Grabbing mechanism and robot hand

Abstract

The application belongs to the technical field of automatic production and relates to a grabbing mechanism and a mechanical hand. The grabbing mechanism comprises a fixing frame, a first positioning assembly, a second positioning assembly, a driving assembly and a suction assembly. The first positioning assembly is movably installed on the fixing frame along a first direction, and the second positioning assembly is movably installed on the fixing frame along a second direction. The first positioning assembly and the second positioning assembly jointly enclose a containing space. The suction assembly and the driving assembly are both installed on the fixing frame. The suction assembly is located in the containing space. The driving assembly is connected with the first positioning assembly and the second positioning assembly respectively. The grabbing mechanism can realize fine positioning of materials while grabbing the materials, which is beneficial to improving the production efficiency of the automatic production line and reducing the risk of material scratch caused by secondary positioning.

Description

Technical Field

[0001] This application relates to the field of automated production technology, and in particular to a gripping mechanism and a robotic arm. Background Technology

[0002] In automated production lines, robotic arms are typically used to handle materials. To ensure accurate subsequent processing, secondary precision positioning of the materials is often required. However, current technologies necessitate placing the materials in external positioning fixtures for this process, which not only wastes production time but also increases the risk of scratches and damage to the materials. Utility Model Content

[0003] In view of this, it is necessary to provide a gripping mechanism and a robotic arm that can position materials while gripping them, which is beneficial to improving the production efficiency of automated production lines.

[0004] One embodiment of this application provides a gripping mechanism. The gripping mechanism is applied to a robotic arm. The gripping mechanism includes a fixed frame, a first positioning component, a second positioning component, a drive component, and an adsorption component. The fixed frame is configured to be mounted on the robotic arm. The first positioning component is movably mounted on the fixed frame along a first direction, and the second positioning component is movably mounted on the fixed frame along a second direction. The first positioning component and the second positioning component together enclose a receiving space for accommodating a target object, and the first direction intersects the second direction. The adsorption component and the drive component are both mounted on the fixed frame. The adsorption component is located in the gripping space. The drive component is connected to the first positioning component and the second positioning component respectively. The drive component is configured to drive the first positioning component to abut against the target object along the first direction, and to drive the second positioning component to abut against the target object along the second direction. The adsorption component is configured to adsorb the target object after the first positioning component and the second positioning component jointly abut against the target object.

[0005] In the aforementioned gripping mechanism, when the robotic arm grips the target object (specifically, when the target object is placed in the receiving space), the drive component drives the first positioning component to abut against the target object along a first direction, and drives the second positioning component to abut against the target object along a second direction. After the first and second positioning components abut against the target object together, the adsorption component adsorbs the target object. Through the cooperation of the first positioning component, the second positioning component, and the adsorption component, precise positioning of the target object (specifically, position correction in the first and second directions) can be achieved while gripping the target object, that is, online positioning of the target object can be realized. Firstly, the automated production line does not need to be stopped, which is beneficial to improving the production efficiency of the automated production line; secondly, the target object does not need to be transferred to an external positioning fixture, which helps to reduce the risk of scratches caused by secondary positioning and improves the product yield.

[0006] In some embodiments of this application, the gripping mechanism includes multiple sub-positioning elements. These sub-positioning elements are defined as a first sub-positioning element, a second sub-positioning element, a third sub-positioning element, and a fourth sub-positioning element. All four sub-positioning elements are slidably mounted on a fixed frame. The first and second sub-positioning elements are spaced apart along a first direction to form a first positioning assembly. The third and fourth sub-positioning elements are spaced apart along a second direction to form a second positioning assembly. The first, second, third, and fourth sub-positioning elements together enclose a receiving space. A driving assembly is connected to each of the first, second, third, and fourth sub-positioning elements and is configured to drive the first and second sub-positioning elements to move along the first direction to abut against a target object, and to drive the third and fourth sub-positioning elements to move along the second direction to abut against a target object.

[0007] In some embodiments of this application, each sub-positioning member includes a clamping portion and a connecting portion. The connecting portion is slidably mounted on the fixing frame and connected to the drive assembly. The connecting portion is provided with an adjustment groove, and the clamping portion is provided with a plug-in section, which is detachably mounted in the adjustment groove.

[0008] Before the robotic arm grasps the target object, production and installation personnel can pre-adjust the positions of the insertion sections in the corresponding sub-positioning components (specifically, the first, second, third, and fourth sub-positioning components) within the adjustment slots, based on the actual dimensions of the target object. This adjustment, or rather, the adjustment of the clamping parts within the corresponding sub-positioning components, ensures that all sub-positioning components are always against the target object, achieving precise positioning. Through the adjustment slots and insertion sections, the grasping mechanism can quickly switch positioning to accommodate products of different sizes and specifications, improving its versatility.

