CN116654683B

CN116654683B - Tongs and conveyor

Info

Publication number: CN116654683B
Application number: CN202310912747.3A
Authority: CN
Inventors: 赵海龙; 葛启富; 罗宇
Original assignee: Jiangsu Contemporary Amperex Technology Ltd
Current assignee: Jiangsu Contemporary Amperex Technology Ltd
Priority date: 2023-07-25
Filing date: 2023-07-25
Publication date: 2023-11-17
Anticipated expiration: 2043-07-25
Also published as: CN116654683A

Abstract

The application relates to the technical field of battery production, in particular to a gripper and a conveying device. The gripper comprises a bearing assembly, a driving assembly and a clamping assembly, wherein the bearing assembly is used for bearing the winding drum; the driving assembly comprises a supporting unit and a driving unit, the supporting unit is arranged on the bearing assembly, the driving unit is arranged on the supporting unit, and the driving unit is used for driving the bearing assembly to move along a first direction, so that the winding drum is sleeved on the bearing assembly; the clamping component is arranged on the supporting unit and used for clamping the winding drum. According to the gripper, the driving unit is used for driving the bearing assembly to move along the first direction, so that the winding drum is sleeved on the bearing assembly, and the winding drum is clamped by the clamping assembly arranged on the supporting unit, so that automatic butt joint and clamping of the winding drum can be realized, and the accuracy and efficiency of butt joint are improved.

Description

Tongs and conveyor

Technical Field

The application relates to the technical field of battery production, in particular to a gripper and a conveying device.

Background

This section provides merely background information related to the present disclosure and is not necessarily prior art.

In the battery production process, the die cutting machine is an important device and is widely applied to the production of reel die cutting. At present, the feeding and the discharging of the winding drum are both realized by adopting a manual butt joint mode, the butt joint is required to be carried out for many times, and the butt joint efficiency is low.

Disclosure of Invention

In view of the above problems, the application provides a gripper and a conveying device, which solve the problem of low butt joint efficiency in a manual butt joint mode.

A first aspect of the present application proposes a grip comprising:

the bearing assembly is used for bearing the winding drum;

the driving assembly comprises a supporting unit and a driving unit, the supporting unit is arranged on the bearing assembly, the driving unit is arranged on the supporting unit, and the driving unit is used for driving the bearing assembly to move along a first direction, so that the winding drum is sleeved on the bearing assembly; the clamping assembly is arranged on the supporting unit and used for clamping the winding drum;

the first direction coincides with the axial direction of the spool.

According to the gripper, the driving unit is used for driving the bearing assembly to move along the first direction, so that the winding drum is sleeved on the bearing assembly, and the winding drum is clamped by the clamping assembly arranged on the supporting unit, so that automatic butt joint and clamping of the winding drum can be realized, and the accuracy and efficiency of butt joint are improved.

In some embodiments of the application, the carrier assembly comprises a carrier portion and a bearing, the carrier portion being cylindrical; the outer peripheral surface of the bearing part is provided with a bearing which is used for supporting the winding drum. According to the embodiment of the application, the bearing assembly comprises the bearing part and the bearing, the bearing part is in a cylindrical shape, and the bearing for supporting the winding drum is arranged on the outer surface of the bearing part, so that the winding drum is driven to move by the rolling of the bearing part in the process of moving the winding drum relative to the bearing part, and the friction force born by the winding drum is reduced.

In some embodiments of the present application, the number of bearings is plural, and the plural bearings are disposed at intervals along the axial direction of the bearing portion. According to the embodiment of the application, the plurality of bearings are arranged at intervals along the axial direction of the bearing part, so that the support of the winding drum can be realized from a plurality of positions, and the friction force of the winding drum in the moving process is reduced.

In some embodiments of the present application, the bearing assembly further includes a connecting shaft, the connecting shaft is disposed in the bearing portion, and a bearing is sleeved on an outer peripheral surface of the connecting shaft, and at least a portion of the bearing is disposed through an outer portion of the bearing portion. According to the embodiment of the application, the bearing can be mounted through the connecting shaft arranged in the bearing part, so that at least part of the bearing penetrates through the outside of the bearing part, and the support of the winding drum is realized through the bearing.

