CN110844569A

CN110844569A - Grabbing mechanism

Info

Publication number: CN110844569A
Application number: CN201911088435.5A
Authority: CN
Inventors: 不公告发明人
Original assignee: Wuxi Lead Intelligent Equipment Co Ltd
Current assignee: Wuxi Lead Intelligent Equipment Co Ltd
Priority date: 2019-11-08
Filing date: 2019-11-08
Publication date: 2020-02-28

Abstract

The invention discloses a grabbing mechanism which comprises a support, at least a first grabbing component and a second grabbing component, wherein the support is provided with a first supporting plate and a second supporting plate; the first grabbing component and the second grabbing component are arranged on the support in a sliding mode respectively, the second grabbing component is located above the first grabbing component, the first grabbing component comprises two first clamping jaws which are arranged oppositely, the second grabbing component comprises two second clamping jaws which are arranged oppositely, and the two first clamping jaws and the two second clamping jaws are in a clamping state and an opening state; when the two first clamping jaws and the two second clamping jaws are in an open state, the distance between the opposite surfaces of the two first clamping jaws is larger than the distance between the opposite surfaces of the two second clamping jaws; when the second grabbing component moves downwards along the first sliding rail to grab the object positioned at the grabbing position, the two second clamping jaws at least partially penetrate through the space between the two first clamping jaws. Through the mode, the grabbing efficiency can be improved.

Description

Grabbing mechanism

Technical Field

The invention relates to the field of automatic production, in particular to a grabbing mechanism.

Background

In the automatic production process, the product needs to be grabbed and carried to each station for operation. Taking battery production as an example, in the cell preparation process, the cell needs to be conveyed to a hot press for hot pressing after being discharged.

And in order to improve hot pressing efficiency, can adopt the multilayer hot press to carry out hot pressing to a plurality of electric cores simultaneously, just so need one kind to snatch the mechanism and can snatch a plurality of electric cores in same position of snatching to along upper and lower direction layering, in order to place in multilayer hot press correspondingly.

Disclosure of Invention

The invention mainly solves the technical problem of providing a grabbing mechanism which can improve grabbing efficiency.

In order to solve the above technical problem, one technical solution adopted by the present invention is to provide a gripping mechanism, including: a support; at least a first grasping element and a second grasping element; the first grabbing component and the second grabbing component are respectively arranged on the bracket in a sliding mode, the second grabbing component is located above the first grabbing component, the first grabbing component comprises two first clamping jaws which are oppositely arranged, and the second grabbing component comprises two second clamping jaws which are oppositely arranged; the two first clamping jaws and the two second clamping jaws both have a clamping state and an opening state; the first driving assembly is used for driving the first grabbing assembly to move up and down on the support, and the second driving assembly is used for driving the second grabbing assembly to move up and down on the support; when the two first clamping jaws and the two second clamping jaws are in an open state, the distance between the opposite surfaces of the two first clamping jaws is larger than the distance between the opposite surfaces of the two second clamping jaws; when the second gripping assembly moves downwards under the driving of the second driving assembly to grip the object positioned at the gripping position, the two second clamping jaws at least partially penetrate through between the two first clamping jaws.

According to a specific embodiment of the present invention, the first driving assembly includes a first lifting power device disposed on the bracket, and a driving end of the first lifting power device is connected to the first grabbing assembly through a first connecting member; and/or the second driving assembly comprises a second lifting power device arranged on the support, and the driving end of the second lifting power device is connected with the second grabbing assembly through a second connecting piece.

According to a specific embodiment of the present invention, the grasping mechanism further includes: the translation driving assembly comprises a bottom plate and a translation power device arranged on the bottom plate, the support is arranged on the bottom plate in a sliding mode, and the driving end of the translation power device is connected with the support.

According to a specific embodiment of the present invention, the second grabbing assembly comprises a second mounting base and a second lifting plate; the second mounting seat is arranged on the bracket in a sliding manner, and the second lifting plate is arranged on the second mounting seat in an up-and-down sliding manner; and the second mounting seat is also provided with a second driving power device, the driving end of the second driving power device is connected with the second lifting plate, and the second driving power device is used for driving the second lifting plate to move up and down on the second mounting seat.

According to a specific embodiment of the present invention, the two second clamping jaws are oppositely disposed on the second lifting plate, each second clamping jaw includes a second opening and closing moving plate and a second lower clamping plate fixedly disposed on the second opening and closing moving plate, and the second opening and closing moving plate is slidably disposed on the second lifting plate; the second lifting plate is further provided with a second opening and closing power device, the driving end of the second opening and closing power device is connected with the second opening and closing moving plate, and the second opening and closing power device is used for driving the two second lower clamping plates to move relatively so as to clamp or loosen an object.

