block the laser emitted by the photoelectric sensor. When the absorption module 200 moves into position along the ramp 110, it will block and reflect the laser emitted by the photoelectric sensor, and the photoelectric sensor will receive the reflected laser. Therefore, whether the photoelectric sensor receives the reflected laser indicates whether the absorption module 200 has moved into position along the ramp 110. Of course, the second sensing element 620 can also be other detection elements, using other principles to detect whether the absorption module 200 has moved into position along the ramp 110.

[0057] In this embodiment, the gripping device 10 is equipped with a second sensing element 620. The second sensing element 620 accurately detects whether the suction module 200 has moved into position along the ramp 110. This allows for continued control of the suction module 200's movement even when it has not moved into position along the ramp 110, which helps the device body 100 smoothly carry the entire material S and improves the carrying stability of the material S.

[0058] Of course, in other embodiments, the gripping device 10 may not be equipped with the second sensing element 620, and may directly control the movement time of the suction module 200 along the ramp 110 to ensure that the suction module 200 moves into place along the ramp 110, thereby avoiding the suction module 200 not moving into place or moving excessively.

[0059] In the alternative solutions of this application, refer to Figures 1-4 As shown, the gripping device 10 also includes a lifting mechanism 300, which is connected to the support member 220. The lifting mechanism 300 can drive the suction module 200 to move along the height direction of the device body 100.

[0060] Optionally, the lifting mechanism 300 may include a lifting drive component 310, a lead screw 320, and a nut. The lifting drive component 310 can be a drive source providing rotational driving force, such as a pneumatic motor or a drive motor. The lead screw 320 extends along the height direction of the device body 100. The output shaft of the lifting drive component 310 is connected to the lead screw 320. The nut is sleeved on the outside of the lead screw 320, and the lead screw 320 and the nut are threadedly engaged. The nut is connected to the support component 220. Further optionally, the nut and the support component 220 can be connected by welding or other methods. Thus, when the lifting drive component 310 is working, it drives the lead screw 320 to rotate, the lead screw 320 drives the nut to move along the extension direction of the lead screw 320, and the nut drives the suction module 200 to move along the extension direction of the lead screw 320. Further optionally, refer to... Figures 2-4As shown, the lifting mechanism 300 may further include a transmission connector 330, and the output shaft of the lifting drive 310 is connected to the lead screw 320 via the transmission connector 330. The output shaft of the lifting drive 310 is parallel to the extension direction of the lead screw 320. Of course, the lifting mechanism 300 may also be a telescopic cylinder, a linear module, or other drive components that can generate linear driving force.

[0061] Optionally, when the first sensing element 610 detects that the suction nozzle 210 has adsorbed the material S in place, the lifting mechanism 300 drives the suction module 200 to move along the height direction of the device body 100. At the same time, the suction module 200 drives the material S to move along the slope 110, so that the material S and the slope 110 are in continuous contact.

[0062] In this embodiment, the gripping device 10 is equipped with a lifting mechanism 300. While the suction module 200 moves the material S along the slope 110, the lifting mechanism 300 drives the suction module 200 to move along the height direction of the device body 100, ensuring that the bottom of the material S is in continuous contact with the slope 110, which helps to improve the load-bearing stability of the device body 100 on the material S.

[0063] Of course, in other embodiments, the gripping device 10 may not have a lifting mechanism 300, and the suction module 200 may be directly and movably mounted on the ramp 110.

[0064] In a further embodiment, reference is made to... Figures 2-4 As shown, the gripping device 10 also includes a support frame 500, a first guide rail 510, and a first guide member 520. The support frame 500 is movably disposed on the ramp 110. The first guide rail 510 and the lifting mechanism 300 are both disposed on the support frame 500. The first guide rail 510 extends along the height direction of the device body 100. The first guide member 520 can be a guide block. The support member 220 is connected to the first guide member 520. The first guide rail 510 and the first guide member 520 are guided and cooperated.

[0065] Optionally, the transmission connector 330 is disposed on the support frame 500. The first guide rail 510 and the support frame 500, and the housing of the lifting mechanism 300 and the support frame 500 can be connected by welding, bonding or other means. The support member 220 and the first guide member 520 can be connected by welding, bonding or other means.

[0066] In this embodiment, by setting a first guide rail 510 and a first guide member 520 for guiding cooperation, the lifting direction of the suction module 200 is guided, which helps the suction module 200 to move accurately along the height direction of the device body 100 and avoids the lifting direction of the suction module 200 from deviating.

