CN114506671B - Snatch mechanism interval adjusting device and commodity circulation transfer chain - Google Patents
Snatch mechanism interval adjusting device and commodity circulation transfer chain Download PDFInfo
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- CN114506671B CN114506671B CN202210299684.4A CN202210299684A CN114506671B CN 114506671 B CN114506671 B CN 114506671B CN 202210299684 A CN202210299684 A CN 202210299684A CN 114506671 B CN114506671 B CN 114506671B
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- variable
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- supporting seat
- pitch transmission
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
Abstract
The application discloses a grabbing mechanism spacing adjusting device and a logistics conveying line, and relates to the field of material conveying. 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 rotatably connected with the driving part. Each connecting piece is arranged on the supporting seat in a linear movement manner; the connecting pieces are in one-to-one correspondence with the variable-pitch transmission parts, and are rotatably connected to the other ends of the variable-pitch transmission parts. The technical scheme realizes the accurate control of the spacing of the connecting pieces; the connecting piece is used for installing the grabbing mechanism, so that the distance between the grabbing mechanisms is adjusted.
Description
Technical Field
The application relates to the field of material conveying, in particular to a grabbing mechanism spacing adjusting device and a logistics conveying line.
Background
The new energy industry is vigorously developed, and the lithium battery technology is relatively mature and has good development prospect. In the production process of the lithium battery cell, the gripper of the lithium battery cell is used as the most important transport carrier in the full-automatic production line, and the importance of the gripper is self-evident.
In order to meet the high-energy and high-efficiency requirements of the full-automatic lithium battery production line, most of lithium battery cell grippers adopt a multi-gripper mode, namely, one device is adopted to simultaneously grip a plurality of battery cells. In the process of battery cell circulation of the lithium battery, the space between different battery cells on the unified clamp can also have different requirements due to the requirements of different process stations, so that the space change between the clamps before and after the battery cell grabbing of the lithium battery becomes a conventional requirement.
In the related art, the driving forms for adjusting the pitch are divided into two types: and (3) electric driving and pneumatic driving. The motor is adopted to drive the linear motion structure in the forms of a screw rod and the like by the motor, the control is relatively complex, and a control line of the motor driver is required to be transferred to the front end of the gripping apparatus through the mechanical arm, so that the wiring is relatively laborious. The pneumatic drive is a scissor type fork structure or a multi-gap pull rod structure, and the scissor type fork structure has poor stability and insufficient rigidity of components at two ends due to gaps and deformation in the multistage pitch change process. The movement of the multi-gap pull rod structure battery core in the distance changing process is uneven and can not move symmetrically with the gripping apparatus center.
The inventors found that at least the following problems exist in the prior art: at present, no mechanism can realize accurate adjustment of the spacing of the clamps.
Disclosure of Invention
The application provides a grabbing mechanism spacing adjusting device and a logistics conveying line, which are used for accurately adjusting the spacing of grabbing mechanisms.
The embodiment of the application provides a grabbing mechanism interval adjusting device, which comprises:
a support base configured to provide support;
the driving piece is rotatably arranged on the supporting seat;
at least two variable-pitch transmission parts, one end of each variable-pitch transmission part is respectively and rotatably connected with the driving part, and
at least two connecting pieces, each of which is mounted on the supporting seat in a linearly movable manner; the connecting pieces are in one-to-one correspondence with the variable-pitch transmission parts, and are in driving connection with the other ends of the variable-pitch transmission parts; each of the connectors is configured to mount a gripping mechanism.
In some embodiments, the drive member is hinged to the support base at a hinge point; each variable-pitch transmission part is symmetrically arranged at two sides of the hinge point of the driving part.
In some embodiments, the driving member is hinged to the supporting base at a hinge point, and the lengths of the two variable-pitch transmission parts located on the same side of the hinge point of the driving member satisfy the following functional relationship: l1/l2=a1/a2; wherein L1 is the length of a first variable-pitch transmission part, and L2 is the length of a second variable-pitch transmission part; a1 is the distance between one end of the first variable-pitch transmission part and the hinge point of the driving part; a2 is the distance between one end of the second variable-pitch transmission part and the hinge point of the driving part.
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 stretches and contracts to drive the connecting piece to move linearly relative to the supporting seat through the fixing piece.
In some embodiments, the gripping mechanism spacing adjustment device further comprises:
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 spacing adjustment device further comprises:
the guide mechanism is arranged on the supporting seat; the guide mechanism is configured to move the link linearly.
