WO2020250065A1 - Grabbing device - Google Patents

Grabbing device Download PDF

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Publication number
WO2020250065A1
WO2020250065A1 PCT/IB2020/055014 IB2020055014W WO2020250065A1 WO 2020250065 A1 WO2020250065 A1 WO 2020250065A1 IB 2020055014 W IB2020055014 W IB 2020055014W WO 2020250065 A1 WO2020250065 A1 WO 2020250065A1
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WO
WIPO (PCT)
Prior art keywords
connecting rod
grasping
grabbing
support
link
Prior art date
Application number
PCT/IB2020/055014
Other languages
French (fr)
Chinese (zh)
Inventor
陈胜辉
Original Assignee
陈胜辉
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 陈胜辉 filed Critical 陈胜辉
Publication of WO2020250065A1 publication Critical patent/WO2020250065A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Definitions

  • the present invention relates to the technical field of robots, and in particular, to a grasping device and a robot connected to it.
  • the end effector is mainly based on arrayed suction cups and customized fixture/suction cup mechanisms.
  • the customized fixture/suction cup mechanism can only grab a small number of commodities and is more adaptable.
  • the array type sucker mechanism can realize the function of grabbing a variety of commodities, when dealing with the problem of continuous grabbing of multiple commodities, it will encounter the grabbing of one kind of commodity but the interference of another kind of commodity, so that the specified grabbing cannot be realized. The function of the product.
  • the present invention provides a grasping device including at least one grasping part; at least one connecting rod part connected to at least one grasping part; and a first adjusting part moving the connecting rod part to make The at least one gripping portion moves in at least one direction of movement in the first plane.
  • the connecting rod portion includes a support portion, and at least one connecting rod assembly, the connecting rod assembly includes a first connecting rod and a second connecting rod;
  • the support portion includes a first support portion and a second support portion;
  • One end of the first link is rotatably connected to the first support part, the first link is movable along the first movement direction provided by the support part, and the other end is connected to the grasping part;
  • one end of the second link is rotatably connected to the second The other end of the supporting part is rotatably connected between the two ends of the first connecting rod.
  • the first supporting portion and the second supporting portion are located on the same straight line.
  • the line connecting the first supporting portion and the second supporting portion is perpendicular to the first plane.
  • one end of the second link is connected to the midpoint of the first link.
  • the grasping portion includes a second adjusting portion, the second adjusting portion is connected to the grasping portion, and the second adjusting portion transmits the amount of rotation of the first connecting rod relative to the first support portion, and the The amount of rotation is transmitted to the grabbing portion to rotate the grabbing portion so that the grabbing direction of the grabbing portion remains unchanged.
  • the connecting rod portion includes a supporting portion, and at least one connecting rod assembly, and the connecting rod assembly includes a first Three connecting rods
  • the supporting part includes a first supporting part and a second supporting part; one end of the third connecting rod is rotatably connected to the first supporting part, and one end of the third connecting rod can be along the first supporting part provided by the first supporting part. It moves in one direction of movement, and the other end is fixedly connected to the grabbing portion.
  • the second supporting portion includes a guide rail. The first supporting portion can move relative to the guide rail to make the grabbing portion move in a fourth direction provided by the guide rail.
  • the guide rail is slidably connected to the grabbing portion or the other end of the third link.
  • the first movement direction provided by the first support portion is perpendicular to the fourth direction provided by the guide rail.
  • the connecting rod part includes a first connecting rod assembly and a second connecting rod assembly;
  • the grasping part includes a first grasping part and a second grasping part;
  • the first connecting rod assembly is connected to the first grasping part.
  • a grabbing portion, the second connecting rod assembly is connected to a second grabbing portion, and the first adjusting portion moves the first connecting rod assembly to make the first grabbing portion along a second moving direction in a first plane Exercise,
  • the first adjusting part moves the second link assembly so that the second grasping part moves in a third direction of movement in a first plane.
  • the second movement direction and the third movement direction are located on the same straight line.
  • the grasping part is a suction cup or a suction cup group or a clamping jaw.
  • the present invention converts the movement amount of the adjustment part into the change amount of the grasping device range through the connecting rod part, so that at least one grasping part moves in at least one movement direction in the first plane, and several grasping parts can be combined with each other , Forming different movement directions, combined into an adjustable grasping range, and improving the adaptability of the grasping device to different grasping objects.
  • Figure 1 is a schematic diagram of the first embodiment of the present invention, where 01 is the power supply unit; 02 is the first adjustment part; 03 is the upper limit sensor; 04 is the first support part; 05 is the transmission belt; 06 is the first connecting rod; 07 is the lower limit sensor; 08 is the second connecting rod; 09 is the rotating shaft; 10 is the second supporting part; 11 is the second grasping part; 12 is the first grasping part; 13 the first transmission wheel; 14 is the second Transmission wheel; 15-position control unit.
  • Fig. 2 is a schematic diagram of the first support part in the posture adjustment part.
  • Fig. 3 is a schematic diagram of the second support part in the posture adjustment part.
  • Fig. 4 is a schematic diagram of a single first adjusting part corresponding to multiple connecting rod parts.
  • Fig. 5 is a schematic diagram of the combination of multiple adjustment parts and even cadres.
  • Fig. 6 is a schematic diagram of the second embodiment: 16 is a connecting adjusting rod; 17 is a moving guide rail.
  • Fig. 7 is a schematic diagram of the first adjusting part directly connected with the power part.
  • Figure 8 is a schematic diagram of the movement principle.
  • a material grabbing device as shown in Figure 1, includes: at least one grabbing portion, at least one connecting rod portion, connecting at least one grabbing portion, a first adjusting portion, and moving the connecting rod portion so that the The at least one gripping portion moves in at least one direction of movement in the first plane.
  • the gripping part is specifically a suction cup, or a suction cup group composed of a plurality of suction cups, or a clamping jaw composed of a mechanical structure, etc., which are used to separate the object from the surface of the storage platform to achieve the grasping of the target object.
  • the suction cup controls the suction cup through the control part
  • the vacuum in the pneumatic pipeline controls the suction and placement actions of the suction cup.
  • the gripping part is a gripper
  • the gripper grips the target object through the control unit control mechanism or directly , Realize the grabbing of the target.
  • the connecting rod part includes at least one connecting rod, and the connecting rod can realize movement.
  • the connecting rod part is connected to the grasping part, and when the connecting rod moves, the grasping part moves with the movement of at least one of the connecting rods.