In some embodiments of the present application, a first track extending along an axial direction of the bearing portion is disposed on an outer peripheral surface of the bearing portion, and a first slider is disposed on the first track and is slidable along the first track. According to the embodiment of the application, the first wire rail extending along the axial direction of the bearing part is arranged on the outer peripheral surface of the bearing part, and the first sliding block capable of sliding along the first wire rail is arranged on the first wire rail, so that the winding drum can be supported through the first sliding block and the first wire rail, and the movement between the winding drum and the bearing part is smoother.

In some embodiments of the present application, the number of the first rails is at least two, and the at least two first rails are disposed at intervals along the circumference of the outer circumferential surface of the bearing portion, and each first rail is respectively provided with a first slider. According to the embodiment of the application, the at least two first wire rails are arranged at intervals along the circumferential direction of the outer circumferential surface of the bearing part, and the first sliding blocks are respectively arranged in each first wire rail, so that the support of the winding drum can be realized through the first wire rails and the first sliding blocks at different positions, and the movement between the winding drum and the bearing part is smoother.

In some embodiments of the application, the drive unit comprises a first drive system comprising a first drive member, a timing belt, a gear, and a rack, the first drive member driving the gear to rotate via the timing belt; the rack is arranged along the axial direction of the bearing part, and the gear is connected with the rack in a meshed mode, so that the bearing part moves along the first direction. According to the embodiment of the application, the first driving piece drives the gear to rotate through the synchronous belt, and the gear is meshed and connected with the rack arranged along the axial direction of the bearing part, so that the movement of the bearing part along the first direction can be realized through meshed transmission between the gear and the rack, and the grabbing of the winding drum can be realized.

In some embodiments of the present application, the driving unit further includes a second driving system, where the second driving system includes a second driving member, a guide shaft, and a linear bearing, the linear bearing is disposed on the supporting unit, and the linear bearing is sleeved on the guide shaft, and an axial direction of the guide shaft is parallel to an axial direction of the bearing portion; the second driving piece is installed on the supporting unit and can drive the clamping assembly to move along the first direction. The second driving piece in the embodiment of the application can drive the clamping assembly to move along the first direction through the guide shaft and the linear bearing, so that the position of the clamping assembly is adjusted, and the winding drum can be better clamped.

In some embodiments of the application, the clamping assembly comprises a first clamping portion and a second clamping portion disposed opposite each other, the first clamping portion and the second clamping portion being capable of being moved toward and away from each other to clamp or release the spool. According to the embodiment of the application, the clamping assembly comprises the first clamping part and the second clamping part which are oppositely arranged, and the first clamping part and the second clamping part can be mutually close to or far away from each other, so that the clamping or releasing of the winding drum can be realized, the structure is simple, and the control is easy.

In some embodiments of the application, the clamping assembly further comprises a spacer disposed on a surface of the first clamping portion facing the second clamping portion, and/or the spacer is disposed on a surface of the second clamping portion facing the first clamping portion. According to the embodiment of the application, the cushion block is arranged on the surface of the first clamping part facing the second clamping part, and/or the cushion block is arranged on the surface of the second clamping part facing the first clamping part, so that the winding drum can be conveniently clamped through the contact between the cushion block and the winding drum.

In some embodiments of the application, the spacer is a soft piece. According to the embodiment of the application, the cushion block is arranged to be a soft piece, so that the abrasion of the cushion block to the winding drum can be reduced, and the contact between the cushion block and the winding drum can be increased.

In some embodiments of the application, a proximity switch is provided on the pad. By arranging the proximity switch, the embodiment of the application can utilize the proximity switch to detect the position of the winding drum, thereby adjusting the position of the clamping assembly and adapting the winding drum better.

