CN114506671A

CN114506671A - Snatch mechanism interval adjusting device and commodity circulation transfer chain

Info

Publication number: CN114506671A
Application number: CN202210299684.4A
Authority: CN
Inventors: 张囝; 宋国库; 刘旭; 游宏杰
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-05-17
Anticipated expiration: 2042-03-25
Also published as: CN114506671B

Abstract

The invention discloses a grabbing mechanism distance adjusting device and a logistics conveying line, relates to the field of material conveying, and aims to accurately adjust the distance between grabbing mechanisms. The grabbing mechanism interval adjusting device comprises a supporting seat, a driving piece, at least two variable-pitch transmission parts and at least two connecting pieces. The support base is configured to provide support; the driving piece is rotatably arranged on the supporting seat; one end of each variable pitch transmission part is respectively and rotatably connected with the driving part. Each connecting piece can be linearly movably arranged on the supporting seat; the connecting pieces correspond to the variable-pitch transmission parts one by one, and the connecting pieces are rotatably connected to the other ends of the variable-pitch transmission parts. The technical scheme realizes the accurate control of the distance between the connecting pieces; the connecting piece is used for installing the grabbing mechanism, so that the distance between the grabbing mechanisms can be adjusted.

Description

Snatch mechanism interval adjusting device and commodity circulation transfer chain

Technical Field

The invention relates to the field of material conveying, in particular to a grabbing mechanism interval adjusting device and a logistics conveying line.

Background

The new energy industry develops vigorously, and the lithium battery technology is relatively mature and has better development prospect. In the production process of the lithium battery cell, the hand grab of the lithium battery cell is taken as the most important transfer carrier in a full-automatic production line, and the importance of the hand grab is self-evident.

In order to meet the high-energy and high-efficiency requirements of a full-automatic lithium battery production line, the hand grab of the lithium battery electric core mostly adopts a multi-grabbing mode, namely, a device is adopted to grab a plurality of electric cores simultaneously. Because the needs of different technology stations in the in-process that lithium battery cell circulates, the interval of the different electric cores on unified anchor clamps also has different requirements, so lithium battery cell snatchs the interval change between each anchor clamps around and just becomes a conventional demand.

In the related art, the driving form for adjusting the pitch is divided into two types: electric drive and pneumatic drive. The electric drive adopts a linear motion structure with a motor driving a screw rod and the like, the control is relatively complex, a control line of a motor driver needs to be connected to the front end of the gripping apparatus through a mechanical arm, and the wiring is laborious. Pneumatic drive is for cutting formula fork structure or many clearance pull rod structure, cuts formula fork structure because clearance and deformation when multistage displacement, and the subassembly stability at both ends is relatively poor, and the rigidity is not enough. The variable pitch process of the multi-gap pull rod structure battery core is not uniform in movement and cannot move symmetrically with the centre of the gripping apparatus.

The inventor finds that at least the following problems exist in the prior art: at present, no mechanism can realize accurate adjustment of the distance between the clamps.

Disclosure of Invention

The invention provides a grabbing mechanism distance adjusting device and a logistics conveying line, which are used for accurately adjusting the distance between grabbing mechanisms.

The embodiment of the invention provides a grabbing mechanism distance adjusting device, which comprises:

a support base configured to provide support;

the driving piece is rotatably arranged on the supporting seat;

at least two pitch transmission members, each of which has one end rotatably connected to the driving member, and

at least two connecting pieces, each connecting piece can be linearly movably arranged on the supporting seat; the connecting pieces correspond to the variable-pitch transmission parts one to one, and are connected to the other ends of the variable-pitch transmission parts in a driving manner; each of the connectors is configured to mount a grasping mechanism.

In some embodiments, the drive is hinged to the support base at a hinge point; each variable pitch transmission part is symmetrically arranged on two sides of the hinge point of the driving part.

In some embodiments, the driving member is hinged to the supporting seat at a hinge point, and the lengths of two pitch transmission members located on the same side of the hinge point of the driving member satisfy the following functional relationship: L1/L2 ═ a1/a 2; wherein L1 is the length of the first pitch transmission member and L2 is the length of the second pitch transmission member; a1 is the distance between one end of the first variable pitch transmission component and the hinge point of the driving component; a2 is the distance between one end of the second pitch drive component and the hinge point of the drive component.