[0009] In some embodiments of this application, the drive assembly includes a first drive member and multiple transmission members. The first drive member is mounted on a fixed frame, and the multiple transmission members are movably mounted on the fixed frame, with each transmission member having an involute motion trajectory. A first sub-positioning member, a second sub-positioning member, a third sub-positioning member, and a fourth sub-positioning member are respectively connected to the first drive member via corresponding transmission members. The first drive member is configured to drive the multiple transmission members to move towards or away from the axis of rotation of the first drive member, so that the first and second sub-positioning members move along a first direction, and the third and fourth sub-positioning members move along a second direction.

[0010] On the one hand, by setting up multiple transmission components, a first driving component can drive multiple sub-positioning components (specifically referring to the first, second, third, and fourth sub-positioning components) to move, which helps to reduce the number of driving components and lower production costs. On the other hand, by setting the motion trajectory of the transmission components to be involute, the stroke of the transmission components can be reduced, thereby reducing the overall size of the gripping mechanism, making the gripping mechanism more compact, which is beneficial for the miniaturization design of the robot.

[0011] In some embodiments of this application, the driving assembly includes a plurality of second driving members. All the second driving members are mounted on a mounting bracket. A first sub-positioning member, a second sub-positioning member, a third sub-positioning member, and a fourth sub-positioning member are each connected to one of the second driving members.

[0012] By employing a second driving element to control the movement of one sub-positioning element (specifically referring to the first, second, third, and fourth sub-positioning elements), meaning each sub-positioning element is independently controlled, the flexibility of the gripping mechanism is improved. When any one or more sub-positioning elements malfunction, the remaining sub-positioning elements can still continue to operate under the action of their corresponding second driving elements to support the target object, achieving precise positioning of the target.

[0013] In some embodiments of this application, the gripping mechanism further includes a sensor assembly mounted on a fixture and configured to acquire the distance between the target object and the adsorption assembly in a third direction. This third direction intersects with the first and second directions.

[0014] When the robotic arm grasps a target object, the sensor assembly can acquire the target object's position information (i.e., the distance between the top of the target object and the adsorption assembly) in advance. Based on this position information, the robotic arm controls the grasping mechanism to precisely position and grasp the target object. This reduces the risk of damage caused by the target object colliding with the grasping mechanism due to inaccurate positioning, thus improving the positioning and grasping accuracy of the grasping mechanism. Furthermore, it enhances the versatility of the grasping mechanism, allowing it to adapt to target objects of varying heights.

[0015] In some embodiments of this application, the sensor assembly includes a first sensor and a second sensor. The first sensor is configured as a long-range sensor, and the second sensor is configured as a short-range sensor. Both the first and second sensors are mounted on a fixture, and the first and second sensors are configured to be spaced apart along the transport direction of the target object.

[0016] When the external conveyor line transports the target object, the long-range sensor can initially acquire the target object's position information (i.e., the distance between the top of the target object and the adsorption component). As the target object continues to move, the short-range sensor can accurately acquire its position information. By setting up both long-range and short-range sensors, the sensor components can "acquire first, then refine" the target object's position information, which helps improve the accuracy of the target object's position information acquisition, thereby further improving the positioning and gripping accuracy of the gripping mechanism.

[0017] In some embodiments of this application, the mounting bracket is provided with a connecting rod, which is configured to connect to a robotic arm. The robotic arm drives the gripping mechanism to move via the connecting rod. The gripping mechanism also includes a wiring harness assembly mounted on the connecting rod, and the wiring harness assembly is movable relative to the connecting rod. The wiring harness assembly is configured to secure signal lines in the robotic arm used for connection with the gripping mechanism.

[0018] When the robotic arm drives the gripping mechanism via the connecting rod, the relative movement between the wiring harness assembly and the connecting rod allows the signal wires to "adaptively" adjust their slack during the overall movement, thus achieving a flexible connection of the signal wires. The wiring harness assembly reduces the risk of signal wire breakage or core pull-out, helping to ensure the stable operation of the gripping mechanism and extending the service life of the robotic arm.

[0019] One embodiment of this application provides a robotic arm. The robotic arm includes a multi-axis robotic arm and a gripping mechanism as described in any of the above embodiments. The gripping mechanism is mounted on the multi-axis robotic arm.