In some embodiments of the present application, the supporting unit includes a base plate, mounting plates and a clamping plate, the base plate is provided with the mounting plates, the number of the mounting plates is four, the four mounting plates are arranged on the base plate at intervals, and the mounting plates are connected with the clamping plate; the number of the clamping plates is two, and the two clamping plates are respectively connected with the first clamping part and the second clamping part. In the embodiment of the application, the supporting unit comprises the base plate, the mounting plate and the clamping plate, and four spaced mounting plates are arranged on the base plate, wherein the mounting plate is connected with the clamping plate, so that the first clamping part and the second clamping part can be controlled by the clamping plate through controlling the mounting plate, and the first clamping part and the second clamping part are mutually close or mutually far away.

In some embodiments of the application, the drive unit further comprises a third drive system comprising a third drive, a second wire rail, and a second slider; the third driving piece is arranged on the mounting plate; the second wire rail is arranged on the substrate, extends along a second direction and is intersected with the first direction; the second sliding block is slidably arranged in the second linear rail, and one end of the second sliding block is connected with the mounting plate; the third driving piece can drive the two mounting plates which are oppositely arranged along the second direction to be close to or far away from each other, so that the first clamping part and the second clamping part are close to or far away from each other. According to the embodiment of the application, the third driving system comprising the third driving piece, the second wire rail and the second sliding block is arranged, and the two mounting plates which are oppositely arranged can be controlled to be close to or far away from each other through the third driving piece, so that the first clamping part and the second clamping part are close to or far away from each other.

In some embodiments of the application, the gripper further comprises a safety detection sensor disposed on the substrate. According to the embodiment of the application, the safety detection sensor is arranged on the substrate, so that the movement area range of the gripper can be detected, and the probability of the gripper hitting an obstacle is reduced.

In some embodiments of the present application, the grip further includes an anti-drop assembly disposed inside an end of the carrier assembly remote from the clamping assembly. According to the embodiment of the application, the anti-falling assembly is arranged in the end, far away from the clamping assembly, of the bearing assembly, so that the winding drum can be fixed, and the winding drum is prevented from falling from the bearing assembly.

In some embodiments of the present application, the anti-drop assembly includes a drive cylinder and a guide rod, one end of the drive cylinder being connected to the guide rod; the bearing assembly is provided with a through hole, and the guide rod can extend out of the bearing assembly to the outer side of the through hole under the action of the driving cylinder. According to the embodiment of the application, the anti-falling assembly comprises the driving cylinder and the guide rod, and one end of the driving cylinder is connected with the guide rod, wherein the guide rod can extend to the outer side of the through hole under the action of the driving cylinder, so that the limit of the winding drum can be realized through the extension of the guide rod to the outer side of the through hole, and the winding drum is prevented from falling off from the end part of the bearing assembly.

In some embodiments of the application, the anti-drop assembly further comprises a mounting seat for mounting the drive cylinder, and the mounting seat is fixed to the carrier assembly. According to the embodiment of the application, the mounting seat for mounting the driving cylinder is arranged, so that the driving cylinder can be fixed on the bearing assembly through the mounting seat, and the driving cylinder is fixed.

In some embodiments of the application, the guide rod is of conical configuration, the sides of the conical configuration are provided with indentations, and the tips of the conical configuration are located away from the drive cylinder. According to the embodiment of the application, the guide rod is arranged into a conical structure, the conical tip is far away from the driving cylinder, and the notch is arranged on the conical side surface, so that the guide rod can be conveniently moved, and on the other hand, the guide rod can be prevented from rotating, and the loosening probability of the guide rod is reduced.

In some embodiments of the application, the indentations are planar structures. According to the embodiment of the application, the notch is arranged to be of the planar structure, so that the planar structure can prevent the guide rod from rotating, and the loosening probability of the guide rod is reduced.

In some embodiments of the application, the gripper further comprises a cover plate disposed at an end of the carrier assembly remote from the clamping assembly. According to the application, the cover plate is arranged at one end of the bearing component far away from the clamping component, so that the anti-falling component can be protected, and the end of the bearing component far away from the clamping component is protected.