In some embodiments, the gripping mechanism spacing adjustment device further comprises:

the driving mechanism is arranged on the supporting seat; the driving mechanism is in driving connection with the driving piece or one of the variable-pitch transmission parts or one of the connecting pieces so as to drive the connecting pieces to linearly move relative to the supporting seat.

In some embodiments, the drive mechanism comprises:

the telescopic cylinder comprises a cylinder body and a piston rod; the cylinder body is fixedly connected with the supporting seat; and

the fixing piece is fixedly connected with the piston rod; the fixing piece is fixed on one of the connecting pieces; the piston rod moves in a telescopic mode to drive the connecting piece to move linearly relative to the supporting seat through the fixing piece.

and the limiting mechanism is arranged on the supporting seat so as to limit the displacement of the connecting piece relative to the supporting seat.

In some embodiments, the gripping mechanism interval adjustment device further comprises:

the guide mechanism is arranged on the supporting seat; the guide mechanism is configured to cause the link to move linearly.

In some embodiments, the guide mechanism comprises:

the guide rail is fixed on the supporting seat;

at least two sliding blocks which are arranged on the guide rail in a sliding way; each connecting piece is connected with at least one sliding block.

In some embodiments, the guide means comprises two spaced apart sets, the link being located between the two sets of guide means.

The embodiment of the invention also provides a logistics conveying line which comprises the device for adjusting the distance between the grabbing mechanisms provided by any technical scheme of the invention.

In some embodiments, the logistics transfer line further comprises:

the supporting seat is mounted on the mechanical arm.

In some embodiments, the logistics transfer line further comprises:

the grabbing mechanism is arranged on the connecting piece; the grasping mechanism is configured to grasp the material.

In some embodiments, the grasping mechanisms correspond one-to-one to the links.

The grabbing mechanism interval adjusting device provided by the technical scheme is provided with a supporting seat, a driving piece, at least two variable-pitch transmission parts and at least two connecting pieces. The supporting seat is a bearing part, and the supporting seat does not need to be moved in the process of adjusting the distance between the connecting pieces. And the movement of each connecting piece is respectively driven and transmitted through each variable pitch transmission component, so that the connecting pieces are not connected. Therefore, when an error occurs in the movement of one of the connecting pieces, the error is not transmitted to the other connecting pieces, and the movement of the other connecting pieces does not have an error. Therefore, the grabbing mechanism interval adjusting device provided by the technical scheme enables each connecting piece to be independently configured with the variable-pitch transmission part, the moving errors of the connecting pieces cannot be accumulated mutually, and accurate control of the connecting piece interval is achieved. The connecting piece is used for installing the grabbing mechanism, and after the distance of the connecting piece is adjusted, the distance of the grabbing mechanism can be accurately adjusted, so that when the grabbing mechanism is used for clamping materials in the follow-up process, the materials can be stably and reliably clamped.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a schematic perspective view of a space adjustment device of a gripping mechanism according to an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional structural view of a gripping mechanism interval adjustment device according to an embodiment of the present invention.

Fig. 3 is a schematic cross-sectional view of another angle of the gripping mechanism interval adjusting device according to the embodiment of the present invention.

Fig. 4 is a schematic view illustrating an adjustment principle of the distance adjustment device for the gripping mechanism according to the embodiment of the present invention.

Reference numerals:

1. a supporting seat; 2. a drive member; 3. a pitch-variable transmission member; 4. a connecting member; 5. a drive mechanism; 6. a limiting mechanism; 7. a guide mechanism;

51. a telescopic cylinder; 52. a fixing member;

511. a cylinder body; 512. a piston rod;

71. a guide rail; 72. a slide block.

Detailed Description

The technical solution provided by the present invention is explained in more detail with reference to fig. 1 to 4.