[0067] Of course, in other embodiments, the gripping device 10 may not have the first guide rail 510 and the first guide member 520. The suction module 200 can be accurately moved along the height direction of the device body 100 by controlling the driving direction of the lifting mechanism 300.

[0068] In one alternative embodiment, the number of the first guide rail 510 and the first guide member 520 is one.

[0069] In another embodiment, reference Figure 4 As shown, there are at least two first guide rails 510 and first guide members 520, with each first guide rail 510 and first guide member 520 corresponding one-to-one. The two first guide rails 510 are located on opposite sides of the lifting mechanism 300. Optionally, the support member 220 is a support plate. Along the width direction of the device body 100, the support member 220 has first guide members 520 on both sides of its edge, and the support frame 500 has first guide rails 510 on opposite sides. The lifting mechanism 300 is located between the two first guide rails 510.

[0070] In this embodiment, the number of first guide rails 510 and first guide members 520 is increased. By using different sets of first guide rails 510 and first guide members 520 with different guiding cooperation, guidance is applied to different positions of the support member 220, which is conducive to the accurate movement of the support member 220 as a whole along the height direction of the device body 100, and further avoids the deviation of the lifting direction of the suction module 200.

[0071] In the alternative solutions of this application, refer to Figures 1-3 As shown, the gripping device 10 also includes a translation drive mechanism 400, which is disposed on the device body 100 and connected to the lifting mechanism 300. The translation drive mechanism 400 drives the lifting mechanism 300 to move the suction module 200 along the slope 110.

[0072] Optionally, the translation drive mechanism 400 includes a translation drive component 410, a first transmission wheel 420, a second transmission wheel 430, a first transmission belt 440, and a second transmission belt 450. The translation drive component 410 can be a drive source that can generate rotational power, such as a drive motor or drive motor. The housing of the translation drive component 410 can be fixedly connected to the device body 100 by welding or other means. The first transmission wheel 420 is disposed on the output shaft of the translation drive component 410. The second transmission wheel 430 is rotatably disposed on the device body 100 and is located at the first end of the ramp 110. The first transmission wheel 420 and the second transmission wheel 430 are driven and cooperated by the first transmission belt 440. Both the first end and the second end of the ramp 110 are provided with rollers or wheels. The second transmission wheel 430 is connected to the roller or wheel located at the first end of the ramp 110, and the second transmission belt 450 is driven and cooperated with the rollers or wheels located at both ends of the ramp 110.

[0073] Thus, when the translation drive 410 operates, it drives the first transmission wheel 420 to rotate. The first transmission wheel 420 drives the second transmission wheel 430 to rotate via the first transmission belt 440. The second transmission wheel 430 drives the roller or wheel located at the first end of the ramp 110 to rotate, thereby driving the second transmission belt 450 to perform transmission. Since the support frame 500 is connected to the second transmission belt 450, during the movement of the second transmission belt 450 relative to the device body 100, the second transmission belt 450 drives the lifting mechanism 300 and the suction module 200 to move synchronously along the ramp 110 via the support frame 500.

[0074] Alternatively, a connecting plate can be provided at the bottom of the support frame 500. The support frame 500 is connected to the second transmission belt 450 through the connecting plate. The connecting plate is in sliding contact with the ramp 110. The connecting plate and the support frame 500 can be connected by welding, bolts, or other means.

[0075] Optionally, if the second sensing element 620 detects that the suction module 200 has not moved into place along the ramp 110, the translation drive mechanism 400 continues to operate; if the second sensing element 620 detects that the suction module 200 has moved into place along the ramp 110, the translation drive mechanism 400 stops operating.

[0076] In this embodiment, the gripping device 10 is equipped with a translation drive mechanism 400. The translation drive mechanism 400 accurately and quickly drives the lifting mechanism 300 and the suction module 200 to move along the slope 110, so that the device body 100 can smoothly carry the material S, which is beneficial to improving the transfer efficiency of the material S.

[0077] Of course, in other embodiments, the gripping device 10 may not be equipped with the translation drive mechanism 400. The gripping device 10 may use external force or other driving force to drive the lifting mechanism 300 to move the suction module 200 along the slope 110.

[0078] In a further embodiment, the gripping device 10 further includes a second guide rail 530 and a second guide member 540. The second guide rail 530 is disposed on the device body 100 and extends along the inclined direction of the ramp 110. The second guide member 540 can be a guide block. The second guide member 540 is connected to the lifting mechanism 300, and the second guide rail 530 and the second guide member 540 are guided and cooperated.