  • the first adjusting part is connected to the connecting rod part, and the first adjusting part is movable to move the connecting rod in the connecting rod part.
  • the power for the movement of the first adjustment part is provided by the power supply unit, and the power supply unit 01 is connected to the first adjustment part to control the movement of the first adjustment part.
  • the power supply unit provides power for the entire system, and may be a power source such as a motor, an air cylinder, a hydraulic cylinder, etc.
  • the power supply unit includes a power output shaft, and the power output shaft is connected to the first adjustment part to transmit the power to The first adjustment part, or is connected to the first adjustment part through a plurality of transmission mechanisms to transmit the power to the first adjustment part.
  • the power supply unit 01 may have a deceleration unit inside, and the deceleration unit is used to increase the driving force of the power unit.
  • the power supply unit includes a feedback mechanism, which can provide the precise position of the first adjustment part after being converted by the transmission units at various levels, which can be precisely controlled by the control part 15.
  • the feedback mechanism may be an encoder, a position sensor, etc., to provide position information of the adjustment part.
  • the grabbing device also includes a limit sensor and a position sensor, and the limit sensor can limit the maximum working range of the adjusting part. Protect the gripping device.
  • the position sensor can provide a fixed grasping position for realizing some fixed position positioning functions.
  • the connecting rod part is used to transmit mechanical energy obtained from the power supply unit.
  • the connecting rod portion includes a supporting portion, and at least one connecting rod assembly.
  • the supporting portion includes a first supporting portion 04 and a second supporting portion 10.
  • the first support portion 04 and the second support portion 10 are located on the same straight line, the first support portion 04 has a first movement direction and can move in a first direction, and the first support portion 04 can move along the first direction.
  • the supporting part 04 moves in the direction of the connection line with the second supporting part 10.
  • the end of the second support portion is fixedly installed with the second grasping portion 11, which is combined with the first grasping portion 12 to grasp the object, and the second grasping portion 11 may not be installed at the end of the second support portion, and the second grasping portion 11 is solely The picking part 12 completes the picking of the object.
  • the connecting rod assembly includes a first connecting rod 06 and a second connecting rod 08.
  • One end of the first connecting rod 06 is rotatably connected to the first support part 04, and the other end is connected to the grasping part 12.
  • One end of the second connecting rod 08 is rotatably connected to the second supporting part 10, and the other end is rotatably connected between the two ends of the first connecting rod 06.
  • the line connecting the first supporting portion 04 and the second supporting portion 10 is perpendicular to the first plane, and the first supporting portion moves vertically.
  • One end of the first connecting rod is connected to the first supporting part and can move vertically with the first supporting part.
  • the first support part includes a vertical support rod and a sleeve element, the sleeve element is sleeved on the support rod and can move vertically along the support rod, and the second support part is fixed on the support rod .
  • one end of the first link is rotated to connect the sleeve element, and when the sleeve element moves vertically along the support rod, one end of the first link then moves vertically along the support rod.
  • the other end of the first link is connected to the grabbing part.
  • the other end of the first connecting rod 06 moves in a direction of movement in the first plane, and the other end of the first connecting rod 06 is connected to the grasping portion 12 so that the grasping portion follows the first connecting rod.
  • the movement direction of the other end moves.
  • the other end of the second link assembly 08 is connected to the midpoint of the first link 06.
  • the rod 06 rotates around the midpoint of the first connecting rod 06, so that the other end of the first connecting rod moves in the horizontal movement direction on the first plane.
  • the other end of the first connecting rod 06 is fixedly connected to the grasping portion 12, namely The gripping part moves along the horizontal movement direction.
  • the grasping device includes a second adjusting part connected to the grasping part, and the second adjusting part transmits the rotation amount of the first connecting rod relative to the first supporting part 04, and the rotation The amount is rotated to the grasping portion so that the grasping angle of the grasping portion remains unchanged.
  • the direction of the grasping portion is perpendicular to the first plane.
  • the second adjustment part includes a first transmission wheel 13, a second transmission wheel 14 and a transmission belt 05.
  • the first transmission wheel is fixedly connected with a rotating shaft, and the rotationally connected part is connected by a rotating shaft.
  • the first transmission wheel is fixedly connected to its corresponding rotating shaft, and the first supporting portion 04 and its corresponding
  • the rotating shaft is fixedly connected, and one end of the first connecting rod is rotatably connected with the rotating shaft; at the connection between the first connecting rod and the grasping portion, the rotating shaft of the second transmission wheel is fixedly connected with the grasping portion, and is connected to the first connecting rod.
  • the other end of the connecting rod is connected by rotation.
  • the grasping portion 12 is fixedly connected to the corresponding rotating shaft 09, and a second transmission wheel 14 is fixed on the rotating shaft 09.
  • the two transmission wheels are tightly connected by a transmission belt, and when the transmission wheels rotate, the transmission belt rotates.
  • the drive belt can be tensioned and connected by an external tensioning mechanism.
  • the transmission belt may preferably be a synchronous belt, or may be a V-belt, an O-belt or other transmission belts.
  • the connecting rod part is adjusted by the first adjusting part to move from the first solid line position to the second dashed line position along the arrow direction, wherein the angle between the connecting rod part and the adjusting part movement direction is A1 , A2;
  • the relative rotation angle is equal to the rotation angle of the grabbing portion relative to the direction of the connecting rod group, that is, it is ensured that the direction of the grabbing portion is a constant direction; the preferred direction of the grabbing portion is perpendicular to the first plane.
  • the second adjusting part is composed of a gear mechanism, and the gear mechanism includes a plurality of gears, and adjacent gears mesh with each other.
  • the relative rotation of the connecting rod caused by the movement of the adjusting part is transmitted to the grasping part by a plurality of gears, so that the grasping direction of the grasping part is a constant direction.
  • the direction of the grasping part is perpendicular to the first plane.
  • the posture adjustment part is composed of a gear set and a pulley mechanism.
  • the gear set and the pulley mechanism transmit the relative rotation of the connecting rod caused by the movement of the adjustment part to the grasping part, so that the grasping direction of the grasping part is a constant direction
  • the direction of the grasping portion is perpendicular to the first plane.
  • the connecting rod part includes several connecting rod components, and the connecting rod components move synchronously through the same adjusting part, or as shown in FIG. 5, the grasping device includes several adjusting parts and connecting rod components. , The connecting rods move through their respective adjusting parts.
  • the output shaft of the power supply unit is directly connected to the first support portion, the first support portion and the second support portion are located on the same straight line, and the first support portion is The connecting line of the second supporting part is perpendicular to the first plane.