In some embodiments of the application, the cover plate is a truncated cone-shaped structure, and the small rounded end of the truncated cone-shaped structure is disposed away from the bearing assembly. According to the embodiment of the application, the cover plate is arranged to be in the circular truncated cone-shaped structure, and the small round end of the circular truncated cone-shaped structure is arranged away from the bearing component, so that the cover plate has a guiding function, and the bearing component is conveniently inserted into the winding drum.

In some embodiments of the application, the outer surface of the small round end of the truncated cone-shaped structure is provided with a code reader. According to the embodiment of the application, the outer surface of the small round end of the round table-shaped structure is provided with the code reader, so that the position can be accurately identified through the code reader, and the cover plate is prevented from being impacted.

In some embodiments of the application, the gripper further comprises a guide cylinder disposed on the base plate for adjusting the position of the spool in a third direction, the third direction intersecting the first and second directions, respectively. According to the embodiment of the application, the position of the winding drum along the third direction can be adjusted through the guide cylinder arranged on the substrate, so that the position of the winding drum is adjusted, and the butt joint is convenient to realize.

A second aspect of the present application proposes a conveying device comprising a main body portion and a grip disposed on the main body portion.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

fig. 1 is a schematic structural view of a gripper according to some embodiments of the present application;

fig. 2 is a schematic perspective view of a gripper according to some embodiments of the present application in a use state;

FIG. 3 is a schematic diagram of a driving assembly (including a safety detection sensor) according to some embodiments of the present application;

FIG. 4 is a schematic view of a connection structure between a clamping assembly, a support unit and a third driving system according to some embodiments of the present application;

FIG. 5 is a schematic view of the clamping assembly, support unit and third drive system shown in FIG. 4 in a second view;

FIG. 6 is a schematic diagram of a carrier assembly (including a cover plate) according to some embodiments of the present application;

FIG. 7 is a schematic view of a carrier assembly (without a cover plate) according to some embodiments of the present application;

FIG. 8 is an enlarged view of a portion of FIG. 7 at A;

Fig. 9 is a schematic structural view of the anti-drop assembly of fig. 8.

The reference numerals are as follows:

100. a grip;

10. a carrier assembly; 11. a carrying part; 12. a bearing; 13. a connecting shaft; 14. a first track; 15. a first slider; 16. a rack;

20. a drive assembly; 21. a supporting unit; 211. a substrate; 212. a mounting plate; 213. a clamping plate; 22. a driving unit; 221. a first drive system; 2211. a first driving member; 2212. a synchronous belt; 2213. a gear; 222. A second drive system; 2221. a second driving member; 2222. a guide shaft; 2223. a linear bearing; 223. a third drive system; 2231. a third driving member; 2232. a second wire rail; 2233. a second slider;

30. a clamping assembly; 31. a first clamping part; 32. a second clamping portion; 33. a cushion block; 34. a proximity switch;

40. a safety detection sensor;

50. an anti-drop assembly; 51. a drive cylinder; 52. a guide rod; 521. a notch; 53. a mounting base;

60. a cover plate;

70. a code reader;

80. a guide cylinder;

101. a reel;

200. a main body portion;

300. and a conveying device.

Detailed Description

Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion.

In the description of embodiments of the present application, the technical terms "first," "second," and the like are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" means two or more (including two), and similarly, "plural sets" means two or more (including two), and "plural sheets" means two or more (including two).

In the description of the embodiments of the present application, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.

Currently, the application of power batteries is more widespread from the development of market situation. The power battery is not only applied to energy storage power supply systems such as hydraulic power, firepower, wind power and solar power stations, but also widely applied to electric vehicles such as electric bicycles, electric motorcycles, electric automobiles, and the like, and a plurality of fields such as military equipment, aerospace, and the like. With the continuous expansion of the application field of the power battery, the market demand of the power battery is also continuously expanding.

In the production process of the power battery, the die cutting machine is an important device and is widely applied to the production process of die cutting of pole piece coil stock. However, in the die cutting process, the feeding and discharging of the winding drum are performed in a manual butt joint mode, multiple butt joints are required, and the butt joint efficiency is low.