In the manufacturing process of new energy batteries, a cell production line is one of the most important production lines. The procedures related to the production of the battery cell are various, and semi-finished products and finished products of the battery cell need to shuttle among a plurality of procedures in order to complete each step of liquid injection, encapsulation and the like. The battery cell comprises a shell and an electrode assembly arranged in the shell. The electrode assembly is classified into a laminated electrode assembly and a wound electrode assembly according to the structure of the electrode sheet of the electrode assembly. The structure of the laminated electrode assembly is cuboid, accordingly, the rectangular shell is used for containing the laminated electrode assembly, and finally the rectangular battery cell is obtained. The shape of the wound electrode assembly is cylindrical, and correspondingly, a cylindrical shell is adopted to contain the wound electrode assembly, so that a cylindrical battery core is finally obtained. It should be noted that the above explanation is an example of one implementation manner, and does not represent that the shape of the electrode assembly of the battery cell and the shape of the casing have a necessary correspondence relationship.

When the battery cell needs to be moved between different stations, the mechanical arm is adopted to drive the grabbing mechanism 7 to clamp the battery cell so as to move the position of the battery cell. The grasping mechanism 7 is specifically, for example, a jig, an end effector, or the like. The end effector utilizes pneumatic negative pressure to realize adsorption and grabbing. Hereinafter, the use of the jig will be described as an example. In order to improve the battery cell movement and further improve the efficiency of subsequent battery cell processing, a plurality of battery cells can be moved simultaneously. Specifically, a plurality of grabbing mechanisms 7 are installed to a mechanical arm, and each grabbing mechanism 7 corresponds to one battery cell. These gripping means 7 can be driven synchronously or individually. If the same set of mechanism is adopted to drive all the grabbing mechanisms 7 to clamp and loosen the battery cell, the number of required driving parts can be reduced, and the action synchronism of each grabbing mechanism 7 is improved. If each grabbing mechanism 7 adopts an independent driving part to clamp and loosen the battery cell, the complexity of a driving part control system can be reduced, the control difficulty is reduced, and the control reliability is improved.

It can be understood that the structure of the grabbing mechanism 7 adopted by the battery cores with different shapes is different, so as to ensure the reliability of grabbing operation.

Because the electricity core production line is more complicated, if the electric core of every model all sets up the commodity circulation transfer chain alone, this production manufacturing cost that can greatly increased electric core undoubtedly reduces the availability factor of commodity circulation production line. Therefore, the better mode is that the same set of logistics conveying line is adopted to meet the conveying requirements of a plurality of battery cores with different types of battery cores and different intervals, so that the manufacturing cost of the battery cores is reduced, and the use efficiency of the logistics conveying line is improved.

The grabbing mechanism interval adjusting device provided by the embodiment of the invention is used for adjusting the intervals among the grabbing mechanisms 7 so as to meet the conveying requirements of battery cells of different types and the conveying requirements of the battery cells of different intervals. For example, the size of the battery cell of the model a, the size of the battery cell of the model B, and the size of the battery cell of the model C are different, and the space adjusting device of the grabbing mechanism provided by the embodiment of the invention can transport the battery cell of the model a as well as the battery cells of the models B and C. For another example, for a cell of type a, the distance between two adjacent cells of type a is required to be M1 at the M station, the distance between two adjacent cells of type a is required to be N1 at the N station, and M1 is not equal to N1, and by using the spacing adjustment device of the grabbing mechanism provided by the embodiment of the present invention, a plurality of cells of type a with a spacing of M1 can be clamped from the M station, and then the cells of type a are put down at the N station at an interval of N1.

The following describes how to adjust the spacing of the gripping mechanism 7 in detail, and the structure of the gripping mechanism 7 is not limited herein. In addition, although the battery cell is taken as an example for description, the solution of the embodiment of the present invention is not only applicable to the battery cell, but also applicable to conveying operations of other materials such as a box with a similar structure.

Referring to fig. 1 and 2, an embodiment of the present invention provides a gripping mechanism spacing adjustment device, which includes a support base 1, a driving member 2, at least two pitch transmission members 3, and at least two connecting members 4. The support base 1 is configured to provide support. The driving member 2 is rotatably mounted to the support base 1. One end of each pitch transmission part 3 is rotatably connected with the driving part 2. Each link 4 is mounted to the support base 1 so as to be linearly movable. The connecting pieces 4 correspond to the pitch transmission parts 3 one by one, and the connecting pieces 4 are rotatably connected to the other ends of the pitch transmission parts 3. Each link 4 is configured to mount a gripping mechanism.