According to an embodiment of the present invention, one end of each of the two second lower clamping plates, which is far away from the second opening and closing moving plate, extends to a direction facing the other end, and when the two second lower clamping plates move relatively to clamp the object, the object is supported by the two second lower clamping blocks; each second clamping jaw further comprises a second upper clamping plate, the second upper clamping plate is arranged on the second opening and closing moving plate in a sliding mode, and a second upper clamping block is arranged at one end, close to the second lower clamping block, of the second upper clamping plate; and a second clamping power device is arranged on the second lower clamping plate, the driving end of the second clamping power device is connected with the second upper clamping plate, and the second clamping power device is used for driving the second upper clamping plate to move towards one side close to the second lower clamping block so as to enable the second upper clamping block to be matched with the second lower clamping block to clamp an object.

According to a specific embodiment of the present invention, the first grabbing assembly comprises a first mounting seat and a first lifting plate; the first mounting seat is arranged on the bracket in a sliding manner, and the first lifting plate is arranged on the first mounting seat in a vertical sliding manner; the first mounting seat is further provided with a first driving power device, the driving end of the first driving power device is connected with the first lifting plate, and the first driving power device is used for driving the first lifting plate to move up and down on the first mounting seat.

According to a specific embodiment of the present invention, the two first clamping jaws are oppositely disposed on the first lifting plate, each of the two first clamping jaws includes a first opening and closing moving plate and a first lower clamping plate fixedly disposed on the first opening and closing moving plate, and the first opening and closing moving plate is slidably disposed on the first lifting plate; the first lifting plate is further provided with a first opening and closing power device, the driving end of the first opening and closing power device is connected with the first opening and closing moving plate, and the first opening and closing power device is used for driving the two first lower clamping plates to move relatively so as to clamp or loosen an object.

According to an embodiment of the present invention, one end of each of the two first lower clamping plates, which is far away from the first opening and closing moving plate, extends to a direction facing each other to support the object through the two first lower clamping blocks when the two first lower clamping plates move relatively to clamp the object; each first clamping jaw further comprises a first upper clamping plate, the first upper clamping plate is arranged on the first opening and closing moving plate in a sliding mode, and a first upper clamping block is arranged at one end, close to the first lower clamping block, of the first upper clamping plate; the first lower clamping plate is provided with a first clamping power device, the driving end of the first clamping power device is connected with the first upper clamping plate, and the first clamping power device is used for driving the first upper clamping plate to move towards one side close to the first lower clamping block so that the first upper clamping block and the first lower clamping block are matched to clamp an object.

According to a specific embodiment of the present invention, an adjusting plate is slidably disposed on the first lifting plate, an adjusting power device and the first opening/closing power device are disposed on the adjusting plate, a driving end of the adjusting power device is connected to the first lifting plate, and a driving direction of the adjusting power device is opposite to a driving direction of the first opening/closing power device.

The invention has the beneficial effects that: different from the situation of the prior art, the grabbing mechanism provided by the invention is characterized in that a first grabbing component and a second grabbing component are arranged on a support in a sliding manner, the first grabbing component and the second grabbing component are respectively driven by a first driving component and a second driving component to move up and down on the support, the first grabbing component comprises two first clamping jaws which are oppositely arranged, the second grabbing component comprises two second clamping jaws which are oppositely arranged, the two first clamping jaws and the two second clamping jaws have a clamping state and an opening state, and when the two first clamping jaws and the two second clamping jaws are in the opening state, the distance between the opposite surfaces of the two first clamping jaws is larger than the distance between the opposite surfaces of the two second clamping jaws; therefore, when the second grabbing component moves downwards under the driving of the second driving component to grab the object located at the grabbing position, at least part of the two second clamping jaws can penetrate through the space between the two first clamping jaws, so that the object can be grabbed at the grabbing position, and after the second grabbing component grabs the object and moves upwards, the first grabbing component can also move downwards under the driving of the first driving component, and the object located at the grabbing position can be grabbed by the two first clamping jaws, so that the grabbing components of the grabbing mechanism can respectively grab the object at the same grabbing position, and the grabbing efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a grasping mechanism according to the present invention;

FIG. 2 is a left side view schematic of the grasping mechanism of FIG. 1;

FIG. 3 is a front view of a second gripper assembly of the gripper mechanism of FIG. 1;

FIG. 4 is a schematic top view of the second gripper assembly of FIG. 3;

FIG. 5 is a front view of the first grasping element of the grasping mechanism of FIG. 1;