Therefore, the applicant provides a gripper, wherein the gripper comprises a bearing assembly, a driving assembly and a clamping assembly, so that automatic operation of a winding drum feeding process and a winding drum discharging process in a die cutting process can be realized, and the butting efficiency is improved.

A first aspect of the present application proposes a gripper 100, as shown in fig. 1 and 2, the gripper 100 comprising a carrying assembly 10, a driving assembly 20 and a clamping assembly 30, the carrying assembly 10 being adapted to carry a reel 101; the driving assembly 20 comprises a supporting unit 21 and a driving unit 22, the supporting unit 21 is arranged on the bearing assembly 10, the driving unit 22 is arranged on the supporting unit 21, and the driving unit 22 is used for driving the bearing assembly 10 to move along a first direction, so that the winding drum 101 is sleeved on the bearing assembly 10; the clamping assembly 30 is disposed on the support unit 21 for clamping the spool 101, the first direction being coincident with the axial direction of the spool 101.

In fig. 1, the carrying assembly 10 is not provided with a winding drum 101, and in fig. 2, the carrying assembly 10 is sleeved with the winding drum 101, so that feeding is realized. The first direction mentioned here, that is, the X-X direction in fig. 1, the driving unit 22 may drive the carrier assembly 10 to perform a bi-directional movement along the first direction X-X direction, so as to implement a loading or unloading process.

The bearing assembly 10 refers to a component which can move relative to the winding drum 101 and has a supporting function on the winding drum 101, and can be compatible with winding drums 101 with different lengths. The driving assembly 20 herein refers to a component capable of driving the movement of the carrier assembly 10. The clamping assembly 30 here is a member capable of clamping the spool 101 on the carrier assembly 10.

According to the gripper 100 disclosed by the application, the driving unit 22 is used for driving the bearing assembly 10 to move along the first direction, so that the winding drum 101 is sleeved on the bearing assembly 10, and the winding drum 101 is clamped by the clamping assembly 30 arranged on the supporting unit 21, so that automatic butt joint and clamping of the winding drum 101 can be realized, and the accuracy and efficiency of butt joint are improved.

In some embodiments of the present application, as shown in fig. 1 and 6, the bearing assembly 10 includes a bearing 11 and a bearing 12, the bearing 11 having a cylindrical shape; the outer peripheral surface of the bearing 11 is provided with a bearing 12, and the bearing 12 is used for supporting the spool 101.

The outer circumferential surface of the support 11 mentioned here is also referred to as the side surface of the cylindrical support 11.

According to the embodiment of the application, the bearing assembly 10 comprises the bearing part 11 and the bearing 12, the bearing part 11 is in a cylindrical shape, the bearing 12 for supporting the winding drum 101 is arranged on the outer surface of the bearing part 11, and in the process of moving the winding drum 101 relative to the bearing 12, the winding drum 101 is driven to move by the rolling of the bearing 12, so that the friction force born by the winding drum 101 is reduced.

Alternatively, as shown in fig. 1 and 6, the number of the bearings 12 is plural, and the plural bearings 12 are arranged at intervals along the axial direction of the bearing 11. The number of bearings 12 in the axial direction here, i.e., the first direction X-X in fig. 1, may be determined according to the axial length of the bearing 11, for example, the number of bearings 12 is six or eight, etc., and the bearings 12 may support the spool 101 while the spool 101 slides on the surface of the bearing 11.

By providing the plurality of bearings 12 arranged at intervals along the axial direction of the bearing 11, the embodiment of the application can realize the support of the winding drum 101 from a plurality of positions, and reduce the friction force applied to the winding drum 101 during the moving process.

Alternatively, as shown in fig. 6, 7 and 8, the bearing assembly 10 further includes a connecting shaft 13, the connecting shaft 13 is disposed in the bearing portion 11, a bearing 12 is sleeved on an outer peripheral surface of the connecting shaft 13, and at least part of the bearing 12 is disposed outside the bearing portion 11 in a penetrating manner.

