Gripping device and robot

Abstract

The utility model provides a kind of grabbing device and robot, wherein grabbing device includes fixed subassembly, gripper subassembly and floating mechanism, the floating mechanism includes fixed connecting plate, gripper mounting plate, floating module and center limiting assembly, fixed connecting plate is connected in fixed subassembly, gripper mounting plate side away from fixed connecting plate is equipped with gripper subassembly;Floating module is set between fixed connecting plate and gripper mounting plate, and it is used for when gripper subassembly is acted by external force, it can make gripper mounting plate move in plane relative to fixed connecting plate along X axis and / or Y axis;Center limiting assembly is connected with floating module, and it is used for when gripper subassembly is not acted by external force, ensure that floating module can make gripper mounting plate keep central position along X axis and / or Y axis;The floating mechanism can effectively make up the deficiency of camera positioning accuracy, ensure the accuracy of grabbing and placing tray, and also can reduce cost.

Description

Technical Field

[0001] This utility model belongs to the field of chip technology, and more specifically, it relates to a grasping device and a robot. Background Technology

[0002] In the chip industry, one of the main challenges for robots gripping workpieces (i.e., trays containing chips) is the positioning accuracy of the camera. Conventional vision solutions typically achieve a positioning accuracy of around ±1mm, while improving accuracy incurs significant costs. Furthermore, the trays being gripped often need to be stacked, which places even stricter accuracy requirements, needing to reach ±0.1mm. Currently, the industry commonly uses dual-camera positioning, but this method is not only costly but also difficult and time-consuming to develop. Therefore, how to efficiently and economically solve the accuracy problem has become a pressing issue for the industry. Utility Model Content

[0003] The purpose of this invention is to provide a gripping device and robot to solve the problem of inaccurate workpiece placement caused by insufficient camera positioning accuracy in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: In a first aspect, this utility model provides a gripping device, comprising: Fixed components for mounting on the actuator of a mobile device; Gripper assembly, used to grip the workpiece; A floating mechanism includes a fixed connecting plate, a gripper mounting plate, a floating module, and a centering limiting component. The fixed connecting plate is connected to the fixed component, and the gripper assembly is mounted on the side of the gripper mounting plate facing away from the fixed connecting plate. The floating module is disposed between the fixed connecting plate and the gripper mounting plate and is used to enable the gripper mounting plate to move relative to the fixed connecting plate along the X-axis and / or Y-axis in a plane when the gripper assembly is subjected to external force. The centering limiting component is connected to the floating module and is used to ensure that the floating module can keep the gripper mounting plate centered in the X-axis and / or Y-axis when the gripper assembly is not subjected to external force.

[0005] Furthermore, the floating module includes an X-axis floating module, a Y-axis floating module, and a connecting plate assembly. The X-axis floating module is mounted on a fixed connecting plate, the Y-axis floating module is mounted on a gripper mounting plate, and the connecting plate assembly connects the X-axis floating module and the Y-axis floating module.

[0006] Furthermore, the X-axis floating module includes: The X-axis guide rail and the X-axis slider are fixedly connected to the connecting plate assembly, and the X-axis slider is installed on the fixed connecting plate and slidably connected to the X-axis guide rail. The first mounting base and the second mounting base are respectively mounted on the fixed connecting plate; The first intermediate seat is installed on the connecting plate assembly; A first spring and a second spring, wherein the first spring is disposed between the first mounting base and the first intermediate base, and the second spring is disposed between the second mounting base and the first intermediate base.

[0007] Furthermore, the centering limiting component includes: A first guide shaft is disposed on the side of the first intermediate seat facing the second mounting seat. The first guide shaft includes a first section, a second section and a third section connected in sequence. The diameter of the second section is larger than the diameter of the first section and larger than the diameter of the third section. The first section is mounted on the first intermediate seat, and the third section extends into the second spring. The first guide shaft is provided with a first limiting hole, which extends from the second section to the third section. The first cylindrical pin passes through the fixed connecting plate and extends into the first limiting hole; The first limiting sleeve is fitted onto the third segment. One side of the first limiting sleeve selectively abuts against the second segment, and the other side of the first limiting sleeve abuts against the end of the second spring away from the second mounting base.

[0008] Furthermore, the first mounting base has a first limiting part on the side facing the first intermediate base, and the first intermediate base has a second limiting part on the side facing the first mounting base. The two ends of the first spring abut against the first limiting part and the second limiting part, respectively.

[0009] Furthermore, both the first limiting part and the second limiting part adopt either an external protrusion or an internal groove.

[0010] Furthermore, the Y-axis floating module includes: The Y-axis guide rail and the Y-axis slider are fixedly connected to the gripper mounting plate and the Y-axis slider is installed on the connecting plate assembly and slidably connected to the Y-axis guide rail. The fixing block is fixedly connected to the gripper mounting plate; The third and fourth mounting brackets are respectively mounted on the fixing block; The second intermediate seat is installed on the connecting plate assembly; The third spring and the fourth spring are respectively located between the third mounting base and the second intermediate base.

[0011] Furthermore, the centering limiting component includes: The second guide shaft is located on the side of the second intermediate seat facing the fourth mounting seat. The second guide shaft includes a fourth segment, a fifth segment, and a sixth segment connected in sequence. The diameter of the fifth segment is greater than the diameter of the fourth segment and also greater than the diameter of the sixth segment. The fourth segment is mounted on the second intermediate seat, and the sixth segment extends into the fourth spring. The second guide shaft is provided with a second limiting hole, which extends from the fifth segment to the sixth segment. The second cylindrical pin has one end connected to the fixed block and the other end extending into the second limiting hole; The second limiting sleeve is fitted onto the sixth segment. One side of the second limiting sleeve selectively abuts against the fifth segment, and the other side of the second limiting sleeve abuts against the end of the fourth spring away from the fourth mounting base.