  • the connecting rod assembly includes a third connecting rod 16, and the third connecting rod One end of the rod 16 is rotatably connected to the first support part 04, one end of the third link can move along the first movement direction provided by the first support part, and the other end is fixedly connected to the grasping part,
  • the support part includes a first support Part 04 and a second support part, the second support part includes a guide rail 17, the first support part can move relative to the guide rail so that the grasping part moves along the fourth movement direction provided by the guide rail, specifically, the guide rail It is slidably connected with the grabbing part or the other end of the third link.
  • the other end of the third link is fixedly connected to the grabbing portion, which means that the grabbing portion cannot rotate, and the direction of the grabbing portion is fixed with the direction of movement, and generally the grabbing direction of the grabbing portion is down.
  • the direction of the grasping portion is perpendicular to the direction of movement.
  • the first support portion and one end of the guide rail are located on the same straight line, and the connection line between the first support portion and the guide rail is perpendicular to the first plane.
  • the first support portion includes a vertical support rod and a sleeve element, the sleeve element is sleeved on the support rod, the sleeve element can move vertically along the support rod, and one end of the guide rail is fixed At the same time, the guide rail is slidingly connected to the other end of the grabbing portion or the third connecting rod.
  • the guide rail is vertical to the support rod, and one end of the first link is rotated to connect the socket element.
  • the socket element moves vertically along the support rod
  • one end of the first link follows The support rod moves vertically
  • the other end of the first connecting rod is connected to the grasping part to move horizontally in the direction of the guide rail.
  • the first support 04 moves, one end of the third link 16 moves with the first support part, and the third link 16 rotates relative to the first support part around the shaft connected to it, and the other end of the third link 16 Moving along the horizontal movement direction on the guide rail, the other end of the third link 16 is fixedly connected to the grasping portion 12, that is, the grasping portion moves along the horizontal movement direction.
  • the connecting rod part includes a plurality of connecting rod components, and the connecting rod components move synchronously through the same adjusting part, or as shown in FIG. 5, the grasping device includes a plurality of adjusting parts and connecting rod assemblies , The connecting rods move through their respective adjusting parts.
  • the output shaft of the power supply unit is directly connected to the first supporting portion, the first supporting portion and the second supporting portion are located on the same straight line, and the first supporting portion is The connecting line of the second supporting part is perpendicular to the first plane.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A grabbing device, comprising at least one grabbing portion (11, 12); at least one connecting rod portion (06, 08) connected to the at least one grabbing portion; and a first adjustment portion moving the connecting rod portion so that the at least one grabbing portion (11, 12) moves along at least one direction of movement in a first plane. According to the grabbing device, the amount of movement of the adjustment portion is converted into the amount of change in the range of the grabbing device by means of the connecting rod portion, so that the at least one grabbing portion (11, 12) moves along at least one direction of movement in the first plane, and several grabbing portions can be combined with each other to form different directions of movement, and combined to form an adjustable grabbing range, thereby improving the adaptability of the grabbing device to different grab subjects.

Description

一种抓取装置 A grabbing device
技术领域 Technical field
本发明涉及机器人技术领域， 具体而言， 涉及一种抓取装置及与其连接的机 器人。 The present invention relates to the technical field of robots, and in particular, to a grasping device and a robot connected to it.
背景技术 Background technique
目前，机器人抓取领域在末端执行器方面主要以阵列式的吸盘、定制化的夹 具 /吸盘机构为主， 定制化的夹具 /吸盘机构只能抓取少量种类是商品， 适应性较 宅。阵列式的吸盘机构虽然能够实现抓取多种商品的功能，但是在处理多种商品 连续抓取问题时，会碰到抓取某种商品却被另一种商品干涉， 从而不能实现抓取 指定商品的功能。 At present, in the field of robot grasping, the end effector is mainly based on arrayed suction cups and customized fixture/suction cup mechanisms. The customized fixture/suction cup mechanism can only grab a small number of commodities and is more adaptable. Although the array type sucker mechanism can realize the function of grabbing a variety of commodities, when dealing with the problem of continuous grabbing of multiple commodities, it will encounter the grabbing of one kind of commodity but the interference of another kind of commodity, so that the specified grabbing cannot be realized. The function of the product.
目前另一个较为通用的解决方案为多种不同的夹具 /吸盘机构作为一个夹具 库，机器人能够通过切换不同夹具实现对不同商品的抓取， 显然这种解决方案适 应性相对有限， 切换夹具降低效率， 提高了设备成本。 At present, another more general solution is to use a variety of different fixtures/suction cup mechanisms as a fixture library. The robot can switch between different fixtures to realize the grasping of different commodities. Obviously, this solution has relatively limited adaptability, and switching fixtures reduces efficiency. , Increase the cost of equipment.
发明内容 Summary of the invention
为解决上述技术问题， 本发明提供了一种抓取装置， 包括至少一个抓取部; 至少一个连杆部， 连接至少一个抓取部； 第一调整部， 移动所述连杆部， 以使所 述至少一个抓取部在第一平面内沿至少一个运动方向运动。 In order to solve the above technical problems, the present invention provides a grasping device including at least one grasping part; at least one connecting rod part connected to at least one grasping part; and a first adjusting part moving the connecting rod part to make The at least one gripping portion moves in at least one direction of movement in the first plane.
优选的， 所述连杆部包括支撑部， 以及至少一个连杆组件， 所述连杆组件包 括第一连杆以及第二连杆；所述支撑部包括第一支撑部和第二支撑部；所述第一 连杆一端转动连接第一支撑部，所述第一连杆可沿支撑部提供的第一运动方向移 动， 另一端连接抓取部； 所述第二连杆一端转动连接第二支撑部， 另一端转动连 接第一连杆的两端之间。 Preferably, the connecting rod portion includes a support portion, and at least one connecting rod assembly, the connecting rod assembly includes a first connecting rod and a second connecting rod; the support portion includes a first support portion and a second support portion; One end of the first link is rotatably connected to the first support part, the first link is movable along the first movement direction provided by the support part, and the other end is connected to the grasping part; one end of the second link is rotatably connected to the second The other end of the supporting part is rotatably connected between the two ends of the first connecting rod.
优选的， 所述第一支撑部与所述第二支撑部位于同一直线上。 Preferably, the first supporting portion and the second supporting portion are located on the same straight line.