FIG. 6 is a schematic top view of the first gripper assembly of FIG. 5;

fig. 7 is a bottom view of the first gripper assembly of fig. 5.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of an embodiment of a grabbing mechanism provided in the present invention, and fig. 2 is a schematic left-side structural diagram of the grabbing mechanism of fig. 1. The grabbing mechanism in the embodiment of the invention comprises a bracket 10, at least a first grabbing component 11 and a second grabbing component 12; the first grabbing component 11 and the second grabbing component 12 are respectively arranged on the support 10 in a sliding manner, the second grabbing component 12 is located above the first grabbing component 11, the first grabbing component 11 comprises two first clamping jaws 110 which are oppositely arranged, and the second grabbing component 12 comprises two second clamping jaws 120 which are oppositely arranged; both the first jaws 110 and the second jaws 120 have a gripping state and an open state. The grabbing mechanism further comprises at least a first driving assembly 13 and a second driving assembly 14, wherein the first driving assembly 13 is used for driving the first grabbing assembly 11 to move up and down on the support 10, and the second driving assembly 14 is used for driving the second grabbing assembly 12 to move up and down on the support 10; when the two first clamping jaws 110 and the two second clamping jaws 120 are in an open state, the distance between the opposite surfaces of the two first clamping jaws 110 is larger than the distance between the opposite surfaces of the two second clamping jaws 120; when the second gripping assembly 12 is driven by the second driving assembly 14 to move downward to grip the object located at the gripping position, the two second clamping jaws 120 at least partially penetrate between the two first clamping jaws 110. Specifically, a first slide rail 100 is arranged on one side of the bracket 10, at least a first slide block 101 and a second slide block 102 are arranged on the first slide rail 100 in a sliding manner, and the second slide block 102 is positioned above the first slide block 101; the first grabbing component 11 is disposed on the first sliding block 101, the second grabbing component 12 is disposed on the second sliding block 102, the first driving component 13 can drive the first grabbing component 11 to move up and down along the first sliding rail 100, and the second driving component 14 can drive the second grabbing component 12 to move up and down along the first sliding rail 100.

In the grabbing mechanism of this embodiment, at least a first slider 101 and a second slider 102 are arranged on a first slide rail 100 of a bracket 10, a first grabbing component 11 and a second grabbing component 12 are respectively arranged on the first slider 101 and the second slider 102, and a first driving component 13 and a second driving component 14 are respectively adopted to drive the first grabbing component 11 and the second grabbing component 12 to respectively move up and down along the first slide rail 100, the first grabbing component 11 includes two first clamping jaws 110 which are oppositely arranged, the second grabbing component 12 includes two second clamping jaws 120 which are oppositely arranged, the two first clamping jaws 110 and the two second clamping jaws 120 both have a clamping state and an opening state, and when the two first clamping jaws 110 and the two second clamping jaws 120 are both in the opening state, the distance between the opposite surfaces of the two first clamping jaws 110 is greater than the distance between the opposite surfaces of the two second clamping jaws 120; therefore, when the second grabbing component 12 is driven by the second driving component 14 to move downwards along the first sliding rail 100 to grab the object located at the grabbing position, at least part of the two second clamping jaws 120 can pass through between the two first clamping jaws 110, so as to grab the object at the grabbing position, and after the second grabbing component 12 grabs the object and moves upwards, the first grabbing component 11 can also move downwards along the first sliding rail 100 under the driving of the first driving component 13, and grab the object located at the grabbing position through the two first clamping jaws 110, so that each grabbing component of the grabbing mechanism can grab the object at the same grabbing position, and the grabbing efficiency is improved.

The gripping mechanism shown in fig. 1 includes two gripping assemblies, namely a first gripping assembly 11 and a second gripping assembly 12, the gripping position is on the side of the first gripping assembly 11 away from the second gripping assembly 12, the second gripping assembly 12 on the upper layer moves downwards along the first slide 100 during the gripping of the object, and since the two second jaws 120 can at least partially pass between the two first jaws 110, the gripping of the object can be performed at the gripping position on the side of the first gripping assembly 11 away from the second gripping assembly 12. It is understood that in other embodiments, the grabbing mechanism may also include three or more grabbing components, each grabbing component is arranged along the extending direction of the first sliding rail 100, the grabbing component on the upper layer moves downwards along the first sliding rail 100 during grabbing the object, and the two clamping jaws of the grabbing component on the upper layer may at least partially pass through between the two clamping jaws of each grabbing component between itself and the grabbing position, so that each grabbing component can grab the object at the grabbing position.

In addition, when the clamping jaws in the adjacent two-layer grabbing assembly are in an open state, the open width of the clamping jaw of the grabbing assembly positioned on the lower layer is larger than the open width of the clamping jaw of the grabbing assembly positioned on the upper layer by at least one single-side width of the clamping jaw, so that the clamping jaws of the grabbing assemblies positioned on the lower layer can be overlapped on a horizontal plane or a vertical plane, similar to a nesting doll structure, the size of the whole grabbing assembly after overlapping is not larger than the size range of the grabbing assembly with the largest size, and the occupied space can be saved. And each layer of grabbing component can be provided with an independent lifting mechanism and an opening and closing mechanism, so that each layer of grabbing component can work independently or in a multi-layer matching manner, and the work of stacking, layering, multi-station grabbing, carrying and the like of objects can be effectively finished.