[0012] Furthermore, it also includes: The clamping mechanism includes a pressure plate and two sets of clamping limiting components. The pressure plate is used to fit the workpiece. The two sets of clamping limiting components are arranged on both sides of the gripper mounting plate. Each clamping limiting component includes a pressure plate guide shaft and a guide shaft limiting piece, a first linear bearing, a bearing mounting seat, and a fifth spring, which are sequentially sleeved on the pressure plate guide shaft. One end of the pressure plate guide shaft is connected to the pressure plate, and the guide shaft limiting piece is arranged at the other end of the pressure plate guide shaft away from the pressure plate. The first linear bearing is mounted on the bearing mounting seat, the bearing mounting seat is mounted on the gripper mounting plate, and the fifth spring is arranged between the pressure plate and the bearing mounting seat.

[0013] Furthermore, it also includes: The overpressure detection mechanism includes an overpressure guide shaft, a second linear bearing, a sixth spring, and a sensing detection assembly. One end of the overpressure guide shaft passes through the fixing plate of the fixing assembly, and the other end of the overpressure guide shaft is connected to the fixing connecting plate. The second linear bearing is sleeved on one end of the overpressure guide shaft and installed on the fixing plate. The sixth spring is sleeved on the overpressure guide shaft and is located between the second linear bearing and the fixing connecting plate. The sensing detection assembly includes a fixing seat, a slotted photoelectric sensor, and a sensing plate. The fixing seat is installed on the fixing connecting plate, and the slotted photoelectric sensor is installed on the fixing seat. The sensing plate is installed on the fixing plate, and when the sixth spring is not compressed, the sensing plate blocks the U-shaped slot of the slotted photoelectric sensor.

[0014] Secondly, this utility model provides a robot, including a mobile device and a gripping device as described above, wherein the gripping device is disposed at the execution end of the mobile device.

[0015] Compared with the prior art, the beneficial effects of the grasping device and robot provided by this utility model are as follows: The grasping device of this utility model includes a floating mechanism, which can effectively compensate for the lack of camera positioning accuracy, ensure the accuracy of grasping and placing the tray, and reduce costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of the gripping device of this utility model; Figure 2 This is a three-dimensional structural diagram of the floating mechanism in the gripping device of this utility model from a first-view perspective; Figure 3 This is a three-dimensional structural diagram of the floating mechanism in the gripping device of this utility model from a second perspective. Figure 4 This is a partial cross-sectional view of the floating mechanism in the gripping device of this utility model; Figure 5 This is a three-dimensional structural diagram of the floating mechanism in the grasping device of this utility model from a third-person perspective; Figure 6 This is a three-dimensional structural diagram of the clamping mechanism in the gripping device of this utility model; Figure 7 This is a three-dimensional structural diagram of the overpressure detection mechanism in the gripping device of this utility model; Figure 8 This is a three-dimensional structural diagram of the gripper assembly in the gripping device of this utility model; Figure 9 This utility model Figure 8 Enlarged structural diagram at point A in the middle; Figure 10 This is a three-dimensional structural diagram of the tray of this utility model.

[0018] The main markings in the attached figures are as follows: 100. Tray; 101. Groove.

[0019] 1. Fixed component; 2. Gripper component; 3. Floating mechanism; 4. Clamping mechanism; 5. Overpressure detection mechanism; 6. Camera; 11. Fixing plate; 211. First clamping plate; 212. Second clamping plate; 213. Support block; 221. Gear; 222. Rack; 231. Linear guide rail; 232. Linear slider; 241. Micro switch; 242. Spring; 243. Switch fixing plate; 31. Fixed connecting plate; 32. Grappling handle mounting plate; 33. Floating module; 34. Centering limit component; 331. X-axis floating module; 332. Y-axis floating module; 333. Connecting plate assembly; 3311, X-axis slider; 3312, X-axis guide rail; 3313, first mounting base; 3314, second mounting base; 3315, first intermediate base; 3316, first spring; 3317, second spring; 3318, first limiting part; 3319, second limiting part; 3321, Y-axis guide rail; 3322, Y-axis slider; 3323, fixing block; 3324, third mounting base; 3325, fourth mounting base; 3326, second intermediate base; 3327, third spring; 3328, fourth spring; 3331. Intermediate connecting plate; 3332. First guide rail slider connecting plate; 3333. Second guide rail slider connecting plate; 341. First guide shaft; 3410. First limiting hole; 342. First cylindrical pin; 343. First limiting sleeve; 344. Second guide shaft; 346. Second limiting sleeve; 41. Pressure plate; 42. Pressing and limiting assembly; 421. Pressure plate guide shaft; 422. Guide shaft limiting piece; 423. First linear bearing; 424. Bearing mounting base; 425. Fifth spring; 51. Overpressure guide shaft; 52. Second linear bearing; 53. Sixth spring; 54. Sensing and detection assembly; 541. Fixing base; 542. Slotted photoelectric sensor; 543. Sensing plate. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] In the chip industry, there are two main challenges to robots grasping trays containing chips. One challenge is the positioning accuracy of the camera. Ordinary vision solutions have a positioning accuracy of around ±1mm, and improving accuracy requires significant additional costs. Since the trays being grasped need to be stacked, the required accuracy needs to be ±0.1mm. The other challenge is that during the grasping and handling process, even slight vibrations can cause the chips inside the tray to fall out or become misaligned.