所述第一支撑部与所述第二支撑部的连线垂直第一平面。 The line connecting the first supporting portion and the second supporting portion is perpendicular to the first plane.
优选的， 所述第二连杆的一端连接所述第一连杆的中点。 Preferably, one end of the second link is connected to the midpoint of the first link.
优选的， 所述抓取部包括第二调整部， 所述第二调整部连接抓取部， 所述第 二调整部传递所述第一连杆相对于第一支撑部的转动量，将所述转动量传动至所 述抓取部， 以转动所述抓取部使所述抓取部的抓取方向不变。 Preferably, the grasping portion includes a second adjusting portion, the second adjusting portion is connected to the grasping portion, and the second adjusting portion transmits the amount of rotation of the first connecting rod relative to the first support portion, and the The amount of rotation is transmitted to the grabbing portion to rotate the grabbing portion so that the grabbing direction of the grabbing portion remains unchanged.
优选的， 所述连杆部包括支撑部， 以及至少一个连杆组件， 连杆组件包括第 三连杆，所述支撑部包括第一支撑部和第二支撑部；所述第三连杆一端转动连接 第一支撑部，所述第三连杆的一端可沿第一支撑部提供的第一运动方向移动，另 一端固定连接抓取部，所述第二支撑部包括导轨，所述第一支撑部可相对导轨运 动使所述抓取部沿导轨提供的第四方向移动。 Preferably, the connecting rod portion includes a supporting portion, and at least one connecting rod assembly, and the connecting rod assembly includes a first Three connecting rods, the supporting part includes a first supporting part and a second supporting part; one end of the third connecting rod is rotatably connected to the first supporting part, and one end of the third connecting rod can be along the first supporting part provided by the first supporting part. It moves in one direction of movement, and the other end is fixedly connected to the grabbing portion. The second supporting portion includes a guide rail. The first supporting portion can move relative to the guide rail to make the grabbing portion move in a fourth direction provided by the guide rail.
优选的， 所述导轨与抓取部或第三连杆的另一端滑动连接。 Preferably, the guide rail is slidably connected to the grabbing portion or the other end of the third link.
优选的，所述第一支撑部提供的第一运动方向与所述导轨提供的第四方向垂 直。 Preferably, the first movement direction provided by the first support portion is perpendicular to the fourth direction provided by the guide rail.
优选的，所述连杆部包括第一连杆组件以及第二连杆组件； 所述抓取部包括 第一抓取部和第二抓取部；所述第一连杆组件连接第一抓取部，所述第二连杆组 件连接第二抓取部，所述第一调整部移动所述第一连杆组件以使所述第一抓取部 在第一平面内沿第二运动方向运动， Preferably, the connecting rod part includes a first connecting rod assembly and a second connecting rod assembly; the grasping part includes a first grasping part and a second grasping part; the first connecting rod assembly is connected to the first grasping part. A grabbing portion, the second connecting rod assembly is connected to a second grabbing portion, and the first adjusting portion moves the first connecting rod assembly to make the first grabbing portion along a second moving direction in a first plane Exercise,
所述第一调整部移动所述第二连杆组件以使所述第二抓取部在第一平面内 沿第三运动方向运动。 The first adjusting part moves the second link assembly so that the second grasping part moves in a third direction of movement in a first plane.
优选的， 所述第二运动方向与所述第三运动方向位于同一直线上。 Preferably, the second movement direction and the third movement direction are located on the same straight line.
优选的， 所述抓取部为吸盘或吸盘组或夹爪。 Preferably, the grasping part is a suction cup or a suction cup group or a clamping jaw.
本发明将通过连杆部将调整部的运动量转化为抓取装置范围的变化量，使至 少一个抓取部在第一平面内沿至少一个运动方向运动，并且若干抓取部之间可以 相互组合， 形成不同的运动方向， 组合成可调整的抓取范围， 提高了抓取装置对 于不同抓取物的适应能力。 The present invention converts the movement amount of the adjustment part into the change amount of the grasping device range through the connecting rod part, so that at least one grasping part moves in at least one movement direction in the first plane, and several grasping parts can be combined with each other , Forming different movement directions, combined into an adjustable grasping range, and improving the adaptability of the grasping device to different grasping objects.
附图说明 Description of the drawings
图 1为本发明是实施例一示意图， 其中 01为动力提供单元； 02为第一调整 部； 03为上限位传感器； 04为第一支撑部； 05为传动带； 06为位第一连杆； 07 为下限位传感器； 08为第二连杆； 09为转轴； 10为第二支撑部； 11为第二抓取 部； 12为第一抓取部； 13第一传动轮； 14为第二传动轮； 15位控制部。 Figure 1 is a schematic diagram of the first embodiment of the present invention, where 01 is the power supply unit; 02 is the first adjustment part; 03 is the upper limit sensor; 04 is the first support part; 05 is the transmission belt; 06 is the first connecting rod; 07 is the lower limit sensor; 08 is the second connecting rod; 09 is the rotating shaft; 10 is the second supporting part; 11 is the second grasping part; 12 is the first grasping part; 13 the first transmission wheel; 14 is the second Transmission wheel; 15-position control unit.
图 2为姿态调整部中， 第一支撑部的示意图。 Fig. 2 is a schematic diagram of the first support part in the posture adjustment part.
图 3为姿态调整部中， 第二支撑部的示意图。 Fig. 3 is a schematic diagram of the second support part in the posture adjustment part.
图 4为单个第一调整部对应多个连杆部的示意图。 Fig. 4 is a schematic diagram of a single first adjusting part corresponding to multiple connecting rod parts.
图 5为多个调整部与连干部组合的示意图。 Fig. 5 is a schematic diagram of the combination of multiple adjustment parts and even cadres.
图 6为实施例二示意图： 16为连调整杆； 17为运动导轨。 图 7为第一调整部直接与动力部相连的示意图。 Fig. 6 is a schematic diagram of the second embodiment: 16 is a connecting adjusting rod; 17 is a moving guide rail. Fig. 7 is a schematic diagram of the first adjusting part directly connected with the power part.
图 8为运动原理示意图。 Figure 8 is a schematic diagram of the movement principle.
具体实施方式 Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行描述。 一种物料抓取装置，如图 1所示，包括：至少一个抓取部，至少一个连杆部， 连接至少一个抓取部， 第一调整部， 移动所述连杆部， 以使所述至少一个抓取部 在第一平面内沿至少一个运动方向运动。 The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. A material grabbing device, as shown in Figure 1, includes: at least one grabbing portion, at least one connecting rod portion, connecting at least one grabbing portion, a first adjusting portion, and moving the connecting rod portion so that the The at least one gripping portion moves in at least one direction of movement in the first plane.