The connecting shaft 13 may be fixed on the bearing portion 11 by using a connecting member, for example, a groove for accommodating the connecting shaft 13 is provided on the surface of the bearing portion 11, and then the bearing 12 is sleeved on the connecting shaft 13, so that at least part of the bearing 12 is penetrated outside the bearing portion 11, and the bearing 12 is mounted. With this structure, the bearings 12 can be replaced easily, so that each bearing 12 can be in an operating state.

The embodiment of the application can realize the installation of the bearing 12 through the connecting shaft 13 arranged in the bearing part 11, so that at least part of the bearing 12 is penetrated outside the bearing part 11, and the support of the winding drum 101 is realized through the bearing 12.

In some embodiments of the present application, as shown in fig. 6, 7 and 8, the outer circumferential surface of the bearing part 11 is provided with a first rail 14 extending along the axial direction of the bearing part 11, and the first rail 14 is provided with a first slider 15 slidable along the first rail 14.

The number of first sliders 15 provided on the first rail 14 is at least one, and each first slider 15 can slide along the first rail 14, wherein the first rail 14 and the first slider 15 can also support the spool 101.

In the embodiment of the application, the first wire rail 14 extending along the axial direction of the bearing part 11 is arranged on the outer peripheral surface of the bearing part 11, and the first sliding block 15 capable of sliding along the first wire rail 14 is arranged on the first wire rail 14, so that the first sliding block 15 and the first wire rail 14 can support the winding drum 101, and the movement between the winding drum 101 and the bearing part 11 is smoother.

In some embodiments of the present application, as shown in fig. 6 and 7, the number of the first rails 14 is at least two, and at least two first rails 14 are disposed at intervals along the circumferential direction of the outer circumferential surface of the bearing portion 11, and each first rail 14 is provided with a first slider 15, respectively. In fig. 7, the number of the first rails 14 is two, and the two first rails 14 are symmetrically disposed on both sides of the carrying portion 11, respectively. Of course, that is to say, the two first tracks 14 are located at the two ends of the bearing 11 in the axial section, respectively.

According to the embodiment of the application, at least two first wire rails 14 are arranged, and the at least two first wire rails 14 are arranged at intervals along the circumferential direction of the outer circumferential surface of the bearing part 11, wherein each first wire rail 14 is respectively provided with the first sliding block 15, so that the support of the winding drum 101 can be realized through the first wire rails 14 and the first sliding blocks 15 at different positions, and the movement between the winding drum 101 and the bearing part 11 is smoother.

In some embodiments of the present application, as shown in fig. 3 and 6, the driving unit 22 includes a first driving system 221, the first driving system 221 includes a first driving member 2211, a synchronous belt 2212, a gear 2213, and a rack 16, and the first driving member 2211 drives the gear 2213 to rotate through the synchronous belt 2212; the rack 16 is disposed along the axial direction of the bearing 11, and the gear 2213 is engaged with the rack 16 so that the bearing 11 moves in the first direction.

Here, the first driving member 2211 may be a motor or the like, and a specific number is one. The motor drives the gear 2213 to rotate through the synchronous belt 2212, and the gear 2213 drives the bearing part 11 to move leftwards or rightwards along the first direction through meshed connection with the rack 16. The first driving member 2211 has two rotation directions, and can drive the gear 2213 to rotate clockwise or anticlockwise, so that the bearing part 11 moves leftwards or rightwards along the first direction, and the feeding or discharging process of the winding drum 101 is realized.

The first driving member 2211 in the embodiment of the application drives the gear 2213 to rotate through the synchronous belt 2212, and the gear 2213 is in meshed connection with the rack 16 arranged along the axial direction of the bearing part 11, so that the movement of the bearing part 11 along the first direction can be realized through meshed transmission between the gear 2213 and the rack 16, and the grabbing of the winding drum 101 can be realized.