[0020] When the robotic arm grasps the target object (specifically, the target object is housed in the grasping mechanism's receiving space), the drive component drives the first positioning component to abut against the target object along a first direction, and drives the second positioning component to abut against the target object along a second direction. After the first and second positioning components abut against the target object together, the adsorption component adsorbs the target object. Through the cooperation of the first positioning component, the second positioning component, and the adsorption component, precise positioning of the target object (specifically, position correction in the first and second directions) can be achieved while grasping the target object, that is, online positioning of the target object can be realized. Firstly, the automated production line does not need to be stopped, which is conducive to improving the production efficiency of the automated production line; secondly, the target object does not need to be transferred to an external positioning fixture, which helps to reduce the risk of scratches caused by secondary positioning and improves the product yield.

[0021] In some embodiments of this application, the number of gripping mechanisms is two. The two gripping mechanisms are symmetrically arranged on the multi-axis robotic arm. The multi-axis robotic arm is configured to drive the two gripping mechanisms to alternately grip the target object.

[0022] While one gripping mechanism is positioning and grasping the target object, another gripping mechanism can simultaneously move to the unloading position or prepare to grasp the next target object. By adopting the "alternating gripping in parallel" method, the idle waiting time of a single gripping mechanism in the "positioning gripping-unloading" operation can be reduced, which is beneficial to improving the working efficiency of the robot and adapting it to high-speed production lines. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in one embodiment of this application, after omitting the multi-axis robotic arm;

[0024] Figure 2 This is a schematic diagram of the structure of the robotic arm provided in one embodiment of this application, after omitting the multi-axis robotic arm, from another angle;

[0025] Figure 3 This is a schematic diagram of the gripping mechanism without the fixed frame in one embodiment of this application;

[0026] Figure 4 yes Figure 3 A schematic diagram of the gripping mechanism when neither the first nor the second positioning component is in contact with the target object;

[0027] Figure 5 yes Figure 3 A schematic diagram of the gripping mechanism when both the first and second positioning components are against the target object;

[0028] Figure 6 This is a partial structural schematic diagram of the sub-positioning component in the gripping mechanism provided in one embodiment of this application.

[0029] Explanation of key component symbols:

[0030] 100. Gripping mechanism; 10. Fixing frame; 11. Connecting rod; 20. First positioning component; 30. Second positioning component; 40. Accommodating space; 50. Drive component; 51. First drive element / rotary cylinder; 52. Transmission element / crank; 60. Adsorption component; 61. Spring suction cup; 70. Sub-positioning element; 71. First sub-positioning element; 72. Second sub-positioning element; 73. Third sub-positioning element; 74. Fourth sub-positioning element; 75. Clamping part; 751. Insertion section; 76. Connecting part; 761. Adjustment groove; 80. Sensor assembly; 81. First sensor; 82. Second sensor; 90. Wiring harness assembly; 200. Target object; X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0033] This application provides a gripping mechanism. The gripping mechanism is applied to a robotic arm. The gripping mechanism includes a fixed frame, a first positioning component, a second positioning component, a drive component, and a suction component. The fixed frame is configured to be mounted on the robotic arm. The first positioning component is movably mounted on the fixed frame along a first direction, and the second positioning component is movably mounted on the fixed frame along a second direction. The first and second positioning components together enclose a receiving space for accommodating a target object, and the first and second directions intersect. The suction component and the drive component are both mounted on the fixed frame. The suction component is located in the gripping space. The drive component is connected to the first and second positioning components respectively. The drive component is configured to drive the first positioning component to abut against the target object along the first direction, and to drive the second positioning component to abut against the target object along the second direction. The suction component is configured to suction the target object after the first and second positioning components abut against it.

[0034] In the aforementioned gripping mechanism, when the robotic arm grips the target object (specifically, when the target object is placed in the receiving space), the drive component drives the first positioning component to abut against the target object along a first direction, and drives the second positioning component to abut against the target object along a second direction. After the first and second positioning components abut against the target object together, the adsorption component adsorbs the target object. Through the cooperation of the first positioning component, the second positioning component, and the adsorption component, precise positioning of the target object (specifically, position correction in the first and second directions) can be achieved while gripping the target object, that is, online positioning of the target object can be realized. Firstly, the automated production line does not need to be stopped, which is beneficial to improving the production efficiency of the automated production line; secondly, the target object does not need to be transferred to an external positioning fixture, which helps to reduce the risk of scratches caused by secondary positioning and improves the product yield.

[0035] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0036] In this embodiment, the first direction, the second direction, and the third direction are defined as being perpendicular to each other. The first direction is the direction parallel to X in the diagram, the second direction is the direction parallel to Y in the diagram, and the third direction is the direction parallel to Z in the diagram. For ease of reference to the diagram, the first direction will be referred to as "first direction X", the second direction as "second direction Y", and the third direction as "third direction Z" in the following text.

[0037] One embodiment of this application provides a robotic arm (not shown). The robotic arm is used to move a target object 200 between machines in an automated production line to realize the flow of the target object 200 and complete the production.