The support base 1 is a support member for supporting the driving member 2, each pitch transmission member 3, and each connecting member 4. The support base 1 is used for fixedly connecting with a mechanical arm described later. In some embodiments, the support base 1 is a flat plate or a structure formed by a plurality of plates.

With continued reference to fig. 1 and 2, the drive member 2 is, for example, a rod. The driving piece 2 is hinged on the supporting seat 1. The length of the drive element 2 is positively correlated with the number of connecting elements 4 which are to be provided. The greater the number of links 4 that need to be provided, the longer the length of the drive member 2; the shorter the number of drivers 2. The driving member 2 is used for driving each variable pitch transmission member 3 to synchronously rotate through the rotation of the driving member 2 relative to the supporting seat 1, and the rotation of each variable pitch transmission member 3 can drive the connecting member 4 to linearly move relative to the supporting seat 1. The connecting piece 4 has the freedom of linear movement relative to the supporting seat 1 and has no freedom of movement in other directions. The connecting piece 4 can realize the movement by means of structures such as a linear guide rail 71, and the like, and the connecting piece 4 and the supporting seat 1 can also be arranged into special matching structures to realize the movement.

The power source of the driver 2 is very diverse, and one possible way is to apply rotational power directly to the driver 2; another possibility is to apply linear power to one of the pitch transmission members 3 or one of the links 4.

Taking the example of applying linear power to one of the pitch transmission members 3, the pitch transmission member 3 converts the linear power into its rotation due to the restriction of the installation relationship of the pitch transmission member 3, and the rotation of the pitch transmission member 3 drives the driving member 2 to rotate around the rotatable connection point of the driving member 2 and the supporting seat 1. After the driving part 2 rotates, other variable-pitch transmission parts 3 are driven to rotate, so that the action of one variable-pitch transmission part 3 is realized, and all the other variable-pitch transmission parts 3 are driven to act. The variable pitch transmission part 3 rotates to drive the connecting piece 4 to move linearly relative to the supporting seat 1.

Taking the example of applying a linear power to one of the links 4, the link 4 can only move linearly relative to the support base 1 due to its own degrees of freedom. The linear movement of the connecting element 4 causes the pitch drive 3 connected to the connecting element 4 to rotate, and the rotation of the pitch drive 3 causes the driving element 2 to rotate around the rotatable connecting point of the driving element 2 and the supporting base 1. After the driving part 2 rotates, other variable-pitch transmission parts 3 are driven to rotate, and the action of the rod of one connecting part 4 is realized to drive all the other connecting parts 4 to act.

When the connecting pieces 4 move linearly, the connecting pieces 4 are not connected and are independent from each other, and linkage does not exist among the connecting pieces 4, so that displacement errors cannot be accumulated. The analysis process of the error accumulation of the scissor mechanism is as follows: the scissor mechanism can be simplified into a plurality of parallelogram rectangles hinged side by side. The pitch changing process is the process of changing the included angle of each parallelogram. Since the parallelograms are hinged together, when a pitch error occurs at one of the hinge points, this will cause the other hinge points to be affected as well, since the error is reflected by the change in the position of the hinge point. Thus, the error corresponding to one hinge point affects all other hinge points, which results in difficulty in precise distance change and subsequently causes the grabbing mechanism not to stably clamp the materials. By adopting the technical scheme of the embodiment of the invention, the defects can be overcome, and accurate pitch change can be realized.

The pitch transmission part 3 is used for realizing power transmission, and the structure of the pitch transmission part 3 is a straight rod, for example. One end of the variable-pitch transmission part 3 is hinged with the driving part 2, and the other end of the variable-pitch transmission part 3 is hinged with the connecting part 4. Each connecting piece 4 corresponds to one pitch transmission part 3. Each pitch transmission member 3 is hinged to a different position along the length of the driving member 2. The lengths of the variable pitch transmission components 3 which are different from the distance between the hinge point O of the driving component 2 and the support seat 1 are different. The length of each variable pitch transmission part 3 is the same with the distance between the driving part 2 and the hinge point O of the supporting seat 1. Each connecting piece 4 positioned on one side of the hinge point O of the driving piece 2 and the supporting seat 1 is positioned on one side of the driving piece 2 in the length direction; each connecting piece 4 positioned at the other side of the hinge point O of the driving piece 2 and the supporting seat 1 is positioned at the other side of the driving piece 2 in the length direction. That is, in some embodiments, the hinge point O of the driving member 2 is rotatably connected to the supporting seat 1; the variable pitch transmission parts 3 are symmetrically arranged on both sides of the hinge point O of the driving part 2. In some embodiments, the hinge point O is located at the midpoint of the length of the driver 2.