Further, in an embodiment, the first driving assembly 13 includes a first lifting power device 130 disposed on the support frame 10, and a driving end of the first lifting power device 130 is connected to the first grasping assembly 11 through a first connecting member 131. Specifically, the first lifting power device 130 may be a first lifting cylinder, a first lifting cylinder fixing block 132 is disposed on the support 10, the first lifting cylinder is disposed on the first lifting cylinder fixing block 132, and a driving end of the first lifting cylinder is connected to the first grabbing assembly 11 through a first connecting member 131. The first elevating power unit 130 may also be a motor, an electric cylinder, or the like capable of providing power to drive the object to displace.

In another embodiment, second drive assembly 14 includes a second elevation power device 140 disposed on frame 10, and a drive end of second elevation power device 140 is coupled to second gripper assembly 12 via a second coupling 141. Specifically, the second lifting power device 140 may be a second lifting cylinder, a second lifting cylinder fixing block 142 is disposed on the bracket 10, the second lifting cylinder is disposed on the second lifting cylinder fixing block 142, and a driving end of the second lifting cylinder is connected to the second grabbing assembly 12 through a second connecting member 141; for example, the second connecting member 141 includes a belt 1410, a belt fixing block 1411, a roller 1412 and a roller support 1413, the driving end of the second lifting cylinder clamps one end of the belt 1410 through the belt fixing block 1411, the other end of the belt 1410 passes around the roller 1412 and is connected with the second grabbing component 12 through the belt fixing block 1411, the roller 1412 is rotatably disposed on the roller support 1413, and the roller support 1413 is disposed at the top end of the support 10 or at another position. The second elevating power device 140 may also be a motor, an electric cylinder, or the like capable of providing power to drive the object to displace.

Further, the grabbing mechanism may further include a translation driving assembly 15, the translation driving assembly 15 includes a bottom plate 150 and a translation power device 153 disposed on the bottom plate 150, the support 10 is slidably disposed on the bottom plate 150, and a driving end of the translation power device 153 is connected to the support 10 through a third connecting member 154. Specifically, a second slide rail 151 may be disposed on the bottom plate 150, a translation slider 152 is slidably disposed on the second slide rail 151, and the bracket 10 is disposed on the translation slider 152; the translation power device 153 may be a translation cylinder, the bottom plate 150 is further provided with a translation cylinder fixing seat 155, the translation cylinder is arranged on the translation cylinder fixing seat 155, and a driving end of the translation cylinder is connected with the bracket 10 through a third connecting piece 154; because the support 10 is disposed on the translation slider 152, when the driving end of the translation cylinder drives the third connecting member 154 to move, the support 10 and the translation slider 152 can be driven to move along the second slide rail 151, so that the grabbing mechanism of the present invention can transport the object grabbed by each grabbing component to other positions. The translation power device 153 may also be a motor, an electric cylinder, or the like capable of providing power to drive the object to displace.

In a specific application scene, the battery cell is conveyed into a double-layer hot press by a grabbing mechanism for hot pressing, and the grabbing position is arranged at the output end of a battery cell blanking mechanism; when the cell is sent to the double-layer hot press by using the grasping mechanism, first, the second grasping assembly 12 is driven by the second driving assembly 14 to move downwards along the first slide rail 100 on the support 10, and during the downward movement, the two second jaws 120 of the second grasping assembly 12 at least partially pass between the two first jaws 110 of the first grasping assembly 11, so that the two second jaws 120 can pass between the two first jaws 110 to grasp the cell at the grasping position; after the two second jaws 120 of the second gripper assembly 12 grip the cell, the second gripper assembly 12 is driven by the second driving assembly 14 to move upward, and after the two second jaws 120 are moved out of between the two first jaws 110 of the first gripper assembly 11, the first driving assembly 13 drives the first gripper assembly 11 to move downward to the gripping position, and then the two first jaws 110 of the first gripper assembly 11 grip another cell. Therefore, two grabbing components of the grabbing mechanism can grab an electric core at the same grabbing position respectively, then the translation driving component 15 can drive the support 10 and the first grabbing component 11 and the second grabbing component 12 on the support 10 to move towards the double-layer hot press, so that two layers of electric cores can be simultaneously conveyed to the double-layer hot press for hot pressing, and the efficiency of grabbing and carrying the electric cores is improved.