[0022] To address the two aforementioned challenges, this invention presents a novel gripping device mounted on a robot for precisely and stably gripping a pallet, achieving accurate pallet stacking, and preventing chips from falling or becoming misaligned during gripping and handling.

[0023] It should be noted that this utility model mainly focuses on improving the gripping device. The robot will be briefly introduced first, followed by a detailed description of the gripping device.

[0024] A robot consists of a mobile device and a gripping device, with the gripping device located at the execution end of the mobile device. The mobile device mainly comprises an AGV (Automated Guided Vehicle) and a robotic arm, while the execution end is located on the robotic arm. In this case, the robot is often referred to as a composite robot.

[0025] Please refer to the following: Figures 1 to 7 The gripping device provided by this utility model mainly includes a fixed component 1, a camera 6, a gripper component 2, and a floating mechanism 3.

[0026] The fixed assembly 1 is used to install on the actuator of the mobile device. The camera 6 is mounted on the fixed plate 11 of the fixed assembly 1 via a bracket. The gripper assembly 2 is used to grip the tray 100 containing the chip. The floating mechanism 3 includes a fixed connecting plate 31, a gripper mounting plate 32, a floating module 33, and a centering limiting component 34. The fixed connecting plate 31 is connected to the fixed assembly 1, and the gripper assembly 2 is mounted on the side of the gripper mounting plate 32 facing away from the fixed connecting plate 31. The floating module 33 is disposed between the fixed connecting plate 31 and the gripper mounting plate 32, and is used to enable the gripper mounting plate 32 to move relative to the fixed connecting plate 31 in the plane along the X-axis and / or Y-axis when the gripper assembly 2 is subjected to external force. The centering limiting component 34 is connected to the floating module 33, and is used to ensure that the floating module 33 can keep the gripper mounting plate 32 in a centered position along the X-axis and / or Y-axis when the gripper assembly 2 is not subjected to external force.

[0027] This utility model employs a gripping device including a floating mechanism 3, which can effectively compensate for the insufficient positioning accuracy of the camera 6, ensure the accuracy of gripping and placing the tray 100, and reduce costs.

[0028] Specifically, when grasping the pallet 100, the gripper assembly 2 needs to move directly above the pallet 100, which requires the gripper assembly 2 to be in a centered position. Through the coordinated operation of the centering limit component 34 in the floating mechanism 3 and the floating module 33, the gripper mounting plate 32 can maintain a centered position on the X-axis and / or Y-axis, thereby ensuring that the gripper assembly 2 is always in a centered position to achieve accurate grasping of the pallet 100.

[0029] After grasping the pallet 100, the gripper assembly 2 needs to transfer the pallet 100 to the buffer position (the edge of the buffer position is equipped with guide blocks). The camera 6 scans the positioning point on the docking device to achieve positioning. After positioning, the gripper assembly 2 places the pallet 100 in the buffer position. However, due to the limitations of the positioning accuracy of the camera 6, the edge of the pallet 100 will contact the guide block when placed. After adding the floating mechanism 3 to the gripping device, when the gripper assembly 2 is subjected to external force, the gripper mounting plate 32 can move relative to the fixed connecting plate 31 in the plane along the X-axis and / or Y-axis. With the force applied by the guide block, the gripper assembly 2 is offset, thereby smoothly placing the pallet 100 into the buffer position.

[0030] like Figures 2 to 4As shown, the floating module 33 includes an X-axis floating module 331, a Y-axis floating module 332, and a connecting plate assembly 333. The X-axis floating module 331 is mounted on the fixed connecting plate 31, the Y-axis floating module 332 is mounted on the gripper mounting plate 32, and the connecting plate assembly 333 connects the X-axis floating module 331 and the Y-axis floating module 332.

[0031] The floating module 331 is configured as one unit, and the floating modules 332 are configured as two units, with the X-axis floating module 331 located between the two Y-axis floating modules 332. This design makes the floating mechanism 3 approximately symmetrically arranged along the Y-axis, thereby more effectively ensuring that the gripper assembly 2 is centered.

[0032] like Figure 3 As shown, the connecting plate assembly 333 includes an intermediate connecting plate 3331, a first guide rail slider connecting plate 3332, and a second guide rail slider connecting plate 3333. The intermediate connecting plate 3331 is located between the first guide rail slider connecting plate 3332 and the second guide rail slider connecting plate 3333. The first guide rail slider connecting plate 3332 and the intermediate connecting plate 3331 are fixedly connected by threaded fasteners, and the second guide rail slider connecting plate 3333 and the intermediate connecting plate 3331 are fixedly connected by threaded fasteners.

[0033] like Figures 2 to 4 As shown, the X-axis floating module 331 mainly includes: X-axis guide rail 3312 and X-axis slider 3311, first mounting base 3313 and second mounting base 3314, first intermediate base 3315, first spring 3316 and second spring 3317.