[0038] In some embodiments, the target object 200 can be a product to be processed. The product to be processed can be a tablet computer, a mobile phone, etc. For example, a robotic arm picks up a tablet computer from an automated conveyor line and transfers it to a processing device for subsequent processing operations.

[0039] In some embodiments, the target object 200 may be a pallet. It should be noted that in automated production processes, pallets typically serve as product carriers, carrying products as they move between machines on the production line to complete production. For example, a robotic arm grasps a pallet from an automated conveyor line and transfers it to a loading device for loading tablet computers.

[0040] In some embodiments, the target object 200 may be a pallet and products to be processed. For example, a robot arm picks up a pallet loaded with tablets from an automated conveyor line and transfers it to a processing device for subsequent processing operations.

[0041] In other embodiments, the target object 200 may also be other suitable products. This application does not limit this, and those skilled in the art can choose according to the actual situation.

[0042] Please refer to the following: Figure 1 and Figure 2 In some embodiments, the robotic arm includes a multi-axis robotic arm (not shown) and a gripping mechanism 100. The gripping mechanism 100 is mounted on the multi-axis robotic arm. The multi-axis robotic arm is used to drive the gripping mechanism 100 to a target position (specifically, a gripping position and a release position), and the gripping mechanism 100 is used to grip the target object 200.

[0043] Understandably, when the target object 200 needs to be transferred, the multi-axis robotic arm drives the gripping mechanism 100 to move to the gripping position of the automated conveyor line (not shown), and the gripping mechanism 100 grips the target object 200. After the gripping mechanism 100 grips the target object 200, the multi-axis robotic arm drives the gripping mechanism 100 to move to the release position of the processing equipment, and the gripping mechanism 100 releases the target object 200.

[0044] It is worth noting that the aforementioned multi-axis robotic arm can be a two-axis robotic arm, a three-axis robotic arm, a four-axis robotic arm, etc. In other embodiments, the robotic arm can also be a single-axis robotic arm; this application does not limit this, and those skilled in the art can choose according to the actual situation.

[0045] Please refer to the following: Figures 3 to 5In some embodiments, the gripping mechanism 100 includes a mounting frame 10, a first positioning component 20, a second positioning component 30, a drive component 50, and a suction component 60. The mounting frame 10 is mounted on a multi-axis robotic arm. The mounting frame 10 provides support and mounting for the first positioning component 20, the second positioning component 30, the drive component 50, and the suction component 60.

[0046] In some embodiments, a first positioning component 20 is movably mounted on a fixture 10 along a first direction X, and a second positioning component 30 is movably mounted on a fixture 10 along a second direction Y. The first positioning component 20 and the second positioning component 30 together enclose a receiving space 40 for accommodating the target object 200. An adsorption component 60 and a driving component 50 are both mounted on the fixture 10, with the adsorption component 60 located in the receiving space 40. The driving component 50 is connected to both the first positioning component 20 and the second positioning component 30.

[0047] The driving component 50 is configured to drive the first positioning component 20 to abut against the target object 200 along a first direction X, and to drive the second positioning component 30 to abut against the target object 200 along a second direction Y. The adsorption component 60 is configured to adsorb the target object 200 after the first positioning component 20 and the second positioning component 30 abut against the target object 200 together.

[0048] Understandably, when the robotic arm grasps the target object 200 (specifically, when the target object 200 is housed in the receiving space 40), the drive component 50 drives the first positioning component 20 to abut against the target object 200 along the first direction X, and drives the second positioning component 30 to abut against the target object 200 along the second direction Y. After the first positioning component 20 and the second positioning component 30 abut against the target object 200 together, the adsorption component 60 adsorbs the target object 200.

[0049] By cooperating with the first positioning component 20, the second positioning component 30, and the adsorption component 60, the target object 200 can be precisely positioned (specifically, the position correction in the first direction X and the second direction Y) while being grasped. This means that the target object 200 can be positioned online. Firstly, the automated production line does not need to be stopped, which helps to improve the production efficiency of the automated production line. Secondly, the target object 200 does not need to be transferred to an external positioning fixture, which helps to reduce the risk of scratches to the target object 200 caused by secondary positioning and improves the product yield.

[0050] Please see Figure 3 In some embodiments, the adsorption assembly 60 consists of multiple spring suction cups 61. When the target object 200 is placed in the receiving space 40, the spring suction cups 61 are in a retracted state and abut against the target object 200. At this time, the spring suction cups 61 do not adsorb the target object 200.

[0051] After the first positioning component 20 and the second positioning component 30 jointly press against the target object 200 (that is, to achieve precise positioning of the target object 200), the spring suction cup 61 starts to adsorb the target object 200. In this way, the risk that the first positioning component 20 and the second positioning component 30 may have difficulty or be unable to position the target object 200 due to the adsorption component 60 adsorbing the target object 200 too tightly can be reduced.