In some embodiments, the guide mechanism comprises:
the guide rail is fixed on the supporting seat;
at least two sliding blocks which are slidably arranged on the guide rail; at least one sliding block is connected to each connecting piece.
In some embodiments, the guide mechanism comprises two sets spaced apart, the connector being located between the two sets of guide mechanisms.
The embodiment of the application also provides a logistics conveying line, which comprises the grabbing mechanism spacing adjusting device provided by any technical scheme of the application.
In some embodiments, the logistics transport line further comprises:
and the supporting seat is arranged on the mechanical arm.
In some embodiments, the logistics transport line further comprises:
the grabbing mechanism is arranged on the connecting piece; the gripping mechanism is configured to grip a material.
In some embodiments, the gripping mechanisms are in one-to-one correspondence with the connectors.
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 move in the process of adjusting the distance between the connecting pieces. And, the motion of each connecting piece is driven and transmitted through each variable-pitch transmission part respectively, so that the connecting pieces are not connected. Therefore, when an error occurs in the movement of one of the connection members, the error is not transmitted to the other connection members, and the movement of the other connection members is not error. Therefore, the grabbing mechanism spacing adjusting device provided by the technical scheme enables each connecting piece to be independently provided with the variable-spacing transmission part, the movement errors of each connecting piece cannot be accumulated, and precise control of the spacing of the connecting pieces is realized. The connecting piece is used for installing the grabbing mechanism, and after the distance between the connecting pieces is adjusted, the distance between the grabbing mechanisms can be accurately adjusted, so that the materials can be clamped stably and reliably when the grabbing mechanisms are used for clamping the materials subsequently.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic perspective view of a device for adjusting a distance between gripping mechanisms according to an embodiment of the present application.
Fig. 2 is a schematic cross-sectional structural view of a gripping mechanism spacing adjustment device according to an embodiment of the present application.
Fig. 3 is a schematic cross-sectional view of another angle of the distance adjusting device for a grabbing mechanism according to an embodiment of the present application.
Fig. 4 is a schematic diagram of an adjusting principle of a gripping mechanism spacing adjusting device according to an embodiment of the present application.
Reference numerals:
1. a support base; 2. a driving member; 3. a variable-pitch transmission member; 4. a connecting piece; 5. a driving mechanism; 6. a limiting mechanism; 7. a guide mechanism;
51. a telescopic cylinder; 52. a fixing member;
511. a cylinder; 512. a piston rod;
71. a guide rail; 72. a sliding block.
Detailed Description
The technical scheme provided by the application is described in more detail below with reference to fig. 1 to 4.
In the manufacturing process of new energy batteries, the battery cell production line is one of the most important production lines. The procedures involved in the production of the battery cells are numerous, and the semi-finished product and the finished product of the battery cells need to be shuttled orderly among a plurality of procedures so as to finish the steps of liquid injection, encapsulation and the like. The battery cell includes a case and an electrode assembly mounted in the case. The electrode assembly is divided into a lamination type electrode assembly and a winding type electrode assembly according to the difference of the electrode assembly's pole piece structure. The laminated electrode assembly is of a cuboid structure, and accordingly a cuboid-shaped shell is used for accommodating the laminated electrode assembly, and finally the cuboid-shaped battery cell is obtained. The coiled electrode assembly is cylindrical in shape, and correspondingly, a cylindrical shell is used for accommodating the coiled electrode assembly, so that a cylindrical battery cell is finally obtained. It should be noted that the above explanation is given by taking one implementation as an example, and does not represent that there is a necessary correspondence between the shape of the electrode assembly of the battery cell and the shape of the case.
When the battery core needs to be moved between different stations, the mechanical arm is adopted to drive the grabbing mechanism 7 to clamp the battery core so as to move the position of the battery core. The gripping mechanism 7 is specifically, for example, a jig, an end pick, or the like. The end pick-up device utilizes pneumatic negative pressure to realize adsorption grabbing. Hereinafter, a jig will be described as an example. In order to improve the movement of the battery cells and further improve the efficiency of subsequent processing of the battery cells, a plurality of battery cells can be moved simultaneously. Specifically, a plurality of grabbing mechanisms 7 are installed on one mechanical arm, and each grabbing mechanism 7 corresponds to one electric core. These gripping means 7 can be driven synchronously or individually. If the same mechanism is adopted to drive all the grabbing mechanisms 7 to clamp and loosen the battery cells, the number of required driving parts can be reduced, and the action synchronism of each grabbing mechanism 7 can be increased. If each grabbing mechanism 7 adopts an independent driving component to clamp and loosen the battery cell, the complexity of a driving component control system can be reduced, the control difficulty is reduced, and the control reliability is improved.