[0034] The X-axis guide rail 3312 is fixedly connected to the connecting plate assembly 333, and the X-axis slider 3311 is mounted on the fixed connecting plate 31 and slidably connected to the X-axis guide rail 3312. The X-axis guide rail 3312 and the X-axis slider 3311 together form the X-axis guide rail slider, which serves as a guide in the X-axis direction. Two X-axis guide rails 3312 and two X-axis sliders 3311 are provided, with the two X-axis sliders 3311 installed alternately on the fixed connecting plate 31. One X-axis guide rail 3312 is integrally connected to the first guide rail slider connecting plate 3332, and the other X-axis guide rail 3312 is integrally connected to the second guide rail slider connecting plate 3333. Furthermore, the first mounting base 3313 and the second mounting base 3314 are respectively mounted on the fixed connecting plate 31, and the first intermediate base 3315 is mounted on the intermediate connecting plate 3331. In addition, the first spring 3316 is disposed between the first mounting base 3313 and the first intermediate base 3315, and the second spring 3317 is disposed between the second mounting base 3314 and the first intermediate base 3315.

[0035] Based on the specific structure of the aforementioned X-axis floating module 331, the centering limiting component 34 mainly includes a first guide shaft 341, a first cylindrical pin 342, and a first limiting sleeve 343.

[0036] It should be noted that the first guide shaft 341, the first cylindrical pin 342, and the first limiting sleeve 343 can be located on the side of the first intermediate seat 3315 facing the first mounting seat 3313, or on the side of the first intermediate seat 3315 facing the second mounting seat 3314. Both of these mounting positions can ensure that the X-axis floating module 331 effectively maintains the gripper mounting plate 32 in the centered position on the X-axis when the gripper assembly 2 is not subjected to external force.

[0037] To facilitate a detailed explanation, the components of the centering limit assembly 34 will be specifically described below using one of the installation positions as an example.

[0038] In the centering limiting assembly 34, a first guide shaft 341 is disposed on the side of the first intermediate seat 3315 facing the second mounting seat 3314. The first guide shaft 341 includes a first segment, a second segment, and a third segment connected in sequence. The diameter of the second segment is larger than the diameter of both the first and third segments. The first segment is installed on the first intermediate seat 3315 by a threaded fastener. The third segment extends into the second spring 3317. The first guide shaft 341 is provided with a first limiting hole 3410, which extends from the second segment to the third segment. A first cylindrical pin 342 passes through the fixed connecting plate 31 and then extends into the first limiting hole 3410. A first limiting sleeve 343 is fitted onto the third segment. One side of the first limiting sleeve 343 selectively abuts against the second segment, and the other side of the first limiting sleeve 343 abuts against the end of the second spring 3317 away from the second mounting seat 3314.

[0039] Furthermore, the first mounting base 3313 has a first limiting part 3318 on the side facing the first intermediate base 3315, the first intermediate base 3315 has a second limiting part 3319 on the side facing the first mounting base 3313, and the second mounting base 3314 has a third limiting part on the side facing the first intermediate base 3315. The two ends of the first spring 3316 abut against the first limiting part 3318 and the second limiting part 3319 respectively, and the end of the second spring 3317 away from the first limiting sleeve 343 abuts against the third limiting part. The first limiting part 3318, the second limiting part 3319, and the third limiting part are all constructed using either an external protrusion or an internal groove 101. This design ensures that the first spring 3316 is securely positioned between the first mounting base 3313 and the first intermediate base 3315, while the second spring 3317 is securely positioned between the second mounting base 3314 and the first limiting sleeve 343.

[0040] It should also be noted that the first guide shaft 341 is provided with a first limiting hole 3410, which is oblong in shape. Through the cooperation between the first limiting hole 3410 and the first cylindrical pin 342, the floating amount in the X-axis direction can be limited to within ±4mm. The first guide shaft 341 also provides a guiding function for the first limiting sleeve 343.

[0041] Furthermore, the fixed connecting plate 31 is provided with a first adjusting hole, through which a first threaded adjusting member passes and is threadedly connected to the first mounting base 3313. The first adjusting hole is oblong in shape, and through the cooperation of the first adjusting hole and the first threaded adjusting member, it is convenient to manually adjust the installation position of the first mounting base 3313, thereby adjusting the compression of the first spring 3316 and thus changing the output force of the first spring 3316. Similarly, the fixed connecting plate 31 is also provided with a second adjusting hole, through which a second threaded adjusting member passes and is threadedly connected to the second mounting base 3314. The second adjusting hole is oblong in shape, and through the cooperation of the second adjusting hole and the second threaded adjusting member, it is convenient to manually adjust the installation position of the second mounting base 3314, thereby adjusting the compression of the second spring 3317 and thus changing the output force of the second spring 3317.

[0042] In addition, due to the function of the centering limit component 34, the compression of the first spring 3316 must be less than the compression of the second spring 3317, so as to ensure that the gripper component 2 is in a fixed position when there is no force.

[0043] The working principle of the centering limit component 34 and the X-axis floating module 331 is as follows: When the gripper assembly 2 is not subjected to external force, the second spring 3317 is compressed due to the first cylindrical pin 342, the first guide shaft 341, and the first limiting sleeve 343, and its elastic force is greater than that of the first spring 3316. Even if the second spring 3317 is highly worn, the compression provided by the first guide shaft 341 and the first limiting sleeve 343 still ensures that the elastic force of the second spring 3317 always exceeds that of the first spring 3316. Simultaneously, due to the limiting effect of the first cylindrical pin 342, the first cylindrical pin 342 abuts against the first limiting sleeve 343, and the first limiting sleeve 343 abuts against the second spring 3317, preventing the first spring 3316 from extending. Therefore, the gripper assembly 2 will not shift in the X-axis direction, thus ensuring that it maintains a centered position on the X-axis when not subjected to external force.