[0052] Please refer to the following: Figures 3 to 5 In some embodiments, the gripping mechanism 100 includes a plurality of sub-positioning elements 70. The plurality of sub-positioning elements 70 are respectively defined as a first sub-positioning element 71, a second sub-positioning element 72, a third sub-positioning element 73, and a fourth sub-positioning element 74. The first sub-positioning element 71, the second sub-positioning element 72, the third sub-positioning element 73, and the fourth sub-positioning element 74 are all slidably mounted on the fixing frame 10.

[0053] The first sub-positioning member 71 and the second sub-positioning member 72 are spaced apart along the first direction X to form the first positioning assembly 20. The third sub-positioning member 73 and the fourth sub-positioning member 74 are spaced apart along the second direction Y to form the second positioning assembly 30. The first sub-positioning member 71, the second sub-positioning member 72, the third sub-positioning member 73, and the fourth sub-positioning member 74 together enclose and form a receiving space 40.

[0054] The drive assembly 50 is connected to the first sub-positioning member 71, the second sub-positioning member 72, the third sub-positioning member 73 and the fourth sub-positioning member 74 respectively, and is configured to drive the first sub-positioning member 71 and the second sub-positioning member 72 to move along the first direction X to abut against the target object 200, and to drive the third sub-positioning member 73 and the fourth sub-positioning member 74 to move along the second direction Y to abut against the target object 200.

[0055] Understandably, when the robotic arm grasps the target object 200, the drive assembly 50 drives the first sub-positioning member 71 and the second sub-positioning member 72 to move in opposite directions along the first direction X, and abuts against the two side walls of the target object 200 in the first direction X; and drives the third sub-positioning member 73 and the fourth sub-positioning member 74 to move in opposite directions along the second direction Y, and abut against the two side walls of the target object 200 in the second direction Y. Thus, the positioning of the target object 200 in the first direction X and the second direction Y is achieved, that is, precise positioning of the target object 200 is achieved.

[0056] In other embodiments, the number of sub-positioning elements 70 may also be other, that is, there may be a fifth sub-positioning element or a sixth sub-positioning element. This application does not limit this.

[0057] Please refer to the following: Figure 3 and Figure 6In some embodiments, each sub-positioning member 70 includes a clamping portion 75 and a connecting portion 76. The connecting portion 76 is slidably mounted on the fixing frame 10 and connected to the drive assembly 50. The connecting portion 76 is provided with an adjustment groove 761, and the clamping portion 75 is provided with a plug-in section 751, which is detachably mounted on the adjustment groove 761.

[0058] Understandably, before the robotic arm grasps the target object 200, the production and installation personnel can adjust the position of the insertion section 751 in the corresponding sub-positioning component 70 (specifically the first sub-positioning component 71, the second sub-positioning component 72, the third sub-positioning component 73, and the fourth sub-positioning component 74) in the adjustment groove 761 according to the actual size of the target object 200. That is, they can adjust the position of the clamping part 75 in the corresponding sub-positioning component to ensure that the multiple sub-positioning components always abut against the target object 200 and achieve precise positioning of the target object 200.

[0059] By adjusting the slot 761 and the plug section 751, the gripping mechanism 100 can quickly switch positions to adapt to target objects 200 of different sizes and specifications, which helps to improve the versatility of the gripping mechanism 100.

[0060] For example, a first target object (not shown) is defined as having a length of 50 mm in the first direction X and a width of 30 mm in the second direction Y. A second target object (not shown) is defined as having a length of 60 mm in the first direction X and a width of 40 mm in the second direction Y.

[0061] In the initial state, the robotic arm positions and grasps the first target object 200. The distance between the clamping part 75 in the first sub-positioning member 71 and the clamping part 75 in the second sub-positioning member 72 is 50mm, and the distance between the clamping part 75 in the third sub-positioning member 73 and the clamping part 75 in the fourth sub-positioning member 74 is 30mm.

[0062] When the target object 200 grasped by the robotic arm changes from the first target object to the second target object, the production and installation personnel disassemble the plug segment 751 in the first sub-positioning component 71 from the adjustment groove 761 and extend it outward along the first direction X (specifically, away from the receiving space 40) by 5mm. Subsequently, the plug segment 751 in the first sub-positioning component 71 is re-locked into the adjustment groove 761.

[0063] Simultaneously, the production and installation personnel disassemble the insertion section 751 of the second sub-positioning member 72 from the adjusting groove 761 and extend it outward along the first direction X (specifically, away from the receiving space 40) by 5mm. Then, the insertion section 751 of the second sub-positioning member 72 is re-locked into the adjusting groove 761. At this point, the distance between the clamping part 75 in the first sub-positioning member 71 and the clamping part 75 in the second sub-positioning member 72 changes from 50mm to 60mm.