It will be appreciated that the gripping means 7 employed by the different shaped cells are of different structure to ensure the reliability of the gripping operation.
Because the electric core production line is more complicated, if the electric core of every model all sets up commodity circulation transfer chain alone, this can obviously greatly increased the manufacturing cost of electric core, reduces commodity circulation production line's availability factor. Therefore, the same logistics conveying line is adopted in the preferred mode to meet the conveying requirements of a plurality of electric cores with different types and different distances, so that the manufacturing cost of the electric cores is reduced, and the use efficiency of the logistics conveying line is improved.
The device for adjusting the intervals of the grabbing mechanisms is used for adjusting the intervals among the grabbing mechanisms 7 so as to meet the conveying requirements of the electric cores with different types and also meet the conveying requirements of the electric cores with different intervals. For example, the sizes of the battery cells of the model A, the battery cells of the model B and the battery cells of the model C are different, and the grabbing mechanism interval adjusting device provided by the embodiment of the application can be used for transporting the battery cells of the model A and the battery cells of the model B and the model C. For another example, for a cell of a model a, the interval between two adjacent cells of the model a is required to be M1 at the M station, the interval between two adjacent cells of the model a is required to be N1 at the N station, and M1 is not equal to N1.
How the spacing of the gripping means 7 is adjusted will be described in detail herein, and as for the structure of the gripping means 7, this is not limited. In addition, although the description is given by taking the battery cell as an example, the scheme of the embodiment of the application is not only applicable to the battery cell, but also applicable to the conveying operation of other materials such as boxes with similar structures.
Referring to fig. 1 and 2, an embodiment of the present application provides a gripping mechanism spacing adjustment device, which includes a support base 1, a driving member 2, at least two variable-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 variable-pitch transmission part 3 is rotatably connected with the driving part 2. Each of the connecting members 4 is linearly movably mounted to the support base 1. The connecting pieces 4 are in one-to-one correspondence with the variable-pitch transmission parts 3, and the connecting pieces 4 are rotatably connected to the other ends of the variable-pitch transmission parts 3. Each connector 4 is configured to mount a gripping mechanism.
The support base 1 is a support member for supporting the driving element 2, each of the pitch transmission members 3, and each of the connecting elements 4. The supporting seat 1 is used for being fixedly connected with a mechanical arm which is described later. In some embodiments, the support base 1 is a flat plate or a structure formed by splicing a plurality of plates.
With continued reference to fig. 1 and 2, the driving member 2 is, for example, a rod member. The driving member 2 is hinged to the support base 1. The length of the driving member 2 is positively related to the number of connecting members 4 that are to be provided. The greater the number of connecting elements 4 that need to be provided, the longer the length of the driving element 2; conversely, the shorter the number of driving members 2. The driving piece 2 has the function of driving each variable-pitch transmission part 3 to synchronously rotate through the rotation of the driving piece 2 relative to the supporting seat 1, and each variable-pitch transmission part 3 rotates to drive the connecting piece 4 to linearly move relative to the supporting seat 1. The link 4 has a degree of freedom of linear movement relative to the support base 1 and no degree of freedom of movement in other directions. The connecting piece 4 can realize the movement by means of the linear guide rail 71 and other structures, or the connecting piece 4 and the supporting seat 1 can be provided with special matching structures so as to realize the movement.
There are a number of sources of power for the driving member 2, one possible way being to apply rotational power directly to the driving member 2; another possibility is to apply a linear power to one of the pitch drive members 3 or one of the links 4.
Taking the example of a linear power applied to one of the pitch transmission members 3, the pitch transmission member 3 converts the linear power into its own rotation due to the restriction of its own mounting relationship, and the rotation of the pitch transmission member 3 will drive the driver 2 to rotate about the rotatable connection point of the driver 2 and the support 1. After the driving piece 2 rotates, other variable-pitch transmission parts 3 are driven to rotate, so that all the other variable-pitch transmission parts 3 are driven to move through the action of one variable-pitch transmission part 3. The rotation of the variable-pitch transmission part 3 drives the connecting piece 4 to linearly move relative to the supporting seat 1.