[0044] When the gripper assembly 2 is subjected to an external force, if the right side of the tray 100 contacts the guide block, the gripper assembly 2 will shift to the left. At this time, the first intermediate seat 3315 and the first guide shaft 341 move to the left, further compressing the first spring 3316; while the first limiting sleeve 343 remains stationary under the action of the first cylindrical pin 342, causing the second section of the first guide shaft 341 to separate from the first limiting sleeve 343, and the second spring 3317 remains unchanged. Conversely, if the left side of the tray 100 contacts the guide block, the gripper assembly 2 will shift to the right. At this time, the first intermediate seat 3315 and the first guide shaft 341 move to the right, and the first guide shaft 341 pushes the second spring 3317 through the first limiting sleeve 343, further compressing the second spring 3317, while the first spring 3316 extends.

[0045] Although there is one more Y-axis floating module 332 than X-axis floating module 331, they are structurally similar. The following detailed explanation will use a single Y-axis floating module 332 as an example.

[0046] like Figure 2 , Figure 5 As shown, the Y-axis floating module 332 mainly includes a Y-axis guide rail 3321 and a Y-axis slider 3322, a fixing block 3323, a third mounting base 3324 and a fourth mounting base 3325, a second intermediate base 3326, and a third spring 3327 and a fourth spring 3328.

[0047] The Y-axis guide rail 3321 is fixedly connected to the gripper mounting plate 32. The Y-axis slider 3322 is mounted on the first guide rail slider connecting plate 3332 or the second guide rail slider connecting plate 3333, and slidably connected to the Y-axis guide rail 3321. The fixing block 3323 is fixedly connected to the gripper mounting plate 32. The third mounting seat 3324 and the fourth mounting seat 3325 are respectively mounted on the fixing block 3323. The second intermediate seat 3326 is mounted on the first guide rail slider connecting plate 3332 or the second guide rail slider connecting plate 3333. The third spring 3327 is disposed between the third mounting seat 3324 and the second intermediate seat 3326. The fourth spring 3328 is disposed between the fourth mounting seat 3325 and the second intermediate seat 3326.

[0048] Based on the specific structure of the aforementioned Y-axis floating module 332, the centering limiting component 34 mainly includes a second guide shaft 344, a second cylindrical pin, and a second limiting sleeve 346.

[0049] It should be noted that the second guide shaft 344, the second cylindrical pin, and the second limiting sleeve 346 can be positioned on the side of the second intermediate seat 3326 facing the third mounting seat 3324, or on the side of the second intermediate seat 3326 facing the fourth mounting seat 3325. Both mounting positions ensure that the Y-axis floating module 332 effectively maintains the gripper mounting plate 32 in a centered position on the Y-axis when the gripper assembly 2 is not subjected to external forces.

[0050] To facilitate a detailed explanation, the components of the centering limit assembly 34 will be specifically described below using one of the installation positions as an example.

[0051] In the centering limiting assembly 34, a second guide shaft 344 is disposed on the side of the second intermediate seat 3326 facing the fourth mounting seat 3325. The second guide shaft 344 includes a fourth segment, a fifth segment, and a sixth segment connected in sequence. The diameter of the fifth segment is larger than the diameter of both the fourth and sixth segments. The fourth segment is mounted on the second intermediate seat 3326, and the sixth segment extends into the fourth spring 3328. The second guide shaft 344 is provided with a second limiting hole that extends from the fifth segment to the sixth segment. One end of a second cylindrical pin is connected to a fixing block 3323, and the other end of the second cylindrical pin extends into the second limiting hole. A second limiting sleeve 346 is fitted onto the sixth segment. One side of the second limiting sleeve 346 selectively abuts against the fifth segment, and the other side of the second limiting sleeve 346 abuts against the end of the fourth spring 3328 away from the fourth mounting seat 3325. This design ensures that the third spring 3327 is securely positioned between the third mounting base 3324 and the second intermediate base 3326, while the fourth spring 3328 is securely positioned between the fourth mounting base 3325 and the second limiting sleeve 346.

[0052] Furthermore, the third mounting base 3324 has a fourth limiting portion on the side facing the second intermediate base 3326, the second intermediate base 3326 has a fifth limiting portion on the side facing the third mounting base 3324, and the fourth mounting base 3325 has a sixth limiting portion on the side facing the second intermediate base 3326. The two ends of the third spring 3327 abut against the fourth and fifth limiting portions respectively, and the end of the fourth spring 3328 away from the second limiting sleeve 346 abuts against the sixth limiting portion.

[0053] It should also be noted that the second guide shaft 344 is provided with a second limiting hole, which is oblong in shape. Through the engagement of the second limiting hole with the second cylinder, the floating amount in the Y-axis direction can be limited to within ±4mm. The second guide shaft 344 also provides guidance for the second limiting sleeve 346.

[0054] Furthermore, the fixing block 3323 is provided with a third adjustment hole, through which a third threaded adjustment component passes and is threadedly connected to the third mounting base 3324. The third adjustment hole is oblong in shape, and through its cooperation with the third threaded adjustment component, the installation position of the third mounting base 3324 can be easily adjusted manually, thereby adjusting the compression of the third spring 3327 and thus changing the output force of the third spring 3327. Similarly, the fixing block 3323 is also provided with a fourth adjustment hole, through which a fourth threaded adjustment component passes and is threadedly connected to the fourth mounting base 3325. The fourth adjustment hole is oblong in shape, and through its cooperation with the fourth threaded adjustment component, the installation position of the fourth mounting base 3325 can be easily adjusted manually, thereby adjusting the compression of the fourth spring 3328 and thus changing the output force of the fourth spring 3328.