[0064] Similarly, the distance between the clamping part 75 in the third sub-positioning member 73 and the clamping part 75 in the fourth sub-positioning member 74 is adjusted from 30mm to 40mm. It is worth noting that since the adjustment process of the distance between the third sub-positioning member 73 and the fourth sub-positioning member 74 is the same as the adjustment method of the first sub-positioning member 71 and the second sub-positioning member 72, it will not be described in detail here.

[0065] Once the distance between the clamping part 75 in the first sub-positioning member 71 and the clamping part 75 in the second sub-positioning member 72 is adjusted to 60mm, and the distance between the clamping part 75 in the third sub-positioning member 73 and the clamping part 75 in the fourth sub-positioning member 74 is adjusted to 40mm, the robot arm can be used to position and grasp the second target object 200.

[0066] In other embodiments, the sub-positioning member 70 may also adopt other adjustment structures and other spacing adjustment methods. This application does not limit this, and those skilled in the art will be able to choose according to the actual situation.

[0067] In some embodiments, the connecting part 76 is slidably mounted on the fixing frame 10 via a "slider-rail structure". The slider-rail structure can guide the connecting part 76, reducing the risk that the sub-positioning member 70 will fail to position the target object 200 due to the misalignment of the connecting part 76.

[0068] In other embodiments, the connecting portion 76 may also adopt other suitable sliding connection methods. This application does not limit this, and those skilled in the art can choose according to the actual situation.

[0069] Please refer to the following: Figures 3 to 5 In some embodiments, the drive assembly 50 includes a first drive member 51 and a plurality of transmission members 52. The first drive member 51 is mounted on the fixed frame 10, and the plurality of transmission members 52 are movably mounted on the fixed frame 10, with each transmission member 52 having an involute motion trajectory. The first sub-positioning member 71, the second sub-positioning member 72, the third sub-positioning member 73, and the fourth sub-positioning member 74 are respectively connected to the first drive member 51 through their respective transmission members 52.

[0070] The first drive member 51 is configured to drive a plurality of transmission members 52 to move toward or away from the axis of rotation in the first drive member 51, so that the first sub-positioning member 71 and the second sub-positioning member 72 move along the first direction X, and the third sub-positioning member 73 and the fourth sub-positioning member 74 move along the second direction Y.

[0071] For example, the transmission component 52 is a crank, and the movement trajectory of the crank 52 is an involute. The first driving component 51 is a rotary cylinder. The rotary cylinder 51 is mounted on the fixed frame 10, and multiple cranks 52 are movably mounted on the fixed frame 10 and are all connected to the rotation shaft of the rotary cylinder 51.

[0072] When it is necessary to locate and grasp the target object 200, the rotating shaft of the rotary cylinder 51 drives multiple cranks 52 to converge towards the axis of the rotating shaft. At this time, the corresponding cranks 52 drive the first sub-positioning member 71 and the second sub-positioning member 72 to move in opposite directions along the first direction X and abut against the target object 200 and against the two side walls of the target object 200 in the first direction X. They also drive the third sub-positioning member 73 and the fourth sub-positioning member 74 to move in opposite directions along the second direction Y and abut against the two side walls of the target object 200 in the second direction Y. That is, the target object 200 is positioned in the first direction X and the second direction Y.

[0073] In other embodiments, the transmission component 52 may also adopt other suitable structures, which are not limited in this application. Those skilled in the art can choose according to the actual situation.

[0074] On the one hand, by setting multiple transmission components 52, a first driving component 51 can drive multiple sub-positioning components 70 (specifically, the first sub-positioning component 71, the second sub-positioning component 72, the third sub-positioning component 73, and the fourth sub-positioning component 74) to move, which helps to reduce the number of driving components and lower production costs. On the other hand, by setting the motion trajectory of the transmission components 52 to be an involute, the stroke of the transmission components 52 can be reduced, thereby reducing the overall size of the gripping mechanism 100, making the gripping mechanism 100 more compact, which is beneficial for the miniaturization design of the robot.

[0075] In some embodiments, the drive assembly 50 includes a plurality of second drive members (not shown). The plurality of second drive members are all mounted on the mounting bracket 10. A first sub-positioning member 71, a second sub-positioning member 72, a third sub-positioning member 73, and a fourth sub-positioning member 74 are each connected to one of the second drive members.