Taking the example of a linear power applied to one of the links 4, the link 4 can only move linearly with respect to the support 1 due to its degree of freedom. The linear movement of the connecting element 4 causes the rotation of the torque transmission element 3 connected to the connecting element 4, which torque transmission element 3 rotates the driving element 2 about the rotatable connection point of the driving element 2 and the support 1. After the driving part 2 rotates, other variable-pitch transmission parts 3 are driven to rotate, so that all other connecting parts 4 are driven to act through the rod action of one connecting part 4.
Since the connectors 4 are independent of each other and have no linkage when they move in a straight line, the displacement error is not accumulated. The analysis process of the error accumulation of the scissor mechanism is as follows: the scissor mechanism may be reduced to 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 displacement error occurs in one of the hinge points, this causes the other hinge points to be affected as well, since the error is reflected by a change in the position of the hinge point. Thus, an error corresponding to one hinge point affects all other hinge points, which causes difficulty in accurate distance change and causes the grabbing mechanism to be incapable of firmly clamping materials. By adopting the technical scheme of the embodiment of the application, the defects can be overcome, and the accurate distance change can be realized.
The variable-pitch transmission part 3 is used for realizing power transmission, and the structure of the variable-pitch transmission part 3 is a straight rod. 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 element 4 corresponds to a pitch transmission member 3. Each of the pitch transmission members 3 is hinged to the driving member 2 at different positions in the longitudinal direction thereof. The length of each variable-pitch transmission part 3 with different distances from the hinge point O of the driving part 2 and the supporting seat 1 is different. The length of each variable-pitch transmission part 3 which is the same with the hinge point O of the support base 1 from the driving part 2 is the same. 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 length direction of the driving piece 2; the connecting pieces 4 positioned on the other side of the hinge point O between the driving piece 2 and the supporting seat 1 are positioned on the other side of the length direction of the driving piece 2. That is, in some embodiments, the hinge point O of the driving member 2 is rotatably connected with the support base 1; the respective pitch transmission parts 3 are symmetrically arranged on both sides of the hinge point O of the driving member 2. In some embodiments, the hinge point O is located at a midpoint in the length direction of the driver 2.
Next, with reference to fig. 4, an operation principle of the gripping mechanism spacing adjustment device provided by the embodiment of the present application will be described. Take four torque transmission members 3, four connecting members 4 as an example.
Referring to fig. 4, the O point in fig. 4 corresponds to the hinge point of the driving member 2 and the support base 1. F1 corresponds to one end of the driving member 2 and F2 corresponds to the other end of the driving member 2. E1A corresponds to the first variable-pitch transmission part 3, and the point where A is located is the hinge point of the first variable-pitch transmission part 3 and the first connecting piece 4. BF1 corresponds to the second variable-pitch transmission part 3, and the point where B is located is the hinge point of the second variable-pitch transmission part 3 and the second connecting piece 4. E2C corresponds to the third variable-pitch transmission part 3, and the point where C is located is the hinge point of the third variable-pitch transmission part 3 and the third connecting piece 4. F2D corresponds to the fourth variable-pitch transmission part 3, and the point where D is located is the hinge point of the fourth variable-pitch transmission part 3 and the fourth connecting piece 4.
The pitch adjustment of the connector 4 is performed by changing the distance of the four points A, B, C, D from the O-point.
The pitch change process is a process in which F1F2 rotates around the O point to F1'F2' with respect to the support base 1. During the rotation of F1F2, AE1 rotates with A 'E1', while BF1 rotates with B 'F1', E2C rotates with E2'C', and F2D rotates with F2'D'.
Since each connector 4 is restrained, the four A, B, C, D points can only move on the central line illustrated in fig. 4, i.e. the straight line of the four ABCD points before the displacement coincides with the straight line of the four a 'B' C 'D' points after the displacement.
The distance between the point a and the point B corresponds to the distance between the respective hinge points of the two links 4 on the left side in fig. 4 before the displacement, the distance between the point a and the point C corresponds to the distance between the respective hinge points of the two links 4 on the middle side in fig. 4 before the displacement, the distance between the point C and the point D corresponds to the distance between the respective hinge points of the two links 4 on the right side in fig. 4 before the displacement, and the three distances are equal.