[0055] In addition, due to the function of the centering limit component 34, the compression of the third spring 3327 must be less than the compression of the fourth spring 3328, so as to ensure that the gripper component 2 is in a fixed position when there is no force.

[0056] The working principle of the centering limit component 34 and the Y-axis floating module 332 is as follows: When the gripper assembly 2 is not subjected to external force, the fourth spring 3328 is compressed due to the second cylindrical pin, the second guide shaft 344, and the second limiting sleeve 346, and its elastic force is greater than that of the third spring 3327. Even if the third spring 3327 is highly worn, the compression provided by the second guide shaft 344 and the second limiting sleeve 346 still ensures that the elastic force of the fourth spring 3328 always exceeds that of the third spring 3327. Simultaneously, due to the limiting effect of the second cylindrical pin, the second cylindrical pin abuts against the second limiting sleeve 346, which in turn abuts against the fourth spring 3328, preventing the fourth spring 3328 from extending. Therefore, the gripper assembly 2 will not shift in the Y-axis direction, thus ensuring that it maintains a centered position on the Y-axis when not subjected to external force.

[0057] When the gripper assembly 2 is subjected to an external force, if the rear side of the tray 100 contacts the guide block, the gripper assembly 2 will shift forward. At this time, the second intermediate seat 3326 and the second guide shaft 344 remain stationary, the third mounting seat 3324 moves forward, further compressing the third spring 3327; while the second cylindrical pin, the second limiting sleeve 346, and the fourth mounting seat 3325 move forward synchronously, causing the fifth segment of the second guide shaft 344 to separate from the second limiting sleeve 346, and the fourth spring 3328 remains unchanged. Conversely, if the front side of the tray 100 contacts the guide block, the gripper assembly 2 will move backward. At this time, the second intermediate seat 3326, the second guide shaft 344, and the second limiting sleeve 346 remain stationary, the second cylindrical pin and the fourth mounting seat 3325 move backward, further compressing the fourth spring 3328; while the third mounting seat 3324 moves backward, extending the third spring 3327.

[0058] Please refer to the following: Figure 1 and Figure 6 The gripping device provided by this utility model also includes a pressing mechanism 4. The pressing mechanism 4 includes a pressure plate 41 and two sets of pressing and limiting components 42. The pressure plate 41 is used to fit the workpiece. The two sets of pressing and limiting components 42 are arranged on both sides of the gripper mounting plate 32. The pressing and limiting components 42 include a guide shaft of the pressure plate 41 and a guide shaft limiting piece 422, a first linear bearing 423, a bearing mounting seat 424 and a fifth spring 425, which are sequentially sleeved on the guide shaft of the pressure plate 41. One end of the guide shaft of the pressure plate 41 is connected to the pressure plate 41. The guide shaft limiting piece 422 is arranged at the other end of the guide shaft of the pressure plate 41 away from the pressure plate 41. The first linear bearing 423 is installed on the bearing mounting seat 424. The bearing mounting seat 424 is installed on the gripper mounting plate 32. The fifth spring 425 is arranged between the pressure plate 41 and the bearing mounting seat 424.

[0059] It should be noted that in the clamping and limiting assembly 42, there are two of each of the pressure plate 41 guide shaft and its guide shaft limiting piece 422, the first linear bearing 423 and the fifth spring 425, while there is only one bearing mounting seat 424, which is sleeved on the two pressure plate 41 guide shafts. The pressure plate 41 can be made of transparent material.

[0060] When the tray 100 is not being gripped, the fifth spring 425 remains uncompressed, and the guide shaft limiting piece 422 is in close contact with the upper end of the first linear bearing 423. When the tray 100 is being gripped, whether one or up to seven trays 100 are being gripped, the tray 100 contacts the pressure plate 41, applying an upward force to the pressure plate 41, causing the fifth spring 425 to be compressed. At this time, the pressure plate 41 is in close contact with the tray 100, effectively preventing the chip from falling or becoming misaligned.

[0061] This utility model employs a gripping device including a clamping mechanism 4, which can press down the chip during the gripping of the tray 100, effectively preventing the chip from falling or becoming misaligned during the gripping and handling process, thereby reducing the requirements for the robot's shockproof performance and improving the efficiency and stability of gripping and handling.

[0062] Please refer to the following: Figure 1 and Figure 7 The gripping device provided by this utility model also includes an overpressure detection mechanism 5, which includes an overpressure guide shaft 51, a second linear bearing 52, a sixth spring 53, and a sensing detection component 54. One end of the overpressure guide shaft 51 passes through the fixing plate 11 of the fixing component 1, and the other end of the overpressure guide shaft 51 is connected to the fixing connecting plate 31. The second linear bearing 52 is sleeved on one end of the overpressure guide shaft 51 and installed on the fixing plate 11 by threaded fasteners. The sixth spring 53 is sleeved on the overpressure guide shaft 51 and is located between the second linear bearing 52 and the fixing connecting plate 31. The sensing detection component 54 includes a fixing seat 541, a slotted photoelectric sensor 542, and a sensing plate 543. The fixing seat 541 is installed on the fixing connecting plate 31, and the slotted photoelectric sensor 542 is installed on the fixing seat 541. The sensing plate 543 is installed on the fixing plate 11, and when the sixth spring 53 is not compressed, the sensing plate 543 blocks the U-shaped slot of the slotted photoelectric sensor 542.