[0079] Optionally, the second guide member 540 is disposed on the connecting plate at the bottom of the support frame 500, and the second guide member 540 and the connecting plate, as well as the second guide rail 530 and the device body 100, can be connected by welding, bonding or other means.

[0080] In this embodiment, by setting a second guide rail 530 and a second guide member 540 for guiding cooperation, the moving direction of the lifting mechanism 300 and the suction module 200 is guided, which helps the lifting mechanism 300 and the suction module 200 to move accurately along the inclined direction of the ramp 110 and avoids the moving direction of the lifting mechanism 300 and the suction module 200 from deviating.

[0081] Of course, in other embodiments, the gripping device 10 may not have the second guide rail 530 and the second guide member 540. The lifting mechanism 300 and the suction module 200 can be accurately moved along the ramp 110 by controlling the driving direction of the translation drive mechanism 400.

[0082] In one alternative embodiment, there is one second guide rail 530 and one second guide member 540.

[0083] In another embodiment, there are at least two second guide rails 530 and second guide members 540, with each second guide rail 530 and the second guide member 540 corresponding to each other and cooperating along the width direction of the device body 100, wherein the two second guide rails 530 are located on opposite sides of the lifting mechanism 300.

[0084] Optionally, along the width direction of the device body 100, a second guide rail 530 is provided on both sides of the device body 100, and a second guide member 540 is provided on both sides of the connecting plate.

[0085] In this embodiment, the number of second guide rails 530 and second guide members 540 is increased. By using different sets of guide rails 530 and second guide members 540, guidance is applied to different positions of the lifting mechanism 300, which is beneficial for the lifting mechanism 300 and the suction module 200 to move accurately along the slope 110 as a whole, and further avoids the movement direction of the lifting mechanism 300 and the suction module 200 from deviating.

[0086] In the alternative solutions of this application, refer to Figure 1 As shown, the gripping device 10 also includes a camera device 700, which is disposed on the device body 100. Optionally, the camera device 700 can be a camera. The camera device 700 is used to monitor the material S adsorbed by the suction module 200. The housing of the camera device 700 can be connected to the device body 100 by welding or other means.

[0087] The camera device 700 is communicatively connected to the translation drive mechanism 400 and the lifting mechanism 300, respectively. The translation drive mechanism 400 and the lifting mechanism 300 can operate according to the monitoring status of the camera device 700. Optionally, the gripping device 10 may also include a controller, which is communicatively connected to the camera device 700, the translation drive mechanism 400, and the lifting mechanism 300, respectively. The controller controls the translation drive mechanism 400 and the lifting mechanism 300 according to the monitoring status of the camera device 700.

[0088] In this embodiment, the camera device 700 monitors the size of the material S. After acquiring image information of the material S, the camera device 700 guides the suction nozzle 210 to a suitable position to adsorb the material S. Specifically, the translation drive mechanism 400 and the lifting mechanism 300 are controlled to move the suction nozzle 210 to the appropriate position, ensuring that it adsorbs the material S at the correct location. This improves adsorption stability and facilitates the stable adsorption of the material S by the suction module 200, allowing it to move smoothly along the ramp 110. Alternatively, the camera device 700 can also communicate with a robotic arm, which can then perform actions based on the monitoring data from the camera device 700 to ensure that the suction nozzle 210 is accurately aligned with the material S to be grasped.

[0089] Of course, in other embodiments, the gripping device 10 may not be equipped with a camera device 700. The operator can observe with the naked eye and manually control the lifting mechanism 300 and the translation drive mechanism 400 to make the suction nozzle 210 adsorb the material S at a suitable position.

[0090] In a further embodiment, the gripping device 10 also includes a light source 800, which is disposed on the device body 100 and adjacent to the camera device 700. The light source 800 is used to increase the brightness of the monitoring range of the camera device 700, which is more conducive to the camera device 700 accurately monitoring the material S.

[0091] In summary, the gripping process of the gripping device 10 for material S in this embodiment is as follows: (Refer to...) Figure 7 and Figure 11 As shown, the camera device 700 monitors the height and size of the material S. Based on the monitoring information, the robot arm is guided to move the gripping device 10 through the robot arm flange 120, so that the suction nozzle 210 of the gripping device 10 is aligned with the material S to be gripped. (Reference) Figure 8 and Figure 12 As shown, the suction nozzle 210 of the gripping device 10 adsorbs the material S to be gripped; Reference Figure 9 and Figure 13 As shown, the lifting mechanism 300 drives the suction module 200 to rise to a certain height. The suction module 200, through the suction nozzle 210, lifts the material S, ensuring accurate subsequent translational movement. (Reference) Figure 10 and Figure 14 As shown, the translation drive mechanism 400 drives the lifting mechanism 300 to move the suction module 200 and the material S along the ramp 110. The material S comes into contact with the ramp 110, and the device body 100 successfully carries the material S. After the device body 100 has successfully carried the entire material S, the robot arm drives the gripping device 10 carrying the material S to move, so as to transfer the material S.