The distance between the point a 'and the point B' corresponds to the distance between the respective hinge points of the two links 4 on the left in fig. 4 after the pair of the links is set, the distance between the point a 'and the point C' corresponds to the distance between the respective hinge points of the two links 4 on the middle in fig. 4 after the pair of the links is set, the distance between the point C 'and the point D' corresponds to the distance between the respective hinge points of the two links 4 on the right in fig. 4 after the pair of the links is set, and the three distances are equal.
In some embodiments, the lengths of the two torque transmission members 3 located on the same side of the hinge point O of the driving member 2 satisfy the following functional relationship: l1/l2=a1/a2; wherein L1 is the length of the first variable-pitch transmission part 3, and L2 is the length of the second variable-pitch transmission part 3; a1 is the distance between one end of the first variable-pitch transmission part 3 and the hinge point O of the driving piece 2; a2 is the distance between one end of the second variable-pitch transmission part 3 and the hinge point O of the driving part 2.
Taking four torque transmission parts 3 and four connecting pieces 4 as an example, referring to fig. 4, ae1 corresponds to the length of the first torque transmission part 3, i.e. L1; BF1 corresponds to the length of the second torque transmission member 3, i.e. L2.OE1 is the distance between one end of the first variable-pitch transmission part 3 and the hinge point O of the driving part 2, namely A1; OF1 is the distance from one end OF the second torque transmission member 3 to the hinge point O OF the driving member 2, i.e. A2. If the distance between OA and OC is equal and the distance between AC and BA is equal, then the length of 0A is 1/3 of the length of OA, and according to the function relationship of similar triangles, it is known that AE1 corresponds to 1/3 of the length of the torque transmission member 3 corresponding to the length BF1 of the torque transmission member 3.
By adopting the functional relation, the length of each variable-pitch transmission part 3 and the position of the hinge point can be controlled more accurately, 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 connection 4 is a component for mounting the gripping mechanism. The structure, dimensions of the connection 4 are related to the kind, dimensions of the material to be clamped. In some embodiments, the connectors 4 are rectangular parallelepiped formed by splicing a plurality of plates and the like, and each connector 4 may provide a stable support for a gripping mechanism mounted to the connector 4. Each connector 4 may be provided with a gripping mechanism, one for gripping and releasing one material. Materials such as batteries, mechanical parts and products with similar requirements.
Referring to fig. 1 and 2, how the link 4 is driven to move to achieve pitch adjustment of the link 4 will be described.
In some embodiments, the gripping mechanism spacing adjustment device further comprises a driving mechanism 5, the driving mechanism 5 being mounted to the support base 1. The driving mechanism 5 is in driving connection with the driving piece 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 linearly move relative to the supporting seat 1.
For example, the driving mechanism 5 is a rotary motor. The supporting seat 1 and the driving piece 2 are rotatably connected through a rotating shaft, and the rotating motor drives the rotating shaft to rotate so as to realize the rotation of the driving piece 2 relative to the 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 that drives the driving member 2 to rotate relative to the support base 1. Of course, the driving mechanism 5 may be a mechanism that supplies linear power, and since the driving element 2 has a degree of freedom of rotation and does not have a degree of freedom of linear movement, the driving element 2 rotates relative to the support base 1 even when 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 mount 52. The telescopic cylinder 51 includes a cylinder body 511 and a piston rod 512; the cylinder 511 is fixedly connected with the support base 1. The fixed 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 piece 4 to move linearly relative to the supporting seat 1 through the fixing piece 52.
The expansion cylinder 51 is specifically an expansion cylinder using various working mediums such as an oil cylinder, a gas cylinder, and a hydraulic cylinder. The telescopic cylinder 51 is simple in action form, and the extension and retraction length 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 transfer operation of the robotic arm described later are independent. The distance changing operation can be carried out simultaneously in the transfer transportation process of the mechanical arm; the distance between the connecting pieces 4 can be adjusted to be a target value, and the transfer transportation of the mechanical arm can be started again; the mechanical arm can be used for transferring and transporting firstly, so that materials can be moved to a target position, and then the position of each connecting piece 4 is started to be adjusted, so that the adjustment of the distance between the connecting pieces 4 is realized.