[0063] It should be noted that in the overpressure detection mechanism 5, there are four overpressure guide shafts 51 and four second linear bearings 52 and sixth springs 53 on them, while there are two sets of sensing detection components 54. These two sets of sensing detection components 54 are symmetrically installed on both sides of the fixed plate 11 and the fixed connecting plate 31.

[0064] Under normal conditions, the sixth spring 53 remains uncompressed, and the sensing plate 543 blocks the U-shaped groove of the slotted photoelectric sensor 542. When the gripper assembly 2 experiences overpressure during operation, the sixth spring 53 will be compressed, causing the sensing plate 543 to move downward and no longer block the slotted photoelectric sensor 542. At this time, the robot will trigger an alarm and stop moving.

[0065] Please refer to the following: Figure 8 and Figure 9 In the gripping device, the gripper assembly 2 mainly includes a drive motor, transmission components, clamping components, guiding components, and detection components.

[0066] The drive motor can be a servo motor. The clamping component consists of a first clamping plate 211 and a second clamping plate 212, which are symmetrically mounted on the gripper mounting plate 32. Each clamping plate is provided with a support block 213. The function of the support block 213 is to hook onto the bottom notch of the pallet 100 during the gripper assembly 2's gripping of the pallet 100, thereby preventing the pallet 100 from accidentally falling off and avoiding damage. The transmission component includes a gear 221 and two racks 222. The gear 221 is mounted on the drive shaft of the drive motor, and the two racks 222 mesh with the gear 221 respectively and are fixedly connected to the first clamping plate 211 and the second clamping plate 212 respectively, thereby realizing the opening and closing movement of the two clamping plates. The guiding component includes two linear guide rails 231 and four linear sliders 232. The two linear guide rails 231 are fixed at intervals to the gripper mounting plate 32. Two linear sliders 232 are mounted on the first clamping plate 211 and slidably disposed on the two linear guide rails 231 respectively. The other two linear sliders 232 are mounted on the second clamping plate 212 and slidably disposed on the two linear guide rails 231 respectively, thereby realizing the guiding function of opening and closing the two clamping plates.

[0067] The detection component includes two detection units, one of which is disposed on the first clamping plate 211 and the other on the second clamping plate 212. The detection unit includes a micro switch 241 and a switch fixing plate 243. The micro switch 241 is mounted on the first clamping plate 211 or the second clamping plate 212 through the switch fixing plate 243. The micro switch 241 is provided with a spring 242. When the spring 242 is squeezed and compressed by the tray 100, the micro switch 241 is triggered.

[0068] like Figure 10 As shown, the two sides of the tray 100 are designed as a flat surface and a groove 101, respectively. During the gripping process, the spring 242 of one detection unit contacts the flat surface, and the spring 242 triggers the micro switch 241 after being compressed; while the spring 242 of the other detection unit contacts the groove 101, the spring 242 is not compressed, and the micro switch 241 remains in an untriggered state. Through the triggering status of these two micro switches 241, the system can accurately reflect the following states: normal (one micro switch 241 is triggered, the other micro switch 241 is not triggered), material drop (both micro switches 241 are not triggered), material gripped incorrectly (the triggering signals of the two micro switches 241 are opposite), and inaccurate gripping position (both micro switches 241 are triggered).

[0069] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gripping device, characterized in that, include: A fixed component (1) is used for mounting on the actuator of the mobile device; Gripper assembly (2), used to grip the workpiece; The floating mechanism (3) includes a fixed connecting plate (31), a gripper mounting plate (32), a floating module (33), and a centering limiting component (34). The fixed connecting plate (31) is connected to the fixed component (1). The gripper assembly (2) is mounted on the side of the gripper mounting plate (32) facing away from the fixed connecting plate (31). The floating module (33) is disposed between the fixed connecting plate (31) and the gripper mounting plate (32) and is used to enable the gripper mounting plate (32) to move relative to the fixed connecting plate (31) along the X-axis and / or Y-axis in a plane when the gripper assembly (2) is subjected to external force. The centering limiting component (34) is connected to the floating module (33) and is used to ensure that the floating module (33) enables the gripper mounting plate (32) to maintain a centered position on the X-axis and / or Y-axis when the gripper assembly (2) is not subjected to external force.

2. The gripping device as described in claim 1, characterized in that, The floating module (33) includes an X-axis floating module (331), a Y-axis floating module (332), and a connecting plate assembly (333). The X-axis floating module (331) is mounted on the fixed connecting plate (31), the Y-axis floating module (332) is mounted on the gripper mounting plate (32), and the connecting plate assembly (333) connects the X-axis floating module (331) and the Y-axis floating module (332).

3. The gripping device as described in claim 2, characterized in that, The X-axis floating module (331) includes: The X-axis guide rail (3312) and the X-axis slider (3311) are fixedly connected to the connecting plate assembly (333) and the X-axis slider (3311) is mounted on the fixed connecting plate (31) and slidably connected to the X-axis guide rail (3312). The first mounting base (3313) and the second mounting base (3314) are respectively mounted on the fixed connecting plate (31); The first intermediate seat (3315) is installed on the connecting plate assembly (333); A first spring (3316) and a second spring (3317), wherein the first spring (3316) is disposed between the first mounting base (3313) and the first intermediate base (3315), and the second spring (3317) is disposed between the second mounting base (3314) and the first intermediate base (3315).