[0092] Based on the gripping device 10 disclosed in this application, this application embodiment also discloses a transfer device, which includes the gripping device 10 in the above embodiment and a robotic arm, with the gripping device 10 disposed at the end of the robotic arm.

[0093] Optionally, the gripping device 10 has a robotic arm flange 120 on its main body 100. The main body 100 is connected to the robotic arm through the robotic arm flange 120. Alternatively, the main body 100 can be connected to the robotic arm through other connecting parts besides the robotic arm flange 120, so that the robotic arm can drive the gripping device 10 to move.

[0094] In this embodiment, the gripping device 10 of the transfer equipment can be installed at the end of a robotic arm and moved to any position by the robotic arm to be opposite the material S to be transferred. This facilitates the accurate gripping of the material S by the suction module 200, and the transfer process of the material S is less affected by the stacking of the material S or the height of the material S. Moreover, the device body 100 is provided with a ramp 110. After the suction module 200 picks up the material S, it can move along the ramp 110, and the height of the material S gradually increases. The material S gradually detaches from its bearing surface, which helps the device body 100 to smoothly support the entire material S and improves the gripping stability of the material S.

[0095] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A gripping device, characterized in that, The device includes a device body (100) and a suction module (200). The device body (100) is used to be installed at the end of a robot arm. The device body (100) is provided with a ramp (110). The suction module (200) is movably disposed on the ramp (110). The suction module (200) includes a suction nozzle (210). The suction module (200) adsorbs material (S) through the suction nozzle (210) and moves along the ramp (110).

2. The gripping device according to claim 1, characterized in that, The suction module (200) further includes a support (220), a connecting rod (230), and an elastic element (240). The support (220) is movably disposed on the ramp (110). The first end of the connecting rod (230) is connected to the support (220). The suction nozzle (210) is rotatably disposed on the second end of the connecting rod (230). The elastic element (240) is sleeved on the outside of the connecting rod (230) and acts on the suction nozzle (210).

3. The gripping device according to claim 2, characterized in that, Multiple suction nozzles (210), connecting rods (230), and elastic elements (240) are provided at intervals, and each suction nozzle (210), connecting rod (230), and elastic element (240) corresponds to another.

4. The gripping device according to claim 2, characterized in that, The gripping device (10) further includes a first sensing element (610), which is disposed on the support (220) to detect whether the suction nozzle (210) has adsorbed the material (S) in place; And / or, the gripping device (10) further includes a second sensing element (620) disposed on the device body (100) to detect whether the suction module (200) has moved into place along the ramp (110).

5. The gripping device according to claim 2, characterized in that, The gripping device (10) further includes a lifting mechanism (300), which is connected to the support member (220). The lifting mechanism (300) can drive the suction module (200) to move along the height direction of the device body (100).

6. The gripping device according to claim 5, characterized in that, The gripping device (10) further includes a support frame (500), a first guide rail (510), and a first guide member (520). The first guide rail (510) and the lifting mechanism (300) are both disposed on the support frame (500). The first guide rail (510) extends along the height direction of the device body (100). The support member (220) is connected to the first guide member (520), and the first guide rail (510) and the first guide member (520) are guided and cooperated.

7. The gripping device according to claim 5, characterized in that, The gripping device (10) further includes a translation drive mechanism (400), which is disposed on the device body (100). The translation drive mechanism (400) is connected to the lifting mechanism (300), and the translation drive mechanism (400) drives the lifting mechanism (300) to move the suction module (200) along the slope (110).

8. The gripping device according to claim 7, characterized in that, The gripping device (10) further includes a second guide rail (530) and a second guide member (540). The second guide rail (530) is disposed on the device body (100) and extends along the inclined direction of the ramp (110). The second guide member (540) is connected to the lifting mechanism (300), and the second guide rail (530) and the second guide member (540) are guided and cooperated.

9. The gripping device according to claim 7, characterized in that, The gripping device (10) further includes a camera device (700), which is disposed on the device body (100) and is communicatively connected to the translation drive mechanism (400) and the lifting mechanism (300).

10. A transfer device, characterized in that, It includes a robotic arm and a gripping device (10) as described in any one of claims 1-9, wherein the gripping device (10) is disposed at the end of the robotic arm.

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