The securing member 52 is, for example, a block-like structure, see fig. 1, and in some embodiments, the securing member 52 is fixedly connected to one of the connecting members 4. The fixing piece 52 is fixedly connected with the piston rod 512, so that the fixing piece 52 and the piston rod 512 synchronously extend and retract, and then the connecting piece 4 is driven to directly move, and the linear movement of the connecting piece 4 drives the variable-pitch transmission part 3 connected with the connecting piece 4 to move relative to the driving piece 2, so that the driving piece 2 rotates relative to the supporting seat 1, and finally the driving piece 2 drives the rest variable-pitch transmission parts 3 and the connecting pieces 4 connected with the variable-pitch transmission parts 3 to move, so that the interval adjustment between the connecting pieces 4 is realized.
With continued reference to fig. 1 and 2, in some embodiments, the gripping mechanism spacing adjustment device further includes a limiting mechanism 6, where the limiting mechanism 6 is mounted to the support base 1 to limit the amount of displacement 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 in a block structure. In some embodiments, the limiting mechanism 6 includes a mounting block and an abutment shaft, which are fixedly connected. The mounting block is fixedly mounted to the support base 1, the abutment shaft is fixedly mounted to the mounting block, and the abutment shaft is located on a linear movement path of the piston rod 512 of the telescopic cylinder 51. When the piston rod 512 is extended to the limit position, it will be pushed against the pushing shaft, either directly or via the fixing member 52 described above, and the piston rod 512 cannot be extended further. The above technical solution limits the maximum distance that the piston rod 512 extends out by the limiting mechanism 6. When the piston rod 512 extends a maximum distance, the distance between the connecting members 4 is the largest and correspondingly the distance between the gripping means is the largest. When the piston rod 512 is fully retracted into the cylinder 511, the spacing between the connecting members 4 is minimized, and correspondingly, the spacing between the gripping mechanisms is minimized.
The following describes how the connecting piece 4 is mounted to the support base 1 in a linearly movable manner. Many possible implementations are possible, for example, that the connecting element 4 can only move linearly relative to the supporting seat 1 by means of structural cooperation of the connecting element 4 and the supporting seat 1, or that a mechanism with guiding function is used, or that both are used simultaneously. Some specific implementations are given below.
Referring to fig. 1 and 2, in some embodiments, the gripping mechanism spacing adjustment device further includes a guide mechanism 7, the guide mechanism 7 being mounted to the support base 1; the guide mechanism 7 is configured to move the link 4 linearly. The guiding mechanism 7 plays a role of guiding and positioning, so that the connecting piece 4 moves linearly relative to the supporting seat 1 without rotating. The guide mechanism 7 is, for example, a linear guide rail, a guide rail slider matching mechanism, a guide rail and travelling 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 slides 72. The guide rail 71 is fixed to the support base 1. Each slider 72 is slidably disposed on the guide rail 71; the sliders 72 are connected to the connectors 4, and each connector 4 is fixedly connected to one or more sliders 72. Each connecting element 4 is fitted with at least one slider 72. Of course, on the premise of only one guide rail 71, two or more sliding blocks 72 can be arranged on each connecting piece 4, and the sliding blocks 72 are arranged side by side in the length direction of the guide rail 71 so as to realize a more precise guiding effect.
With continued reference to fig. 1 and 2, in order to make the linear movement of the connector 4 more stable and free from rattle, in some embodiments the guide means 7 comprise two sets of guide means 7 arranged at intervals, the connector 4 being located between the two sets of guide means 7. One end of each connecting piece 4 is fixedly connected with the sliding block 72 of one set of guiding mechanism 7, and the other end of each connecting piece 4 is fixedly connected with the sliding block 72 of the other set of guiding mechanism 7. The middle part of each connecting piece 4 is hinged with the other end of the corresponding variable-pitch transmission part 3. According to the technical scheme, the grabbing mechanism interval adjusting device adopts a symmetrical structure symmetrical relative to the central lines of the two guide rails 71, so that each connecting piece 4 is provided with the sliding blocks 72 matched with the two guide rails 71, the linear movement of the connecting piece 4 is more stable, and the reliability of the grabbing mechanism in clamping the battery cell is improved. By the guiding action of the guiding mechanism 7, the telescopic direction of the piston rod 512 is more precisely 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 small-gap, stable and synchronous distance changing function.
The embodiment of the application also provides a logistics conveying line, which comprises the grabbing mechanism spacing adjusting device provided by any technical scheme of the application.
The materials that the logistics conveying line can convey comprise electric cores, mechanical parts with similar structures and the like.