所述抓取部具体为吸盘、或者多个吸盘组成的吸盘组、或者由机械结构组成 的夹爪等， 用于使物体脱离置物平台的表面实现对目标物的抓取。具体的， 例如 吸盘通过控制部控制吸盘， 气动管路中的真空度控制吸盘的吸取、放置动作， 例 如抓取部为夹爪时，所述夹爪通过控制部控制机构或者直接夹取目标物体、实现 对目标物的抓取。 The gripping part is specifically a suction cup, or a suction cup group composed of a plurality of suction cups, or a clamping jaw composed of a mechanical structure, etc., which are used to separate the object from the surface of the storage platform to achieve the grasping of the target object. Specifically, for example, the suction cup controls the suction cup through the control part, and the vacuum in the pneumatic pipeline controls the suction and placement actions of the suction cup. For example, when the gripping part is a gripper, the gripper grips the target object through the control unit control mechanism or directly , Realize the grabbing of the target.
所述连杆部中包括至少一个连杆，所述连杆可以实现运动。所述连杆部连接 抓取部， 在连杆运动时， 所述抓取部随着其中至少一个连杆的运动而运动。 The connecting rod part includes at least one connecting rod, and the connecting rod can realize movement. The connecting rod part is connected to the grasping part, and when the connecting rod moves, the grasping part moves with the movement of at least one of the connecting rods.
所述第一调整部连接所述连杆部，第一调整部可移动以使连杆部中的连杆移 动。 第一调整部移动的动力由动力提供单元提供， 动力提供单元 01连接第一调 整部， 控制所述第一调整部移动。所述动力提供单元为整个***提供动力， 可以 为电机、 气缸、 液压缸等动力源， 具体的， 所述动力提供单元包括动力输出轴， 所述动力输出轴连接第一调整部将动力传动至第一调整部，或者通过若干级传动 机构连接所述第一调整部将动力传动至第一调整部。 动力提供单元 01内部可以 具有减速单元， 所述减速单元用于增大动力单元驱动力。 The first adjusting part is connected to the connecting rod part, and the first adjusting part is movable to move the connecting rod in the connecting rod part. The power for the movement of the first adjustment part is provided by the power supply unit, and the power supply unit 01 is connected to the first adjustment part to control the movement of the first adjustment part. The power supply unit provides power for the entire system, and may be a power source such as a motor, an air cylinder, a hydraulic cylinder, etc. Specifically, the power supply unit includes a power output shaft, and the power output shaft is connected to the first adjustment part to transmit the power to The first adjustment part, or is connected to the first adjustment part through a plurality of transmission mechanisms to transmit the power to the first adjustment part. The power supply unit 01 may have a deceleration unit inside, and the deceleration unit is used to increase the driving force of the power unit.
所述动力提供单元包括反馈机构，所述反馈机构经过各级传动单元换算之后 能够提供第一调整部的精确位置量通过控制部 15精确控制。 所述反馈机构可以 是由编码器、 位置传感器等， 提供调整部的位置信息。 The power supply unit includes a feedback mechanism, which can provide the precise position of the first adjustment part after being converted by the transmission units at various levels, which can be precisely controlled by the control part 15. The feedback mechanism may be an encoder, a position sensor, etc., to provide position information of the adjustment part.
所述抓取装置还包括限位传感器、位置传感器，所述限位传感器能够限制调 整部最大工作范围。 保护抓取装置。 所述位置传感器能够提供固定的抓取位置， 用以实现一些固定位置的定位功能。 The grabbing device also includes a limit sensor and a position sensor, and the limit sensor can limit the maximum working range of the adjusting part. Protect the gripping device. The position sensor can provide a fixed grasping position for realizing some fixed position positioning functions.
所述连杆部用于传递从动力提供单元获得的机械能。具体的，所述连杆部包 括支撑部， 以及至少一个连杆组件。 所述支撑部包括第一支撑部 04和第二支撑部 10。 所述第一支撑部 04与所 述第二支撑 10部位于同一直线上，所述第一支撑 04部具有第一运动方向可以沿 第一方向运动， 所述第一支撑部 04可沿第一支撑部 04与第二支撑 10部连线的 方向移动。 The connecting rod part is used to transmit mechanical energy obtained from the power supply unit. Specifically, the connecting rod portion includes a supporting portion, and at least one connecting rod assembly. The supporting portion includes a first supporting portion 04 and a second supporting portion 10. The first support portion 04 and the second support portion 10 are located on the same straight line, the first support portion 04 has a first movement direction and can move in a first direction, and the first support portion 04 can move along the first direction. The supporting part 04 moves in the direction of the connection line with the second supporting part 10.
所述第二支撑部末端固定安装第二抓取部 11， 与第一抓取部 12组合抓取物 体， 所述第二支撑部末端也可不安装第二抓取部 11， 单独由第一抓取部 12完成 对物体的抓取。 The end of the second support portion is fixedly installed with the second grasping portion 11, which is combined with the first grasping portion 12 to grasp the object, and the second grasping portion 11 may not be installed at the end of the second support portion, and the second grasping portion 11 is solely The picking part 12 completes the picking of the object.
所述连杆组件包括第一连杆 06以及第二连杆 08, 所述第一连杆 06—端转 动连接第一支撑部 04,另一端连接抓取部 12。所述第二连杆 08—端转动连接第 二支撑部 10， 另一端转动连接第一连杆 06的两端之间。 所述第一支撑部 04移 动时， 第一连杆 06的一端跟随第一支撑部移动， 第一连杆 06绕与第一连杆 06 与第二连杆 08的连接处转动。 The connecting rod assembly includes a first connecting rod 06 and a second connecting rod 08. One end of the first connecting rod 06 is rotatably connected to the first support part 04, and the other end is connected to the grasping part 12. One end of the second connecting rod 08 is rotatably connected to the second supporting part 10, and the other end is rotatably connected between the two ends of the first connecting rod 06. When the first supporting part 04 moves, one end of the first connecting rod 06 moves with the first supporting part, and the first connecting rod 06 rotates around the connection between the first connecting rod 06 and the second connecting rod 08.
