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CN-115924525-B - Grabbing device and grabbing method

CN115924525BCN 115924525 BCN115924525 BCN 115924525BCN-115924525-B

Abstract

The application relates to a grabbing device and a grabbing method. The grabbing device comprises a reference clamping jaw, an auxiliary clamping jaw and a driving mechanism, wherein the reference clamping jaw is provided with a first supporting portion and a second supporting portion along a first direction, the first supporting portion and the second supporting portion are respectively used for being abutted to the outer wall of one end of a product in a second direction, the second direction is perpendicular to the first direction, one side, close to the reference clamping jaw, of the auxiliary clamping jaw is provided with a third supporting portion, the third supporting portion is used for being abutted to the outer wall of the other end of the product in the second direction, the third supporting portion is located on a middling line of a connecting line of the first supporting portion and the second supporting portion, and the driving mechanism drives the reference clamping jaw and the auxiliary clamping jaw to be close to or far away from each other along the second direction. The grabbing device and the grabbing method can relieve the problem that the angle deflects when the product is clamped, and improve the stability and the clamping repeatability of the product after being clamped.

Inventors

  • XIAO CHANGGUI
  • HUANG TIESHENG

Assignees

  • 镭神技术（深圳）有限公司

Dates

Publication Date
20260505
Application Date
20230213

Claims (9)

  1. 1. A grasping device, comprising: The device comprises a reference clamping jaw (20), wherein the reference clamping jaw (20) is provided with a first supporting part (211) and a second supporting part (221) along a first direction, the first supporting part (211) and the second supporting part (221) are respectively used for being abutted against the outer wall of one end of a product (2) in a second direction, and the second direction is mutually perpendicular to the first direction; The auxiliary clamping jaw (30), one side of the auxiliary clamping jaw (30) close to the reference clamping jaw (20) is provided with a third supporting part (31), the third supporting part (31) is used for being abutted with the outer wall of the other end of the product (2) in the second direction, the third supporting part (31) is positioned on the middle vertical line of the connecting line of the first supporting part (211) and the second supporting part (221), the auxiliary clamping jaw (30) is provided with a avoidance surface (32), and when the attaching positioning surface (212) is attached to the product (2), a avoidance gap is formed between the avoidance surface (32) and the product (2); and the driving mechanism drives the reference clamping jaw (20) and the auxiliary clamping jaw (30) to be close to or far away from each other along a second direction.
  2. 2. Gripping device according to claim 1, characterized in that the joint of the joint positioning surface (212) with the first support (211) is provided with a first clearance groove (213) and/or the joint of the joint positioning surface (212) with the second support (221) is provided with a second clearance groove (222).
  3. 3. Gripping device according to claim 2, characterized in that the abutment surface (32) is provided with a third abutment groove (33) at the junction with the third support part (31).
  4. 4. A gripping device according to claim 3, characterized in that the first and second clearance grooves (213, 222) are provided as arc-shaped grooves; And/or the third avoidance groove (33) is arranged as an arc groove.
  5. 5. Gripping device according to claim 1, characterized in that the reference jaw (20) comprises a first jaw element (21) and a second jaw element (22), the first support (211) being arranged on the first jaw element (21), the second support (221) being arranged on the second jaw element (22).
  6. 6. Gripping device according to claim 1, characterized in that the first support (211), the second support (221) and/or the third support (31) are provided with rounded structures.
  7. 7. Gripping device according to claim 1, characterized in that the drive mechanism comprises parallel air jaws (10), the parallel air jaws (10) comprising two slides (11), the two slides (11) being movable towards and away from each other in a second direction, the reference jaw (20) being mounted on one of the slides (11), the auxiliary jaw (30) being mounted on the other slide (11).
  8. 8. Gripping device according to claim 7, characterized in that the reference jaw (20) is detachably connected to one of the sliders (11), and the auxiliary jaw (30) is detachably connected to the other slider (11).
  9. 9. A gripping method, characterized in that a gripping device according to any one of claims 1-8 is provided, which grips a first position, a second position and a third position of a product, said first position and said second position being located at one end of said product, said third position being located at the other end of said product, said third position being located on a midpoint of a connecting line between said first position and said second position; Before grabbing the first position, the second position and the third position of the product, abutting and positioning the attaching and positioning surface of the reference clamping jaw with a fourth position of the product, wherein the first position and the second position are positioned at one end of the product in the second direction, the third position is positioned at the other end of the product in the second direction, the fourth position is positioned at one end of the product in the third direction, the first direction is perpendicular to the third direction, and a clearance gap is reserved between the clearance surface of the auxiliary clamping jaw and the product when the attaching and positioning surface is attached to the product.