The operation principle of the gripping mechanism spacing adjusting device provided by the embodiment of the invention is described below with reference to fig. 4. Take four pitch transmission parts 3 and four connecting pieces 4 as an example.

Referring to fig. 4, the point O in fig. 4 corresponds to the hinge point of the driving member 2 and the supporting seat 1. F1 corresponds to one of the end points of the driver 2 and F2 corresponds to the other end point of the driver 2. E1A corresponds to the first pitch transmission part 3, and a is located at the point where the first pitch transmission part 3 is hinged to the first link 4. BF1 corresponds to the second pitch drive unit 3, and the point at which B is located is the hinge point of the second pitch drive unit 3 and the second connecting element 4. E2C corresponds to the third pitch drive unit 3, and C is the point where the third pitch drive unit 3 is hinged to the third connecting element 4. F2D corresponds to the fourth variable pitch drive unit 3, and D is the hinge point of the fourth variable pitch drive unit 3 and the fourth link 4.

The process of the spacing adjustment of the link 4 is to change A, B, C, D the distance of the four points from point O.

The pitch changing process is a process that F1F2 rotates to F1'F2' relative to the supporting seat 1 around the O point. During the rotation of F1F2, AE1 rotates to a 'E1' and BF1 rotates to B 'F1' and E2C rotates to E2'C' and F2D rotates to F2 'D'.

Since each link 4 is restrained, A, B, C, D four points can only move on the center line illustrated in fig. 4, i.e., the straight lines of the four points ABCD before the moment change and the straight lines of the four points a 'B' C 'D' after the moment change coincide.

The distance between point a and point B corresponds to the distance between the respective pivot points of the two left-hand links 4 in fig. 4 before the pitch change, the distance between point a and point C corresponds to the distance between the respective pivot points of the two middle links 4 in fig. 4 before the pitch change, and the distance between point C and point D corresponds to the distance between the respective pivot points of the two rightmost links 4 in fig. 4 before the pitch change, and these three distances are equal.

The distance between point a 'and point B' corresponds to the distance between the respective hinge points of the two left links 4 in fig. 4 after pitch change, the distance between point a 'and point C' corresponds to the distance between the respective hinge points of the two middle links 4 in fig. 4 after pitch change, and the distance between point C 'and point D' corresponds to the distance between the respective hinge points of the two rightmost links 4 in fig. 4 after pitch change, and these three distances are also equal.

In some embodiments, the lengths of the two pitch transmission members 3 located on the same side of the hinge point O of the drive member 2 satisfy the following functional relationship: L1/L2 ═ a1/a 2; wherein L1 is the length of the first pitch transmission member 3, and L2 is the length of the second pitch transmission member 3; a1 is the distance between one end of the first variable pitch transmission component 3 and the hinge point O of the driving component 2; a2 is the distance between one end of the second pitch drive component 3 and the hinge point O of the drive component 2.

Still taking the example of four pitch transmission members 3 and four connecting members 4, see fig. 4, AE1 corresponds to the length of the first pitch transmission member 3, i.e. L1; BF1 corresponds to the length of the second pitch drive unit 3, i.e. L2. OE1 is the distance between one end of the first pitch transmission part 3 and the hinge point O of the driving part 2, i.e. a 1; OF1 is the distance between one end OF the second pitch drive member 3 and the pivot point O OF the drive member 2, i.e. a 2. OA and OC are equidistant and AC and BA are equal, so that the length of 0A is 1/3 of the length of OA, and based on the functional relationship of similar triangles, AE1 corresponds to length BF1 of pitch drive unit 3 and corresponds to length 1/3 of pitch drive unit 3.

By adopting the functional relation, the variable-pitch distance can be controlled more accurately by controlling the length of each variable-pitch transmission component 3 and the position of the hinge point, so that the distance between any two adjacent connecting pieces 4 is equal before and after the variable pitch, and the control is accurate and the operation is simple and reliable.