在一实施例中，所述第一支撑部 04与所述第二支撑部 10的连线垂直第一平 面， 所述第一支撑部垂直移动。所述第一连杆的一端连接第一支撑部， 可随第一 支撑部垂直移动。 具体的， 所述第一支撑部包括一竖直的支撑杆、 套接元件， 套 接元件套接在支撑杆上， 可以沿支撑杆竖直运动，所述第二支撑部固定的支撑杆 上。在本具体实施例中， 所述第一连杆的一端转动连接套接元件， 所述套接元件 沿支撑杆竖直运动时，所述第一连杆的一端随之沿支撑杆竖直运动，所述第一连 杆的另一端连接抓取部。 In an embodiment, the line connecting the first supporting portion 04 and the second supporting portion 10 is perpendicular to the first plane, and the first supporting portion moves vertically. One end of the first connecting rod is connected to the first supporting part and can move vertically with the first supporting part. Specifically, the first support part includes a vertical support rod and a sleeve element, the sleeve element is sleeved on the support rod and can move vertically along the support rod, and the second support part is fixed on the support rod . In this specific embodiment, one end of the first link is rotated to connect the sleeve element, and when the sleeve element moves vertically along the support rod, one end of the first link then moves vertically along the support rod. , The other end of the first link is connected to the grabbing part.
在一实施例中， 第一连杆 06的另一端在第一平面一运动方向移动， 所述第 一连杆 06另一端连接抓取部 12, 使所述抓取部随第一连杆的另一端的运动方向 移动。具体的， 所述第二连杆组件 08另一端连接第一连杆 06的中点， 所述第一 支撑部 04移动时， 第一连杆 06的一端跟随第一支撑部移动， 第一连杆 06绕与 第一连杆 06的中点转动，使第一连杆的另一端在第一平面沿水平运动方向移动， 所述第一连杆 06另一端固定连接抓取部 12,即所述抓取部沿水平运动方向移动。 In an embodiment, the other end of the first connecting rod 06 moves in a direction of movement in the first plane, and the other end of the first connecting rod 06 is connected to the grasping portion 12 so that the grasping portion follows the first connecting rod. The movement direction of the other end moves. Specifically, the other end of the second link assembly 08 is connected to the midpoint of the first link 06. When the first support part 04 moves, one end of the first link 06 moves with the first support part, and the first link The rod 06 rotates around the midpoint of the first connecting rod 06, so that the other end of the first connecting rod moves in the horizontal movement direction on the first plane. The other end of the first connecting rod 06 is fixedly connected to the grasping portion 12, namely The gripping part moves along the horizontal movement direction.
所述抓取装置包括第二调整部，所述第二调整部连接抓取部，所述第二调整 部传递所述第一连杆相对于第一支撑部 04的转动量， 将所述转动量转动至所述 抓取部， 以使所述抓取部的抓取角度不变， 优选的， 抓取部的方向垂直于第一平 面。 如图 2所示， 所述第二调整部包括第一传动轮 13、 第二传动轮 14与传动带 05 , 所述第一传动轮固定连接有转轴， 所述转动连接的部位通过的转轴连接。 The grasping device includes a second adjusting part connected to the grasping part, and the second adjusting part transmits the rotation amount of the first connecting rod relative to the first supporting part 04, and the rotation The amount is rotated to the grasping portion so that the grasping angle of the grasping portion remains unchanged. Preferably, the direction of the grasping portion is perpendicular to the first plane. As shown in FIG. 2, the second adjustment part includes a first transmission wheel 13, a second transmission wheel 14 and a transmission belt 05. The first transmission wheel is fixedly connected with a rotating shaft, and the rotationally connected part is connected by a rotating shaft.
在一具体实施例中，在所述第一连杆 06与所述第一支撑部 04的连接处，所 述第一传动轮与其对应的转轴固定连接， 所述第一支撑部 04与其对应的转轴固 定连接，所述第一连杆的一端与转轴转动连接；在所述第一连杆与抓取部的连接 处， 所述第二传动轮的转轴与抓取部固定连接， 与第一连杆的另一端转动连接。 如图 3所示， 所述抓取部 12与其对应在的转轴 09固定连接， 转轴 09上另固定 有第二传动轮 14。 所述两个传动轮通过传动带张紧连接， 传动轮转动时， 传动 带转动。所述传动带可以由外部张紧机构实现张紧连接。所述传动带可以优选为 同步带， 也可以为 V带， 0型带等其他传动带。 In a specific embodiment, at the connection between the first connecting rod 06 and the first supporting portion 04, the first transmission wheel is fixedly connected to its corresponding rotating shaft, and the first supporting portion 04 and its corresponding The rotating shaft is fixedly connected, and one end of the first connecting rod is rotatably connected with the rotating shaft; at the connection between the first connecting rod and the grasping portion, the rotating shaft of the second transmission wheel is fixedly connected with the grasping portion, and is connected to the first connecting rod. The other end of the connecting rod is connected by rotation. As shown in FIG. 3, the grasping portion 12 is fixedly connected to the corresponding rotating shaft 09, and a second transmission wheel 14 is fixed on the rotating shaft 09. The two transmission wheels are tightly connected by a transmission belt, and when the transmission wheels rotate, the transmission belt rotates. The drive belt can be tensioned and connected by an external tensioning mechanism. The transmission belt may preferably be a synchronous belt, or may be a V-belt, an O-belt or other transmission belts.
如图 8所示，通过第一调整部调整连杆部沿所述箭头方向由第一实线位置运 动至第二虚线位置，其中连杆部与调整部运动方向连线的夹角分别为 A1,A2;连杆 部与抓取部运动方向连线的夹角分别为 A3, A4;所述夹角具有以下相互关系： A2-A1=A3-A4, 即连杆部与第一支撑部之间相对转动角度等于抓取部相对于连杆 组方向转动的角度， 即实现了保证抓取部方向为不变的方向；优选的抓取部的方 向垂直于第一平面。 As shown in Fig. 8, the connecting rod part is adjusted by the first adjusting part to move from the first solid line position to the second dashed line position along the arrow direction, wherein the angle between the connecting rod part and the adjusting part movement direction is A1 , A2; The angles connecting the connecting rod part and the gripping part are A3 and A4 respectively; the angles have the following correlation: A2-A1=A3-A4, that is, the connecting rod part and the first support part The relative rotation angle is equal to the rotation angle of the grabbing portion relative to the direction of the connecting rod group, that is, it is ensured that the direction of the grabbing portion is a constant direction; the preferred direction of the grabbing portion is perpendicular to the first plane.