Optionally, as shown in fig. 3, the driving unit 22 further includes a second driving system 222, where the second driving system 222 includes a second driving element 2221, a guide shaft 2222, and a linear bearing 2223, the linear bearing 2223 is disposed on the supporting unit 21, the linear bearing 2223 is sleeved on the guide shaft 2222, and an axial direction of the guide shaft 2222 is parallel to an axial direction of the bearing portion 11; the second driving member 2221 is mounted to the support unit 21, and the second driving member 2221 is capable of driving the clamping assembly 30 to move in the first direction.

The number of the second driving parts 2221 is two, the number of the guide shafts 2222 and the number of the linear bearings 2223 are four, and each of the second driving parts 2221 simultaneously drives the clamping assembly 30 to move in the first direction. It should be noted that, the first driving system 221 and the second driving system 222 may operate simultaneously, or may have a sequence, for example, the first driving system 221 operates first, and the second driving system 222 operates later. The second driving member 2221 may be a cylinder or the like, so as to more precisely adjust the position of the clamping assembly 30.

The second driving element 2221 in the embodiment of the present application can drive the clamping assembly 30 to move along the first direction through the guide shaft 2222 and the linear bearing 2223, so as to implement adjustment of the position of the clamping assembly 30, thereby better clamping the spool 101.

Alternatively, as shown in fig. 4 and 5, the clamping assembly 30 includes a first clamping portion 31 and a second clamping portion 32 that are disposed opposite to each other, and the first clamping portion 31 and the second clamping portion 32 can be moved toward or away from each other to clamp or release the spool 101. The first clamping portion 31 and the second clamping portion 32 are approximately V-shaped, and may be rounded to clamp the spool 101.

Of course, the clamping assembly 30 may also be configured to clamp the spool 101 using a jaw configuration, which is not illustrated herein.

In the embodiment of the application, the clamping assembly 30 comprises the first clamping part 31 and the second clamping part 32 which are oppositely arranged, and the first clamping part 31 and the second clamping part 32 can be mutually close to or far away from each other, so that the clamping or releasing of the winding drum 101 can be realized, and the structure is simple and easy to control.

In some embodiments of the present application, as shown in fig. 1 and 4, the clamping assembly 30 further includes a spacer 33, where the spacer 33 is disposed on a surface of the first clamping portion 31 facing the second clamping portion 32, and the spacer 33 may also be disposed on a surface of the second clamping portion 32 facing the first clamping portion 31.

In fig. 4, the number of pads 33 is two, and they are provided on the surface of the first clamping portion 31 and the surface of the second clamping portion 32, respectively.

The pad 33 is mainly a member for avoiding damage to the spool 101, and may be made of rubber or other materials.

In the embodiment of the application, the cushion block 33 is arranged on the surface of the first clamping part 31 facing the second clamping part 32, and the cushion block 33 is arranged on the surface of the second clamping part 32 facing the first clamping part 31, so that the roller 101 can be conveniently clamped by contacting the cushion block 33 with the roller 101.

Optionally, the pad 33 is a soft piece. The soft element may be a rubber element or other elastic element.

By providing the spacer 33 as a soft member, the embodiment of the present application can reduce the abrasion of the spacer 33 to the spool 101 and can increase the contact between the spacer 33 and the spool 101.

In some embodiments of the present application, as shown in fig. 4, a proximity switch 34 is provided on the pad 33. By providing the proximity switch 34, embodiments of the present application can utilize the proximity switch 34 to detect the position of the spool 101, thereby adjusting the position of the clamp assembly 30 to better fit the spool 101.

In some embodiments of the present application, as shown in fig. 4 and 5, the supporting unit 21 includes a base plate 211, mounting plates 212, and a clamping plate 213, the base plate 211 is provided with the mounting plates 212, the number of the mounting plates 212 is four, the four mounting plates 212 are disposed on the base plate 211 at intervals, and the mounting plates 212 are connected with the clamping plate 213; the number of the clamping plates 213 is two, and the two clamping plates 213 are connected to the first clamping portion 31 and the second clamping portion 32, respectively.