The connecting piece 4 is a part for mounting the grasping mechanism. The structure and the size of the connecting piece 4 are related to the type and the size of the materials to be clamped. In some embodiments, the connecting member 4 is a rectangular parallelepiped formed by assembling a plurality of plates, and the like, and each connecting member 4 can provide a stable support for a grasping mechanism installed on the connecting member 4. Each connecting element 4 can be provided with a gripping mechanism, one for gripping and releasing one material. Such as batteries, mechanical parts and products with similar requirements.

Referring to fig. 1 and 2, how to drive the connecting member 4 to move to achieve the spacing adjustment of the connecting member 4 will be described.

In some embodiments, the gripping mechanism interval adjusting device further comprises a driving mechanism 5, and the driving mechanism 5 is mounted on the support base 1. The driving mechanism 5 is in driving connection with the driving member 2 or one of the pitch transmission members 3 or one of the connecting members 4 to drive the connecting members 4 to move linearly relative to the supporting seat 1.

For example, the driving mechanism 5 is a rotary motor. Rotatable coupling is realized through the pivot to supporting seat 1 and driving piece 2, and rotary motor rotates through this pivot of drive, realizes the rotation of driving piece 2 for supporting seat 1. The rotary motor directly provides rotary power, and the rotary power can drive the driving piece 2 to rotate relative to the supporting seat 1 without conversion. For example, the driving mechanism 5 is a motor, and the motor drives the rotation of the driving member 2 relative to the support base 1. Of course, the driving mechanism 5 may be a mechanism that provides linear power, and since the driver 2 has a rotational degree of freedom and does not have a degree of freedom for linear movement, the driver 2 rotates relative to the support base 1 even if linear power is applied to the support base 1.

With continued reference to fig. 1 and 2, in some embodiments, the drive mechanism 5 includes a telescoping cylinder 51 and a fixed member 52. The telescopic cylinder 51 comprises a cylinder body 511 and a piston rod 512; the cylinder 511 is fixedly connected with the supporting base 1. The fixing member 52 is fixedly connected with the piston rod 512; the fixing member 52 is fixed to one of the connecting members 4; the piston rod 512 moves telescopically to drive the connecting member 4 to move linearly relative to the supporting base 1 via the fixing member 52.

The telescopic cylinder 51 is specifically, for example, a cylinder, a pneumatic cylinder, a hydraulic cylinder, or the like, which uses various working media. The telescopic cylinder 51 has simple action form, and the extension and retraction lengths of the telescopic cylinder 51 can be accurately controlled by an industrial controller such as a PLC. The pitch adjustment operation of the gripping mechanism pitch adjustment device and the transition operation of the robot arm described later are independent. The pitch-changing operation can be simultaneously carried out in the transition transportation process of the mechanical arm; or the distance between the connecting pieces 4 can be adjusted to a target value, and the transition transportation of the mechanical arm is started; or the mechanical arm can be adopted for transition transportation to move the material to a target position, and then the positions of the connecting pieces 4 are adjusted to realize the adjustment of the distance between the connecting pieces 4.

The securing member 52 is, for example, a block-like structure, see fig. 1. in some embodiments, the securing member 52 is fixedly connected to one of the connecting members 4. The fixing member 52 is fixedly connected to the piston rod 512, so that the fixing member 52 and the piston rod 512 extend and contract synchronously to drive the connecting member 4 to move directly, the connecting member 4 moves linearly to drive the pitch-variable transmission member 3 connected to the connecting member 4 to move relative to the driving member 2, so that the driving member 2 rotates relative to the supporting seat 1, and finally the driving member 2 drives the remaining pitch-variable transmission members 3 and the connecting members 4 connected to the pitch-variable transmission members 3 to move, thereby adjusting the distance between the connecting members 4.