4. The gripping device as described in claim 3, characterized in that, The centering limiting component (34) includes: A first guide shaft (341) is disposed on the side of the first intermediate seat (3315) facing the second mounting seat (3314). The first guide shaft (341) includes a first segment, a second segment, and a third segment connected in sequence. The diameter of the second segment is greater than the diameter of the first segment and greater than the diameter of the third segment. The first segment is mounted on the first intermediate seat (3315). The third segment extends into the second spring (3317). The first guide shaft (341) is provided with a first limiting hole (3410). The first limiting hole (3410) extends from the second segment to the third segment. The first cylindrical pin (342) passes through the fixed connecting plate (31) and then extends into the first limiting hole (3410); A first limiting sleeve (343) is fitted onto the third segment. One side of the first limiting sleeve (343) selectively abuts against the second segment, and the other side of the first limiting sleeve (343) abuts against the end of the second spring (3317) away from the second mounting base (3314).

5. The gripping device as described in claim 3, characterized in that, The first mounting base (3313) has a first limiting part (3318) on the side facing the first intermediate base (3315), and the first intermediate base (3315) has a second limiting part (3319) on the side facing the first mounting base (3313). The two ends of the first spring (3316) abut against the first limiting part (3318) and the second limiting part (3319) respectively.

6. The gripping device as described in claim 5, characterized in that, Both the first limiting part (3318) and the second limiting part (3319) adopt either an external protrusion or an internal groove.

7. The gripping device as described in claim 2, characterized in that, The Y-axis floating module (332) includes: The Y-axis guide rail (3321) and the Y-axis slider (3322) are fixedly connected to the gripper mounting plate (32) and the Y-axis slider (3322) is mounted on the connecting plate assembly (333) and slidably connected to the Y-axis guide rail (3321). A fixing block (3323) is fixedly connected to the gripper mounting plate (32); The third mounting base (3324) and the fourth mounting base (3325) are respectively mounted on the fixing block (3323); The second intermediate seat (3326) is installed on the connecting plate assembly (333); A third spring (3327) and a fourth spring (3328) are provided, wherein the third spring (3327) is disposed between the third mounting base (3324) and the second intermediate base (3326), and the fourth spring (3328) is disposed between the fourth mounting base (3325) and the second intermediate base (3326).

8. The gripping device as described in claim 7, characterized in that, The centering limiting component (34) includes: A second guide shaft (344) is disposed on the side of the second intermediate seat (3326) facing the fourth mounting seat (3325). The second guide shaft (344) includes a fourth segment, a fifth segment, and a sixth segment connected in sequence. The diameter of the fifth segment is greater than the diameter of the fourth segment and also greater than the diameter of the sixth segment. The fourth segment is mounted on the second intermediate seat (3326), and the sixth segment extends into the fourth spring (3328). The second guide shaft (344) is provided with a second limiting hole, which extends from the fifth segment to the sixth segment. The second cylindrical pin has one end connected to the fixing block (3323) and the other end extending into the second limiting hole; The second limiting sleeve (346) is fitted onto the sixth segment. One side of the second limiting sleeve (346) selectively abuts against the fifth segment, and the other side of the second limiting sleeve (346) abuts against the end of the fourth spring (3328) away from the fourth mounting base (3325).

9. The gripping device as described in claim 1, characterized in that, Also includes: The clamping mechanism (4) includes a pressure plate (41) and two sets of clamping limiting components (42). The pressure plate (41) is used to fit the workpiece. The two sets of clamping limiting components (42) are disposed on both sides of the gripper mounting plate (32). The clamping limiting component (42) includes a pressure plate guide shaft (421) and a guide shaft limiting piece (422), a first linear bearing (423), a bearing mounting seat (424), and a fifth spring (425) sequentially sleeved on the pressure plate guide shaft (421). One end of the pressure plate guide shaft (421) is connected to the pressure plate (41), the guide shaft limiting piece (422) is disposed at the other end of the pressure plate guide shaft (421) away from the pressure plate (41), the first linear bearing (423) is mounted on the bearing mounting seat (424), the bearing mounting seat (424) is mounted on the gripper mounting plate (32), and the fifth spring (425) is disposed between the pressure plate (41) and the bearing mounting seat (424).

10. The gripping device as claimed in claim 1, characterized in that, Also includes: The overpressure detection mechanism (5) includes an overpressure guide shaft (51), a second linear bearing (52), a sixth spring (53), and a sensing detection assembly (54). One end of the overpressure guide shaft (51) passes through the fixing plate (11) of the fixing assembly (1), and the other end of the overpressure guide shaft (51) is connected to the fixing connecting plate (31). The second linear bearing (52) is sleeved on one end of the overpressure guide shaft (51) and installed on the fixing plate (11). The sixth spring (53) is sleeved on the overpressure guide shaft (51) and is located on the first linear bearing (54). Between the two linear bearings (52) and the fixed connecting plate (31); the sensing and detection assembly (54) includes a fixed base (541), a slotted photoelectric sensor (542) and a sensing plate (543). The fixed base (541) is installed on the fixed connecting plate (31), and the slotted photoelectric sensor (542) is installed on the fixed base (541). The sensing plate (543) is installed on the fixed plate (11), and when the sixth spring (53) is not compressed, the sensing plate (543) blocks the U-shaped slot of the slotted photoelectric sensor (542).

11. A robot, characterized in that, It includes a mobile device and a gripping device as described in any one of claims 1-9, wherein the gripping device is disposed at the execution end of the mobile device.

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