[0076] For example, the second driving component is a telescopic motor. The first sub-positioning component 71, the second sub-positioning component 72, the third sub-positioning component 73, and the fourth sub-positioning component 74 are each connected to a telescopic motor. When it is necessary to position and grasp the target object 200, the corresponding telescopic motor drives the first sub-positioning component 71 and the second sub-positioning component 72 to move in opposite directions along the first direction X and abut against the target object 200 on the two side walls of the target object 200 in the first direction X, and drives the third sub-positioning component 73 and the fourth sub-positioning component 74 to move in opposite directions along the second direction Y and abut against the two side walls of the target object 200 in the second direction Y, that is, to achieve positioning of the target object 200 in the first direction X and the second direction Y.

[0077] By employing a second driving element to control the movement of one sub-positioning element 70 (specifically referring to the first sub-positioning element 71, the second sub-positioning element 72, the third sub-positioning element 73, and the fourth sub-positioning element 74), that is, each sub-positioning element 70 is independently controlled, the flexibility of the gripping mechanism 100 is improved. When any one or more sub-positioning elements 70 fail to work due to a malfunction, the remaining sub-positioning elements 70 can still continue to work under the action of the corresponding second driving element to support the target object 200, thereby achieving precise positioning of the target object 200.

[0078] Please refer to the following: Figure 1 and Figure 2 In some embodiments, the gripping mechanism 100 further includes a sensor assembly 80, which is mounted on the fixture 10 and configured to acquire the distance between the target object 200 and the adsorption assembly 60 in the third direction Z.

[0079] When the robotic arm grasps the target object 200, the sensor assembly 80 can obtain the position information of the target object 200 in advance (that is, the distance between the top of the target object 200 and the adsorption assembly 60). Based on the position information of the target object 200, the robotic arm controls the grasping mechanism 100 to accurately position and grasp the target object 200.

[0080] Firstly, it helps reduce the risk of the target object 200 colliding with and being damaged by the gripping mechanism 100 due to inaccurate positioning, thereby improving the positioning and gripping accuracy of the gripping mechanism 100. Secondly, it helps improve the versatility of the gripping mechanism 100, as it can be adapted to target objects 200 of different heights.

[0081] In some embodiments, the sensor assembly 80 includes a first sensor 81 and a second sensor 82. The first sensor 81 is configured as a long-range sensor, and the second sensor 82 is configured as a short-range sensor. Both the first sensor 81 and the second sensor 82 are mounted on the fixture 10, and the first sensor 81 and the second sensor 82 are configured to be spaced apart along the conveying direction of the target object 200.

[0082] When the automated conveyor line transports the target object 200, the long-range sensor can initially acquire the position information of the target object 200 (i.e., the distance between the top of the target object 200 and the adsorption component 60). As the target object 200 continues to move, the short-range sensor can accurately acquire the position information of the target object 200. Based on the acquired position information, the multi-axis robotic arm drives the gripping mechanism 100 to move to the target position.

[0083] By setting up long-range and short-range sensors, the sensor assembly 80 can acquire the position information of the target object 200 "first, then accurately", which helps to improve the accuracy of acquiring the position information of the target object 200, thereby better improving the positioning accuracy and grasping accuracy of the gripping mechanism 100.

[0084] Please refer to the following: Figure 1 and Figure 2 In some embodiments, the mounting bracket 10 is provided with a connecting rod 11, which is connected to a robotic arm. The robotic arm drives the gripping mechanism 100 to move via the connecting rod 11. The gripping mechanism 100 also includes a wiring harness assembly 90, which is mounted on the connecting rod 11 and is movable relative to the connecting rod 11. The wiring harness assembly 90 is configured to secure the signal lines in the robotic arm used for connection with the gripping mechanism 100.

[0085] When the robotic arm drives the gripping mechanism 100 to move via the connecting rod 11, the relative movement between the wiring harness assembly 90 and the connecting rod 11 allows the signal wire to "adaptively" adjust its slack during the overall movement, thus achieving a flexible connection of the signal wire. The wiring harness assembly 90 reduces the risk of signal wire breakage or core pull-out, helping to ensure the stable operation of the gripping mechanism 100 and extending the service life of the robotic arm.

[0086] Please refer to the following: Figure 1 and Figure 2 In some embodiments, the number of gripping mechanisms 100 is two. The two gripping mechanisms 100 are symmetrically arranged on the multi-axis robotic arm. The multi-axis robotic arm is configured to drive the two gripping mechanisms 100 to alternately grip the target object 200.

[0087] When one gripping mechanism 100 is positioned to grip the target object 200, another gripping mechanism 100 can simultaneously move to the unloading position or prepare to grip the next target object 200. By adopting the "alternating gripping in parallel" method, the idle waiting time of a single gripping mechanism 100 in the "positioning gripping-unloading" operation can be reduced, which is beneficial to improving the working efficiency of the robot and adapting it to high-speed production lines.