Referring to fig. 1 to 4, fig. 3 is a front view of a second grabbing component of the grabbing mechanism of fig. 1, and fig. 4 is a top view of the second grabbing component of fig. 3. In one embodiment, the second gripper assembly 12 includes a second mounting block 121 and a second lifter plate 122; the second mounting seat 121 is slidably disposed on the bracket 10, and the second lifting plate 122 is slidably disposed on the second mounting seat 121 up and down; the second mounting seat 121 is further provided with a second driving power device 125, a driving end of the second driving power device 125 is connected with the second lifting plate 122, and the second driving power device 125 is used for driving the second lifting plate 122 to move up and down on the second mounting seat 121. Specifically, a first slide rail 100 is arranged on one side of the bracket 10, a first slider 101 and a second slider 102 are arranged on the first slide rail 100 in a sliding manner, a second mounting seat 121 is arranged on the second slider 102, a third slide rail 123 is arranged on the second mounting seat 121, a third slider 124 is arranged on the third slide rail 123, the third slider 124 is connected with a second lifting plate 122, the second lifting plate 122 can be arranged on the second mounting seat 121 in a sliding manner up and down through the cooperation of the third slide rail 123 and the third slider 124, and a second driving power device 125 can drive the second lifting plate 122 to move up and down along the third slide rail 123. The second driving power device 125 may be a second driving cylinder, and when the cell is conveyed to the double-layer hot press for hot pressing by using the grabbing mechanism, the support 10 is driven by the translation driving component 15 to move toward the double-layer hot press and the second grabbing component 12 is conveyed into the double-layer hot press, and the second driving power device 125 may drive the second lifting plate 122 to descend so as to place the cell grabbed by the two second clamping jaws 120 in a hot pressing area of the double-layer hot press. The second driving power device 125 may also be a motor, an electric cylinder, or the like capable of providing power to drive the object to displace. It can be understood that the second lifting power device 140 is used to drive the second grabbing assembly 12 to move up and down along the first sliding rail 100 as a whole, and the second driving power device 125 is used to drive the second lifting plate 122 to drive the two second clamping jaws 120 to move up and down along the third sliding rail 123, so that the two second clamping jaws 120 can move up and down to grab and carry an object through the cooperation of the second lifting power device 140 and the second driving power device 125.

Further, the two second jaws 120 are oppositely arranged on the second lifting plate 122, each second jaw 120 includes a second opening and closing moving plate 1200 and a second lower clamping plate 1201 fixedly arranged on the second opening and closing moving plate 1200, and the second opening and closing moving plate 1200 is slidably arranged on the second lifting plate 122; the second lifting plate 122 is further provided with a second opening and closing power device 1202, a driving end of the second opening and closing power device 1202 is connected with the second opening and closing moving plate 1200, and the second opening and closing power device 1202 is used for driving the two second lower clamping plates 1201 to move relatively so as to clamp or release an object. Specifically, the second lifting plate 122 may be provided with a fourth slide rail 126, the fourth slide rail 126 is provided with a fourth slider 127, and the second opening and closing moving plate 1200 is provided on the fourth slider 127; in addition, the driving end of the second opening and closing power device 1202 may be connected to the second opening and closing moving plate 1200 through the second opening and closing connection block 1203. When the two second lower clamping plates 1201 clamp the object, the two second clamping jaws 120 are in a clamping state, and when the two second lower clamping plates 1201 release the object, the two second clamping jaws 120 are in an opening state; it is understood that the second opening and closing power device 1202 may be a second opening and closing cylinder, and the second lifting plate 122 is provided with a second opening and closing cylinder fixing seat 1211, and the second opening and closing cylinder is provided on the second opening and closing cylinder fixing seat 1211. The second opening/closing power device 1202 may also be a motor, an electric cylinder, or the like capable of providing power to drive the object to displace.

Further, one ends of the two second lower clamping plates 1201, which are far away from the second opening and closing moving plate 1200, extend to the direction facing each other to form second lower clamping blocks 1204, and when the two second lower clamping plates 1201 move relatively to clamp the object, the object is supported by the two second lower clamping blocks 1204; each second clamping jaw 120 further comprises a second upper clamping plate 1205, the second upper clamping plate 1205 is slidably disposed on the second opening and closing moving plate 1200, and a second upper clamping block 1208 is disposed at one end of the second upper clamping plate 1205 close to the second lower clamping block 1204; the second lower clamping plate 1201 is provided with a second clamping power device 1209, a driving end of the second clamping power device 1209 is connected with the second upper clamping plate 1205, and the second clamping power device 1209 is used for driving the second upper clamping plate 1205 to move towards one side close to the second lower clamping block 1204 so that the second upper clamping block 1208 cooperates with the second lower clamping block 1204 to clamp the object. Specifically, a fifth slide rail 1206 may be disposed on the second opening and closing moving plate 1200, a fifth slider 1207 is disposed on the fifth slide rail 1206, and the second upper clamp 1205 is disposed on the fifth slider 1207; in addition, the driving end of the second clamping power 1209 is connected to the second upper clamping plate 1205 through the second clamping attachment block 1210. It can be understood that, when an object is clamped by only two second lower clamping plates 1201, the object is easy to fall off due to gravity, so the second lower clamping block 1204 is arranged on the second lower clamping plate 1201, when the two second lower clamping plates 1201 move relatively to clamp the object, the two second lower clamping blocks 1204 can be used to support the object, further, the second upper clamping plate 1205 can be driven by the second clamping power device 1209 to move towards the side close to the second lower clamping block 1204, so that the second upper clamping block 1208 on the second upper clamping plate 1205 is matched with the second lower clamping block 1204 to clamp the object, and thus, the object can be clamped more reliably. The second clamping power device 1209 may be a motor, an electric cylinder, or the like capable of providing power to drive the displacement of the object.