所述第二调整部由齿轮机构组成， 齿轮机构包括若干齿轮，相邻的齿轮相互 啮合。 由数个齿轮将调整部运动导致的连杆相对转动量传导至抓取部， 实现抓取 部抓取方向为不变的方向， 优选的， 抓取部的方向垂直于第一平面。 The second adjusting part is composed of a gear mechanism, and the gear mechanism includes a plurality of gears, and adjacent gears mesh with each other. The relative rotation of the connecting rod caused by the movement of the adjusting part is transmitted to the grasping part by a plurality of gears, so that the grasping direction of the grasping part is a constant direction. Preferably, the direction of the grasping part is perpendicular to the first plane.
所述姿态调整部由齿轮组与带轮机构组成，有齿轮组与带轮机构将调整部运 动导致的连杆相对转动量传导至抓取部，实现抓取部抓取方向为不变的方向，优 选的， 抓取部的方向垂直于第一平面。 The posture adjustment part is composed of a gear set and a pulley mechanism. The gear set and the pulley mechanism transmit the relative rotation of the connecting rod caused by the movement of the adjustment part to the grasping part, so that the grasping direction of the grasping part is a constant direction Preferably, the direction of the grasping portion is perpendicular to the first plane.
如图 4所示：所述连杆部包括若干一个连杆组件，所述连杆组件通过同一调 整部同步移动， 或者如图 5所示， 所述抓取装置包括若干调整部与连杆组件， 所 述连杆通过各自的调整部运动。 As shown in FIG. 4: the connecting rod part includes several connecting rod components, and the connecting rod components move synchronously through the same adjusting part, or as shown in FIG. 5, the grasping device includes several adjusting parts and connecting rod components. , The connecting rods move through their respective adjusting parts.
如图 7所示，所述动力提供单元的出轴与所述第一支撑部直接连接，所述第 一支撑部与所述第二支撑部位于同一直线上，所述第一支撑部与所述第二支撑部 的连线垂直于第一平面。 As shown in Figure 7, the output shaft of the power supply unit is directly connected to the first support portion, the first support portion and the second support portion are located on the same straight line, and the first support portion is The connecting line of the second supporting part is perpendicular to the first plane.
本发明还提供另一实施方式， 所述连杆组件包括第三连杆 16, 所述第三连 杆 16—端转动连接第一支撑部 04, 所述第三连杆的一端可沿第一支撑部提供的 第一运动方向移动， 另一端固定连接抓取部， 所述支撑部包括第一支撑部 04和 第二支撑部， 所述第二支撑部包括导轨 17, 所述第一支撑部可相对导轨运动使 所述抓取部沿导轨提供的第四运动方向移动， 具体的， 所述导轨与抓取部或第三 连杆的另一端滑动连接。在本实施例中， 第三连杆的另一端固定连接抓取部指所 述抓取部不能转动， 抓取部方向与运动方向固定， 一般抓取部的抓取方向下。 优 选的， 抓取部方向与运动方向垂直。 The present invention also provides another embodiment, the connecting rod assembly includes a third connecting rod 16, and the third connecting rod One end of the rod 16 is rotatably connected to the first support part 04, one end of the third link can move along the first movement direction provided by the first support part, and the other end is fixedly connected to the grasping part, the support part includes a first support Part 04 and a second support part, the second support part includes a guide rail 17, the first support part can move relative to the guide rail so that the grasping part moves along the fourth movement direction provided by the guide rail, specifically, the guide rail It is slidably connected with the grabbing part or the other end of the third link. In this embodiment, the other end of the third link is fixedly connected to the grabbing portion, which means that the grabbing portion cannot rotate, and the direction of the grabbing portion is fixed with the direction of movement, and generally the grabbing direction of the grabbing portion is down. Preferably, the direction of the grasping portion is perpendicular to the direction of movement.
本实施例中， 所述第一支撑部与所述导轨的一端位于同一直线上， 所述第一 支撑部与所述导轨的连线垂直第一平面。具体的， 所述第一支撑部包括一竖直的 支撑杆、 套接元件， 套接元件套接在支撑杆上， 所述套接元件可以沿支撑杆竖直 运动， 所述导轨的一端固定的支撑杆上， 同时所述导轨与抓取部或第三连杆的另 一端滑动连接。 In this embodiment, the first support portion and one end of the guide rail are located on the same straight line, and the connection line between the first support portion and the guide rail is perpendicular to the first plane. Specifically, the first support portion includes a vertical support rod and a sleeve element, the sleeve element is sleeved on the support rod, the sleeve element can move vertically along the support rod, and one end of the guide rail is fixed At the same time, the guide rail is slidingly connected to the other end of the grabbing portion or the third connecting rod.
在本具体实施例中， 导轨垂直支撑杆， 所述第一连杆的一端转动连接套接元 件， 所述套接元件沿支撑杆竖直运动时， 所述第一连杆的一端随之沿支撑杆竖直 运动， 所述第一连杆的另一端连接抓取部沿导轨的方向水平运动。所述第一支撑 04部移动时， 第三连杆 16的一端跟随第一支撑部移动， 第三连杆 16相对第一 支撑部， 绕与其连接的转轴转动， 第三连杆 16的另一端在导轨上沿水平运动方 向移动， 所述第三连杆 16另一端固定连接抓取部 12 , 即所述抓取部沿水平运动 方向移动。 In this specific embodiment, the guide rail is vertical to the support rod, and one end of the first link is rotated to connect the socket element. When the socket element moves vertically along the support rod, one end of the first link follows The support rod moves vertically, and the other end of the first connecting rod is connected to the grasping part to move horizontally in the direction of the guide rail. When the first support 04 moves, one end of the third link 16 moves with the first support part, and the third link 16 rotates relative to the first support part around the shaft connected to it, and the other end of the third link 16 Moving along the horizontal movement direction on the guide rail, the other end of the third link 16 is fixedly connected to the grasping portion 12, that is, the grasping portion moves along the horizontal movement direction.
如图 4所示： 所述连杆部包括若干一个连杆组件， 所述连杆组件通过同一调 整部同步移动， 或者如图 5所示， 所述抓取装置包括若干调整部与连杆组件， 所 述连杆通过各自的调整部运动。 As shown in FIG. 4: the connecting rod part includes a plurality of connecting rod components, and the connecting rod components move synchronously through the same adjusting part, or as shown in FIG. 5, the grasping device includes a plurality of adjusting parts and connecting rod assemblies , The connecting rods move through their respective adjusting parts.