In some embodiments, the logistics transport line further comprises a robotic arm to which the support base 1 is mounted. The mechanical arm is used for driving the grabbing mechanism interval adjusting device to move between all positions.
In some embodiments, the logistics transportation line further comprises a gripping mechanism mounted to the connector 4; the gripping mechanism is configured to grip a material. The grabbing mechanism is arranged on the connecting piece 4; the gripping mechanism is configured to grip a material. The gripping mechanism may take an existing configuration. The gripping means can in particular be connected to the connecting piece 4 in a detachable manner. When different materials need to be clamped, the grabbing mechanism is replaced to meet diversified requirements.
In some embodiments, the gripping means are in one-to-one correspondence with the connecting pieces 4. Each gripping means is mounted to one of the connectors 4, such that the adjustment of the spacing between the gripping means is achieved by the adjustment of the spacing between adjacent connectors 4.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be replaced with others, which may not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. A gripping mechanism spacing adjustment device, comprising:
a support base (1) configured to provide support;
a driving piece (2) rotatably mounted 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 piece (2) respectively; and
at least two connecting pieces (4), wherein each connecting piece (4) is arranged on the supporting seat (1) in a linear movable manner; the connecting pieces (4) are in one-to-one correspondence with the variable-pitch transmission parts (3), and the connecting pieces (4) are in driving connection with the other ends of the variable-pitch transmission parts (3); -each of said connectors (4) is configured to mount a gripping mechanism;
the driving piece (2) is hinged with the supporting seat (1) at a hinge point, and the lengths of the two variable-pitch transmission parts (3) positioned on the same side of the hinge point of the driving piece (2) meet the following functional relation: l1/l2=a1/a2; wherein L1 is the length of a first variable-pitch transmission part (3), and L2 is the length of a second variable-pitch transmission part (3); a1 is the distance between one end of the first variable-pitch transmission part (3) and the hinge point of the driving piece (2); a2 is the distance between one end of the second variable-pitch transmission part (3) and the hinge point of the driving piece (2).
2. Gripping organ spacing adjustment device according to claim 1, characterized in that the driving element (2) is hinged to the support (1) at a hinge point; each variable-pitch transmission part (3) is symmetrically arranged at two sides of the hinge point of the driving piece (2).
3. The gripping mechanism spacing adjustment device of claim 1, further comprising:
a driving mechanism (5) mounted on the support base (1); the driving mechanism (5) is in driving connection with the driving piece (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 linearly move relative to the supporting seat (1).
4. A gripping mechanism spacing adjustment device according to claim 3, 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
the fixing piece (52) is fixedly connected with the piston rod (512); the fixing piece (52) is fixed on one of the connecting pieces (4); the piston rod (512) stretches and contracts to drive the connecting piece (4) to move linearly relative to the supporting seat (1) through the fixing piece (52).
5. The gripping mechanism spacing adjustment device of claim 3, 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).
6. The gripping mechanism spacing adjustment device of claim 1, further comprising:
a guide mechanism (7) mounted on the support base (1); the guide mechanism (7) is configured to move the connecting member (4) linearly.
7. Gripping means spacing adjustment device according to claim 6, characterized in that the guiding means (7) comprise:
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 slider (72) is connected to each of the connecting elements (4).
8. Gripping means spacing adjustment device according to claim 6, characterized in that the guide means (7) comprise two sets arranged at intervals, the connecting piece (4) being located between the two sets of guide means (7).
9. A logistics conveying line characterized by comprising the gripping mechanism spacing adjusting device according to any one of claims 1 to 8.
10. The logistics transport line of claim 9, further comprising:
and the supporting seat (1) is arranged on the mechanical arm.
11. The logistics transport line of claim 9, further comprising:
the grabbing mechanism is mounted on the connecting piece (4); the gripping mechanism is configured to grip a material.
12. Logistics conveying line according to claim 11, characterized in that the gripping means are in one-to-one correspondence with the connecting pieces (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210299684.4A CN114506671B (en) | 2022-03-25 | 2022-03-25 | Snatch mechanism interval adjusting device and commodity circulation transfer chain |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210299684.4A CN114506671B (en) | 2022-03-25 | 2022-03-25 | Snatch mechanism interval adjusting device and commodity circulation transfer chain |
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| CN114506671A CN114506671A (en) | 2022-05-17 |
| CN114506671B true CN114506671B (en) | 2023-09-01 |
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| CN114506671A (en) | 2022-05-17 |
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