[0088] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A gripping mechanism applied to a robotic arm, characterized in that, The gripping mechanism includes a fixed frame, a first positioning component, a second positioning component, a driving component, and an adsorption component. The fixed frame is configured to be mounted on a robotic arm. The first positioning component is movably mounted on the fixed frame along a first direction, and the second positioning component is movably mounted on the fixed frame along a second direction. The first positioning component and the second positioning component together form a receiving space for accommodating the target object. The first direction and the second direction intersect. Both the adsorption component and the driving component are mounted on the fixing frame. The adsorption component is located in the receiving space. The driving component is connected to the first positioning component and the second positioning component respectively. The driving component is configured to drive the first positioning component to abut against the target object along the first direction and to drive the second positioning component to abut against the target object along the second direction. The adsorption component is configured to adsorb the target object after the first positioning component and the second positioning component abut against the target object together.

2. The gripping mechanism according to claim 1, characterized in that, The gripping mechanism includes multiple sub-positioning components, which are respectively defined as a first sub-positioning component, a second sub-positioning component, a third sub-positioning component, and a fourth sub-positioning component. The first sub-positioning component, the second sub-positioning component, the third sub-positioning component, and the fourth sub-positioning component are all slidably mounted on the fixed frame. The first sub-positioning member and the second sub-positioning member are spaced apart along the first direction to form the first positioning component, and the third sub-positioning member and the fourth sub-positioning member are spaced apart along the second direction to form the second positioning component. The first sub-positioning member, the second sub-positioning member, the third sub-positioning member, and the fourth sub-positioning member together enclose the receiving space. The drive component is connected to the first sub-positioning member, the second sub-positioning member, the third sub-positioning member, and the fourth sub-positioning member, respectively, and is configured to drive the first sub-positioning member and the second sub-positioning member to move along the first direction to abut against the target object, and to drive the third sub-positioning member and the fourth sub-positioning member to move along the second direction to abut against the target object.

3. The gripping mechanism according to claim 2, characterized in that, Each of the sub-positioning components includes a clamping part and a connecting part. The connecting part is slidably mounted on the fixing frame and connected to the driving assembly. The connecting part is provided with an adjustment groove, and the clamping part is provided with a plug-in section. The plug-in section is detachably mounted on the adjustment groove.

4. The gripping mechanism according to claim 2, characterized in that, The drive assembly includes a first drive component and multiple transmission components. The first drive component is mounted on the fixed frame, and the multiple transmission components are movably mounted on the fixed frame. The movement trajectory of each transmission component is an involute. The first sub-positioning member, the second sub-positioning member, the third sub-positioning member, and the fourth sub-positioning member are respectively connected to the first driving member through the corresponding transmission member. The first driving member is configured to drive the plurality of transmission members to move toward or away from the axis of rotation of the first driving member, so that the first sub-positioning member and the second sub-positioning member move along the first direction, and the third sub-positioning member and the fourth sub-positioning member move along the second direction.

5. The gripping mechanism according to claim 2, characterized in that, The drive assembly includes a plurality of second drive components, all of which are mounted on the fixed frame, and the first sub-positioning component, the second sub-positioning component, the third sub-positioning component, and the fourth sub-positioning component are respectively connected to one of the second drive components.

6. The gripping mechanism according to any one of claims 1 to 5, characterized in that, The gripping mechanism further includes a sensor assembly mounted on the mounting frame and configured to acquire the distance between the target object and the adsorption assembly in a third direction, the third direction intersecting the first direction and the second direction.

7. The gripping mechanism according to claim 6, characterized in that, The sensor assembly further includes a first sensor and a second sensor, wherein the first sensor is configured as a long-range sensor and the second sensor is configured as a short-range sensor; Both the first sensor and the second sensor are mounted on the mounting bracket, and the first sensor and the second sensor are configured to be spaced apart along the conveying direction of the target object.

8. The gripping mechanism according to any one of claims 1 to 5, characterized in that, The fixed frame is provided with a connecting rod, which is configured to be connected to the robot arm. The robot arm drives the gripping mechanism to move through the connecting rod. The gripping mechanism also includes a wiring harness assembly, which is installed on the connecting rod and is movable relative to the connecting rod. The wiring harness assembly is configured to bind the signal line in the robot arm that is used to connect to the gripping mechanism.

9. A robotic arm, characterized in that, It includes a multi-axis robotic arm and a gripping mechanism as described in any one of claims 1 to 8, the gripping mechanism being mounted on the multi-axis robotic arm.

10. The robotic arm according to claim 9, characterized in that, The number of gripping mechanisms is two, and the two gripping mechanisms are symmetrically arranged on the multi-axis robotic arm. The multi-axis robotic arm is configured to drive the two gripping mechanisms to alternately grip the target object.

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