With continued reference to fig. 1 and 2, in some embodiments, the grasping mechanism interval adjusting device further includes a limiting mechanism 6, and the limiting mechanism 6 is mounted to the support base 1 to limit the displacement amount of the connecting member 4 relative to the support base 1. The limiting mechanism 6 does not need to be moved, and the limiting mechanism 6 is a block structure, for example. In some embodiments, the limiting mechanism 6 comprises a mounting block and an abutting shaft, which are fixedly connected. The mounting block is fixedly mounted on the support base 1, the abutting shaft is fixedly mounted on the mounting block, and the abutting shaft is located on a linear moving path of the piston rod 512 of the telescopic cylinder 51. When the piston rod 512 extends to the limit position, it will abut against the abutting shaft, either directly or via the above-described fixing member 52, and the piston rod 512 cannot extend further. According to the technical scheme, the maximum extending distance of the piston rod 512 is limited through the limiting mechanism 6. When the piston rod 512 is extended a maximum distance, the spacing between the connecting members 4, and correspondingly the spacing between the gripping mechanisms, is maximized. When the piston rod 512 is fully retracted into the cylinder 511, the spacing between the connecting members 4, and correspondingly the spacing between the gripping mechanisms, is minimized.

The following describes how the attachment 4 can be mounted linearly movably on the support base 1. There are many possible ways of implementing this, for example by means of a structural cooperation between the connecting element 4 and the support seat 1, in which case the connecting element 4 can only move linearly relative to the support seat 1, or by means of a mechanism with a guiding function, or both. Some specific implementations are given below.

Referring to fig. 1 and 2, in some embodiments, the grabbing mechanism interval adjusting device further comprises a guide mechanism 7, and the guide mechanism 7 is mounted on the supporting seat 1; the guide mechanism 7 is configured to linearly move the link 4. The guide mechanism 7 functions to guide and position the connecting member 4 to move linearly relative to the supporting base 1 without rotating. The guide mechanism 7 is, for example, a linear guide rail, a guide rail slider matching mechanism, a guide rail and road wheel matching mechanism, or the like.

With continued reference to fig. 1 and 2, in some embodiments, the guide mechanism 7 includes a guide rail 71 and at least two sliders 72. The guide rail 71 is fixed to the support base 1. Each slider 72 is slidably provided to the guide rail 71; the sliding blocks 72 are connected with the connecting pieces 4, and one or more sliding blocks 72 are fixedly connected with each connecting piece 4. Each link 4 is fitted with at least one slider 72. Of course, in the case of only one guide rail 71, two or even more sliding blocks 72 can be provided per connecting element 4, which sliding blocks 72 are arranged side by side in the longitudinal direction of the guide rail 71, in order to achieve a more precise guiding action.

With continued reference to fig. 1 and 2, to make the linear movement of the link 4 more robust and non-wobbling, in some embodiments, the guide mechanism 7 includes two sets of spaced apart guides 7 with the link 4 positioned between the two sets of guides 7. One end of each connecting piece 4 is fixedly connected with the sliding block 72 of one set of guide mechanism 7, and the other end of each connecting piece 4 is fixedly connected with the sliding block 72 of the other set of guide mechanism 7. The middle part of each connecting piece 4 is hinged with the other end of the corresponding variable pitch transmission part 3. Above-mentioned technical scheme snatchs mechanism interval adjusting device and adopts the symmetrical formula structure for the central line symmetry of two guide rails 71 for every connecting piece 4 is provided with and all cooperates slider 72 with two guide rails 71, makes the linear motion of connecting piece 4 more steady like this, has improved the reliability that snatchs the mechanism clamp and get electric core operation. By the guiding action of the guiding mechanism 7, the extending and contracting direction of the piston rod 512 is more accurately along the direction of the gap of the connecting piece 4, and the piston rod 512 does not shake. And, the guiding mechanism 7 has high guiding precision, and realizes the function of small clearance, stability and synchronization pitch change.

Materials which can be conveyed by the logistics conveying line comprise battery cores, mechanical parts of similar structures and the like.

In some embodiments, the logistics conveying line further comprises a mechanical arm, and the support base 1 is mounted on the mechanical arm. The mechanical arm is used for driving the grabbing mechanism interval adjusting device to move among all positions.

In some embodiments, the logistics conveying line further comprises a grabbing mechanism, and the grabbing mechanism is mounted on the connecting piece 4; the grasping mechanism is configured to grasp the material. The grabbing mechanism is arranged on the connecting piece 4; the grasping mechanism is configured to grasp the material. The grabbing mechanism can adopt an existing structure. The grabbing mechanism can be connected with the connecting piece 4 in a detachable connection mode. When the different materials of needs centre gripping, snatch the mechanism through the change and satisfy diversified demand.