Referring to fig. 1 to 7, fig. 5 is a front view of a first grabbing component of the grabbing mechanism of fig. 1, fig. 6 is a top view of the first grabbing component of fig. 5, and fig. 7 is a bottom view of the first grabbing component of fig. 5. In another embodiment, the first grasping assembly 11 includes a first mounting base 111 and a first lifting plate 112; the first mounting seat 111 is slidably disposed on the bracket 10, and the first lifting plate 112 is slidably disposed on the first mounting seat 111 up and down; the first mounting base 111 is further provided with a first driving power device 115, a driving end of the first driving power device 115 is connected with the first lifting plate 112, and the first driving power device 115 is used for driving the first lifting plate 112 to move up and down on the first mounting base 111. Specifically, a first slide rail 100 is arranged on one side of the bracket 10, a first slider 101 and a second slider 102 are arranged on the first slide rail 100 in a sliding manner, a first mounting seat 111 is arranged on the first slider 101, a sixth slide rail 113 is arranged on the first mounting seat 111, a sixth slider 114 is arranged on the sixth slide rail 113, the sixth slider 114 is connected with a first lifting plate 112, the first lifting plate 112 can be arranged on the first mounting seat 111 in a sliding manner up and down through the cooperation of the sixth slide rail 113 and the sixth slider 114, and a first driving power device 115 can drive the first lifting plate 112 to move up and down along the sixth slide rail 113. The first driving power device 115 may be a motor, an electric cylinder, or the like capable of providing power to drive the object to displace. It can be understood that the first lifting power device 130 is used for driving the first grabbing assembly 11 to move up and down along the first sliding rail 100 as a whole, and the first driving power device 115 is used for driving the first lifting plate 112 to drive the two first clamping jaws 110 to move up and down along the sixth sliding rail 113, so that the two first clamping jaws 110 can move up and down to grab and carry an object through the cooperation of the first lifting power device 130 and the first driving power device 115.

Further, the two first clamping jaws 110 are oppositely arranged on the first lifting plate 112, each first clamping jaw 110 comprises a first opening and closing moving plate 1100 and a first lower clamping plate 1101 fixedly arranged on the first opening and closing moving plate 1100, and the first opening and closing moving plate 1100 is slidably arranged on the first lifting plate 112; the first lifting plate 112 is further provided with a first opening and closing power device 1102, a driving end of the first opening and closing power device 1102 is connected with the first opening and closing moving plate 1100, and the first opening and closing power device 1102 is used for driving the two first lower clamping plates 1101 to move relatively so as to clamp or release an object. Specifically, a seventh slide rail 116 may be disposed on the first lifting plate 112, a seventh slider 117 is disposed on the seventh slide rail 116, and the first opening and closing moving plate 1100 is disposed on the seventh slider 117; in addition, the driving end of the first opening and closing power device 1102 may be connected to the first opening and closing moving plate 1100 through a first opening and closing connection block 1103. When the two first lower clamping plates 1101 clamp the object, the two first clamping jaws 110 are in a clamped state, and when the two first lower clamping plates 1101 unclamp the object, the two first clamping jaws 110 are in an open state. It can be understood that the first opening and closing power device 1102 may be a first opening and closing cylinder, the first lifting plate 112 is provided with a first opening and closing cylinder fixing seat 1116, and the first opening and closing cylinder is arranged on the first opening and closing cylinder fixing seat 1116; the first opening and closing power device 1102 can also be a motor, an electric cylinder, or the like capable of providing power to drive the object to displace.