如图 7所示， 所述动力提供单元的出轴与所述第一支撑部直接连接， 所述第 一支撑部与所述第二支撑部位于同一直线上，所述第一支撑部与所述第二支撑部 的连线垂直于第一平面。 As shown in FIG. 7, the output shaft of the power supply unit is directly connected to the first supporting portion, the first supporting portion and the second supporting portion are located on the same straight line, and the first supporting portion is The connecting line of the second supporting part is perpendicular to the first plane.

Claims

权利要求： Rights request:
1、 一种抓取装置， 其特征在于， 包括 1. A grabbing device, characterized in that it comprises
至少一个抓取部； At least one gripping part;
至少一个连杆部， 连接至少一个抓取部； At least one connecting rod connected to at least one grabbing part;
第一调整部，移动所述连杆部， 以使所述至少一个抓取部在第一平面内沿至 少一个运动方向运动。 The first adjusting part moves the connecting rod part so that the at least one grasping part moves in at least one movement direction in the first plane.
2、根据权利要求 1所述的抓取装置，其特征在于，所述连杆部包括支撑部， 以及至少一个连杆组件，所述连杆组件包括第一连杆以及第二连杆； 所述支撑部 包括第一支撑部和第二支撑部； 2. The grasping device according to claim 1, wherein the connecting rod portion includes a supporting portion, and at least one connecting rod assembly, and the connecting rod assembly includes a first connecting rod and a second connecting rod; The supporting portion includes a first supporting portion and a second supporting portion;
所述第一连杆一端转动连接第一支撑部，所述第一连杆可沿支撑部提供的第 一运动方向移动， 另一端连接抓取部； One end of the first link is rotatably connected to the first support part, the first link is movable along the first movement direction provided by the support part, and the other end is connected to the grasping part;
所述第二连杆一端转动连接第二支撑部，另一端转动连接第一连杆的两端之 间。 One end of the second link is rotatably connected to the second support part, and the other end is rotatably connected between the two ends of the first link.
3、 根据权利要求 2所述的抓取装置， 其特征在于， 所述第一支撑部与所述 第二支撑部位于同一直线上。 3. The grasping device according to claim 2, wherein the first support portion and the second support portion are located on the same straight line.
所述第一支撑部与所述第二支撑部的连线垂直第一平面。 The line connecting the first supporting portion and the second supporting portion is perpendicular to the first plane.
4、 根据权利要求 2所述的抓取装置， 所述第二连杆的一端连接所述第一连 杆的中点。 4. The grasping device according to claim 2, wherein one end of the second link is connected to the midpoint of the first link.
5、 根据权利要求 2所述的抓取装置， 所述抓取部包括第二调整部， 所述第 二调整部连接抓取部，所述第二调整部传递所述第一连杆相对于第一支撑部的转 动量，将所述转动量传动至所述抓取部， 以转动所述抓取部使所述抓取部的抓取 方向不变。 5. The grasping device according to claim 2, wherein the grasping portion comprises a second adjusting portion connected to the grasping portion, and the second adjusting portion transmits the first connecting rod relative to The amount of rotation of the first support portion transmits the amount of rotation to the grasping portion so as to rotate the grasping portion so that the grasping direction of the grasping portion remains unchanged.
6、 根据权利要 1所述的抓取装置， 所述连杆部包括支撑部， 以及至少一个 连杆组件， 连杆组件包括第三连杆， 所述支撑部包括第一支撑部和第二支撑部; 所述第三连杆一端转动连接第一支撑部，所述第三连杆的一端可沿第一支撑 部提供的第一运动方向移动， 另一端固定连接抓取部， 6. The grasping device according to claim 1, wherein the connecting rod portion includes a support portion, and at least one connecting rod assembly, the connecting rod assembly includes a third connecting rod, and the support portion includes a first support portion and a second connecting rod. Support part; One end of the third link is rotatably connected to the first support part, one end of the third link is movable along the first movement direction provided by the first support part, and the other end is fixedly connected to the grasping part,
所述第二支撑部包括导轨，所述第一支撑部可相对导轨运动使所述抓取部沿 导轨提供的第四方向移动。 The second supporting part includes a guide rail, and the first supporting part is movable relative to the guide rail to make the grasping part move in a fourth direction provided by the guide rail.
7、 根据权利要求 6所述的抓取装置， 所述导轨与抓取部或第三连杆的另一 端滑动连接。 7. The grasping device according to claim 6, the other of the guide rail and the grasping portion or the third link End sliding connection.
8、 根据权利要求 6所述的抓取装置， 所述第一支撑部提供的第一运动方向 与所述导轨提供的第四方向垂直。 8. The grabbing device according to claim 6, wherein the first movement direction provided by the first support portion is perpendicular to the fourth direction provided by the guide rail.
9、 根据权利要求 1或 2或 6所述的抓取装置， 所述连杆部包括第一连杆组 件以及第二连杆组件； 9. The grasping device according to claim 1 or 2 or 6, wherein the connecting rod portion includes a first connecting rod assembly and a second connecting rod assembly;
所述抓取部包括第一抓取部和第二抓取部； The grasping part includes a first grasping part and a second grasping part;
所述第一连杆组件连接第一抓取部， 所述第二连杆组件连接第二抓取部， 所述第一调整部移动所述第一连杆组件以使所述第一抓取部在第一平面内 沿第二运动方向运动， The first connecting rod assembly is connected to the first grabbing portion, the second connecting rod assembly is connected to the second grabbing portion, and the first adjustment portion moves the first connecting rod assembly to enable the first grabbing portion The part moves along the second direction of movement in the first plane,
所述第一调整部移动所述第二连杆组件以使所述第二抓取部在第一平面内 沿第三运动方向运动。 The first adjusting part moves the second link assembly so that the second grasping part moves in a third direction of movement in a first plane.
10、根据权利要求 9所述的抓取装置， 所述第二运动方向与所述第三运动方 向位于同一直线上。 10. The grasping device according to claim 9, wherein the second movement direction and the third movement direction are located on the same straight line.
11、根据权利要求 1或 2或 6所述的抓取装置， 所述抓取部为吸盘或吸盘组 或夹爪。 11. The grasping device according to claim 1 or 2 or 6, wherein the grasping part is a suction cup or a suction cup group or a clamping jaw.
PCT/IB2020/055014 2019-03-06 2020-05-27 Grabbing device WO2020250065A1 (en)

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CN201910508623.2A CN110271022A (en) 2019-03-06 2019-06-13 A kind of grabbing device
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CN110271022A (en) * 2019-03-06 2019-09-24 陈胜辉 A kind of grabbing device

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