In some embodiments, the gripping mechanisms are in one-to-one correspondence with the links 4. Each grabbing mechanism is arranged on one connecting piece 4, so that the distance between the grabbing mechanisms can be adjusted by adjusting the distance between the adjacent connecting pieces 4.

In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the scope of the present invention.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a snatch mechanism interval adjusting device which characterized in that includes:

a support base (1) configured to provide support;

a driving piece (2) which is rotatably arranged on the supporting seat (1);

at least two variable-pitch transmission parts (3), wherein one end of each variable-pitch transmission part (3) is rotatably connected with the driving part (2); and

at least two connecting pieces (4), wherein each connecting piece (4) can be linearly movably arranged on the supporting seat (1); the connecting pieces (4) correspond to the variable-pitch transmission parts (3) one by one, and the connecting pieces (4) are connected to the other ends of the variable-pitch transmission parts (3) in a driving mode; each of the connectors (4) is configured to mount a gripping mechanism.

2. The gripper mechanism spacing adjustment device according to claim 1, characterized in that the drive element (2) is hinged to the support (1) at a hinge point; the variable-pitch transmission parts (3) are symmetrically arranged on two sides of a hinge point of the driving part (2).

3. The gripper mechanism spacing adjustment device according to claim 1, characterized in that the driving member (2) is hinged to the support base (1) at a hinge point, and the lengths of the two pitch transmission members (3) on the same side of the hinge point of the driving member (2) satisfy the following functional relationship: L1/L2 ═ a1/a 2; wherein L1 is the length of the first pitch transmission member (3), and L2 is the length of the second pitch transmission member (3); a1 is the distance between one end of the first variable-pitch transmission component (3) and the hinge point of the driving component (2); a2 is the distance between one end of the second variable-pitch transmission component (3) and the hinge point of the driving component (2).

4. The gripping mechanism spacing adjustment device according to claim 1, further comprising:

a drive mechanism (5) mounted on the support base (1); the driving mechanism (5) is in driving connection with the driving part (2) or one of the variable-pitch transmission parts (3) or one of the connecting pieces (4) so as to drive the connecting pieces (4) to move linearly relative to the supporting seat (1).

5. The gripping mechanism spacing adjustment device according to claim 4, characterized in that the drive mechanism (5) comprises:

a telescopic cylinder (51) comprising a cylinder body (511) and a piston rod (512); the cylinder body (511) is fixedly connected with the supporting seat (1); and

a fixing member (52) fixedly connected with the piston rod (512); the fixing piece (52) is fixed on one of the connecting pieces (4); the piston rod (512) moves in a telescopic mode so as to drive the connecting piece (4) to move linearly relative to the supporting seat (1) through the fixing piece (52).

6. The gripping mechanism spacing adjustment device according to claim 4, further comprising:

and the limiting mechanism (6) is arranged on the supporting seat (1) so as to limit the displacement of the connecting piece (4) relative to the supporting seat (1).

7. The gripping mechanism spacing adjustment device according to claim 1, further comprising:

a guide mechanism (7) mounted on the support base (1); the guide mechanism (7) is configured to move the link (4) linearly.

8. The gripping mechanism spacing adjustment device according to claim 7, characterized in that the guiding mechanism (7) comprises:

a guide rail (71) fixed to the support base (1);

at least two sliders (72) each slidably provided to the guide rail (71); at least one sliding block (72) is connected with each connecting piece (4).

9. The gripping mechanism spacing adjustment device according to claim 7, characterized in that the guide mechanism (7) comprises two sets arranged at intervals, and the connecting piece (4) is positioned between the two sets of guide mechanisms (7).

10. A logistics conveying line, characterized by comprising the grabbing mechanism distance adjusting device of any one of claims 1-9.

11. The logistics conveying line according to claim 10, further comprising:

the supporting seat (1) is mounted on the mechanical arm.

12. The logistics conveyor line of claim 10, further comprising:

the grabbing mechanism is arranged on the connecting piece (4); the grasping mechanism is configured to grasp the material.

13. Logistics conveying line according to claim 12, characterized in that the gripping means correspond one-to-one to the connectors (4).