Further, one ends of the two first lower clamping plates 1101, which are far away from the first opening and closing moving plate 1100, are respectively extended with first lower clamping blocks 1104 in the direction facing each other, and when the two first lower clamping plates 1101 move relatively to clamp the object, the object is supported by the two first lower clamping blocks 1104; each first clamping jaw 110 further comprises a first upper clamping plate 1105, the first upper clamping plate 1105 is slidably arranged on the first opening and closing moving plate 1100, and one end of the first upper clamping plate 1105, which is close to the first lower clamping block 1104, is provided with a first upper clamping block 1108; the first lower clamping plate 1101 is provided with a first clamping power device 1109, the driving end of the first clamping power device 1109 is connected with the first upper clamping plate 1105, and the first clamping power device 1109 is used for driving the first upper clamping plate 1105 to move towards the side close to the first lower clamping block 1104 so that the first upper clamping block 1108 is matched with the first lower clamping block 1104 to clamp the object. Specifically, an eighth sliding rail 1106 may be disposed on the first opening and closing moving plate 1100, an eighth sliding block 1107 is disposed on the eighth sliding rail 1106, and the first upper clamp plate 1105 is disposed on the eighth sliding block 1107; in addition, the driving end of the first clamping power device 1109 may be connected to the first upper clamping plate 1105 through the first clamping attachment block 1110. Similarly to the second jaw 120, when the object is clamped by only the two first lower clamp plates 1101, the object is likely to fall off by gravity, so that the first lower clamp blocks 1104 are provided on the first lower clamp plates 1101, and when the two first lower clamp plates 1101 are moved relatively to clamp the object, the object can be held by the two first lower clamp blocks 1104, and further, the first upper clamp plate 1105 can be driven by the first clamping power device 1109 to move toward the side close to the first lower clamp blocks 1104, so that the object can be clamped by the first upper clamp blocks 1108 on the first upper clamp plate 1105 in cooperation with the first lower clamp blocks 1104, and the object can be clamped more reliably. The first clamping power device 1109 may be a motor, an electric cylinder, or the like capable of providing power to drive the article to displace.

In an embodiment, the adjusting plate 1113 is slidably disposed on the first lifting plate 112, the adjusting plate 1113 is provided with an adjusting power device 1114 and a first opening/closing power device 1102, a driving end of the adjusting power device 1114 is connected to the first lifting plate 112, and a driving direction of the adjusting power device 1114 is opposite to a driving direction of the first opening/closing power device 1102. Specifically, a ninth sliding rail 1111 may be disposed on the first lifting plate 112, a ninth sliding block (not shown) may be disposed on the ninth sliding rail 1111, the adjusting plate 1113 may be disposed on the ninth sliding block, and the driving end of the adjusting power device 1114 may be connected to the first lifting plate 112 through an adjusting connection block 1115. It can be understood that the adjusting power device 1114 can be an adjusting cylinder, the adjusting cylinder is specifically disposed on the adjusting cylinder fixing base 1112 on the adjusting plate 1113, and the first opening/closing power device 1102 can be a first opening/closing cylinder; when the driving ends of the two adjusting power devices 1114 extend out, because the driving ends of the adjusting power devices 1114 are connected with the first lifting plate 112 through the adjusting connecting block 1115, the two adjusting power devices 1114 can drive the two adjusting plates 1113 to relatively move along the ninth sliding rail 1111, so that the distance between the two first clamping jaws 110 is firstly reduced by a section; then, the driving ends of the two first opening and closing power devices 1102 extend out, and since the driving direction of the adjusting power device 1114 is opposite to the driving direction of the first opening and closing power device 1102, the two first opening and closing moving plates 1100 can be driven to relatively slide along the seventh sliding rail 116, so that the two first clamping jaws 110 are in the clamping state or the opening state. The adjustment power device 1114 can also be a motor, an electric cylinder, or the like that can provide power to drive the object to displace. In this embodiment, the two-stage stroke of the adjusting power device 1114 and the first opening/closing power device 1102 is adopted, so that a situation that one stroke is long and the first grasping assembly 11 interferes with the double-layer hot press can be avoided when the first grasping assembly is located in the double-layer hot press.

In the several embodiments provided in the present invention, it should be understood that the disclosed grasping mechanism may be implemented in other ways. For example, the above-described embodiment of the grasping mechanism is only schematic, the division of each functional portion is only one logical functional division, and in actual implementation, there may be another division manner, for example, a plurality of functional portions may be combined or may be integrated into several modules, or each functional portion may exist alone physically, and so on.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications that can be made by using equivalent structures or equivalent principles in the present specification and drawings, or applied directly or indirectly to other related technical fields are included in the scope of the present invention.

Claims

1. A grasping mechanism, comprising:

a support;

at least a first grasping element and a second grasping element; the first grabbing component and the second grabbing component are respectively arranged on the bracket in a sliding mode, the second grabbing component is located above the first grabbing component, the first grabbing component comprises two first clamping jaws which are oppositely arranged, and the second grabbing component comprises two second clamping jaws which are oppositely arranged; the two first clamping jaws and the two second clamping jaws both have a clamping state and an opening state; and

the first driving assembly is used for driving the first grabbing assembly to move up and down on the support, and the second driving assembly is used for driving the second grabbing assembly to move up and down on the support;

when the two first clamping jaws and the two second clamping jaws are in an open state, the distance between the opposite surfaces of the two first clamping jaws is larger than the distance between the opposite surfaces of the two second clamping jaws; when the second gripping assembly moves downwards under the driving of the second driving assembly to grip the object positioned at the gripping position, the two second clamping jaws at least partially penetrate through between the two first clamping jaws.