Description

Grabbing device and grabbing method Technical Field The application relates to the technical field of grabbing devices, in particular to a grabbing device and a grabbing method. Background Along with the higher and higher integration level of the optical module, the design structure size of the optical device is smaller and smaller, and in the high-speed optical device production process, the coupling process is gradually developed into a bottleneck process. The purpose of the coupling is to focus divergent light from the transmitting chip into the optical fiber via a lens or to focus light from the optical fiber into the receiving chip. As the lens size becomes smaller and smaller, the lens clamping difficulty becomes larger and larger, and the traditional lens clamping adopts a mode of vacuum sucking the upper surface of a product, mechanically clamping the side surface or vacuum sucking and simultaneously adopting mechanical auxiliary clamping. However, the vacuum suction state is unstable, the suction force is influenced by the suction area and weight of the product, when the suction area of the product is small and the gravity is large, the product is easily fallen off after being sucked, the product can deflect on the plane, and the two sides of the inner sides of the left clamping jaw and the right clamping jaw are used for clamping the side wall of the product during mechanical clamping, the clamping mode is greatly influenced by the appearance of the product, when the two side walls of the product generated by processing errors cannot be completely parallel, the clamping can generate angle deviation, and can deflect along the X axis or the Y axis, so that the stability and the clamping repeatability of the product after being clamped are poor. Disclosure of Invention Based on the above, the grabbing device and the grabbing method are provided, and the problem that products are easy to fall off or deflect during clamping is solved. An embodiment of a first aspect of the present application provides a gripping device, including: The reference clamping jaw is provided with a first supporting part and a second supporting part along a first direction, the first supporting part and the second supporting part are respectively used for being abutted with the outer wall of one end of a second direction of a product, and the second direction is mutually perpendicular to the first direction; The auxiliary clamping jaw is provided with a third supporting part at one side, close to the reference clamping jaw, of the auxiliary clamping jaw, the third supporting part is used for being abutted against the outer wall of the other end of the product in the second direction, and the third supporting part is positioned on the middle vertical line of the connecting line of the first supporting part and the second supporting part; And the driving mechanism drives the reference clamping jaw and the auxiliary clamping jaw to be close to or far away from each other along a second direction. In one embodiment, the reference clamping jaw is provided with a fitting positioning surface, the fitting positioning surface is used for being abutted to the outer wall of one end of the third direction of the product, and the second direction, the first direction and the third direction are perpendicular to each other. In one embodiment, a first avoidance groove is formed at the joint of the bonding positioning surface and the first supporting part, and/or a second avoidance groove is formed at the joint of the bonding positioning surface and the second supporting part. In one embodiment, the auxiliary clamping jaw is provided with a clearance surface, and a clearance gap is arranged between the clearance surface and the product when the fitting positioning surface is fitted with the product. In one embodiment, a third avoidance groove is formed at a connection position of the avoidance surface and the third supporting portion. In one embodiment, the reference jaw includes a first jaw unit and a second jaw unit, the first support portion is disposed on the first jaw unit, and the second support portion is disposed on the second jaw unit. In one embodiment, the first, second and/or third support portions are provided with rounded structures. In one embodiment, the driving mechanism comprises a parallel air jaw, the parallel air jaw comprises two sliding blocks, the two sliding blocks can be close to or far away from each other along a second direction, the reference clamping jaw is mounted on one sliding block, and the auxiliary clamping jaw is mounted on the other sliding block. An embodiment of the second aspect of the present application provides a gripping method, in which a first position, a second position and a third position of a product are gripped, the first position and the second position being located at one end of the product, the third position being located at the other end of the product, and the third position being l