2. The grasping mechanism according to claim 1,

the first driving assembly comprises a first lifting power device arranged on the support, and the driving end of the first lifting power device is connected with the first grabbing assembly through a first connecting piece; and/or

The second driving assembly comprises a second lifting power device arranged on the support, and the driving end of the second lifting power device is connected with the second grabbing assembly through a second connecting piece.

3. The grasping mechanism according to claim 1, further comprising:

the translation driving assembly comprises a bottom plate and a translation power device arranged on the bottom plate, the support is arranged on the bottom plate in a sliding mode, and the driving end of the translation power device is connected with the support.

4. The grasping mechanism according to claim 1,

the second grabbing component comprises a second mounting seat and a second lifting plate; the second mounting seat is arranged on the bracket in a sliding manner, and the second lifting plate is arranged on the second mounting seat in an up-and-down sliding manner; and the second mounting seat is also provided with a second driving power device, the driving end of the second driving power device is connected with the second lifting plate, and the second driving power device is used for driving the second lifting plate to move up and down on the second mounting seat.

5. The grasping mechanism according to claim 4,

the two second clamping jaws are oppositely arranged on the second lifting plate, each second clamping jaw comprises a second opening and closing moving plate and a second lower clamping plate fixedly arranged on the second opening and closing moving plate, and the second opening and closing moving plate is arranged on the second lifting plate in a sliding mode;

the second lifting plate is further provided with a second opening and closing power device, the driving end of the second opening and closing power device is connected with the second opening and closing moving plate, and the second opening and closing power device is used for driving the two second lower clamping plates to move relatively so as to clamp or loosen an object.

6. The grasping mechanism according to claim 5,

one ends of the two second lower clamping plates, which are far away from the second opening and closing moving plate, extend towards the opposite direction respectively to form second lower clamping blocks, and when the two second lower clamping plates move relatively to clamp the object, the object is supported by the two second lower clamping blocks;

each second clamping jaw further comprises a second upper clamping plate, the second upper clamping plate is arranged on the second opening and closing moving plate in a sliding mode, and a second upper clamping block is arranged at one end, close to the second lower clamping block, of the second upper clamping plate;

and a second clamping power device is arranged on the second lower clamping plate, the driving end of the second clamping power device is connected with the second upper clamping plate, and the second clamping power device is used for driving the second upper clamping plate to move towards one side close to the second lower clamping block so as to enable the second upper clamping block to be matched with the second lower clamping block to clamp an object.

7. The gripping mechanism of any of claims 1-6,

the first grabbing assembly comprises a first mounting seat and a first lifting plate; the first mounting seat is arranged on the bracket in a sliding manner, and the first lifting plate is arranged on the first mounting seat in a vertical sliding manner; the first mounting seat is further provided with a first driving power device, the driving end of the first driving power device is connected with the first lifting plate, and the first driving power device is used for driving the first lifting plate to move up and down on the first mounting seat.

8. The grasping mechanism according to claim 7,

the two first clamping jaws are oppositely arranged on the first lifting plate, each first clamping jaw comprises a first opening and closing moving plate and a first lower clamping plate fixedly arranged on the first opening and closing moving plate, and the first opening and closing moving plate is arranged on the first lifting plate in a sliding mode;

the first lifting plate is further provided with a first opening and closing power device, the driving end of the first opening and closing power device is connected with the first opening and closing moving plate, and the first opening and closing power device is used for driving the two first lower clamping plates to move relatively so as to clamp or loosen an object.

9. The grasping mechanism according to claim 8,

one ends of the two first lower clamping plates, which are far away from the first opening and closing moving plate, extend towards the opposite direction respectively to form first lower clamping blocks, and when the two first lower clamping plates move relatively to clamp an object, the object is supported by the two first lower clamping blocks;

each first clamping jaw further comprises a first upper clamping plate, the first upper clamping plate is arranged on the first opening and closing moving plate in a sliding mode, and a first upper clamping block is arranged at one end, close to the first lower clamping block, of the first upper clamping plate;

the first lower clamping plate is provided with a first clamping power device, the driving end of the first clamping power device is connected with the first upper clamping plate, and the first clamping power device is used for driving the first upper clamping plate to move towards one side close to the first lower clamping block so that the first upper clamping block and the first lower clamping block are matched to clamp an object.

10. The grasping mechanism according to claim 8,

the first lifting plate is provided with an adjusting plate in a sliding mode, the adjusting plate is provided with an adjusting power device and a first opening and closing power device, the driving end of the adjusting power device is connected with the first lifting plate, and the driving direction of the adjusting power device is opposite to that of the first opening and closing power device.