It should be noted that, here, four mounting plates 212 may be disposed at four end angular positions of the base plate 211, that is, the clamping plate 213 is disposed on the mounting plate 212, and the clamping plate 213 is located at an end of the base plate 211 facing the clamping assembly 30.

In the embodiment of the present application, the supporting unit 21 includes the base plate 211, the mounting plate 212 and the clamping plate 213, and four spaced mounting plates 212 are disposed on the base plate 211, wherein the mounting plates 212 are connected with the clamping plate 213, and the first clamping portion 31 and the second clamping portion 32 can be controlled by the clamping plate 213 to achieve the mutual approaching or mutual separating between the first clamping portion 31 and the second clamping portion 32 through the control of the mounting plates 212.

Optionally, as shown in fig. 4 and 5, the driving unit 22 further includes a third driving system 223, and the third driving system 223 includes a third driving member 2231, a second wire track 2232, and a second slider 2233; the third driver 2231 is mounted on the mounting plate 212; the second wire track 2232 is disposed on the substrate 211, and the second wire track 2232 extends along a second direction Y-Y, which intersects the first direction; the second slider 2233 is slidably disposed in the second wire track 2232, and one end of the second slider 2233 is connected to the mounting plate 212; the third driver 2231 is capable of driving the two mounting plates 212 disposed opposite along the second direction Y-Y toward and away from each other such that the first and second clamping portions 31 and 32 are toward and away from each other.

The number of the second wire tracks 2232 is two, each second wire track 2232 is internally provided with a second sliding block 2233, and each second wire track 2232 is internally provided with two second sliding blocks 2233, and the second sliding blocks 2233 can play a role in guiding during the moving process of the mounting plate 212.

The number of the third driving members 2231 is two, and may be driving members such as cylinders, so that one mounting plate 212 may be moved in two directions of the second direction Y-Y, thereby controlling the first clamping portion 31 and the second clamping portion 32.

By providing the third driving system 223 including the third driving member 2231, the second wire rail 2232, and the second slider 2233, the embodiment of the present application can control the two mounting plates 212 disposed opposite to each other to be moved toward or away from each other by the third driving member 2231, thereby moving the first clamping portion 31 and the second clamping portion 32 toward or away from each other.

Optionally, the gripper 100 further includes a safety detection sensor 40, where the safety detection sensor 40 is disposed on the substrate 211.

The safety detection sensor 40 as referred to herein refers to a member that can detect a range of a region in which the hand grip 100 moves, and can detect a plurality of angles, such as 240 degrees or 360 degrees in the range of movement.

By providing the safety detection sensor 40 on the substrate 211, the embodiment of the application can detect the moving area range of the hand grip 100, and reduce the probability of the hand grip 100 striking an obstacle.

Optionally, as shown in fig. 8 and 9, the gripper 100 further includes a drop-preventing component 50, where the drop-preventing component 50 is disposed inside an end of the carrier component 10 away from the clamping component 30. The anti-drop assembly 50 is a component for preventing the spool 101 from dropping from the carrier assembly 10, and can block the spool 101.

The embodiment of the application can fix the winding drum 101 and prevent the winding drum 101 from falling off from the bearing assembly 10 by arranging the falling-off prevention assembly 50 inside the end of the bearing assembly 10 away from the clamping assembly 30.

Alternatively, as shown in fig. 8 and 9, the falling off prevention assembly 50 includes a driving cylinder 51 and a guide rod 52, one end of the driving cylinder 51 being connected to the guide rod 52; the bearing assembly 10 is provided with a through hole, and the guide rod 52 can extend out of the bearing assembly 10 to the outer side of the through hole under the action of the driving cylinder 51.

The embodiment of the application comprises an anti-falling assembly 50, a driving cylinder 51 and a guide rod 52, and one end of the driving cylinder 51 is connected with the guide rod 52, wherein the guide rod 52 can extend to the outer side of a through hole under the action of the driving cylinder 51, so that the guide rod 52 can extend to the outer side of the through hole, the limit of the winding drum 101 is realized, and the winding drum 101 is prevented from falling off from the end part of the bearing assembly 10. When the spool 101 needs to be removed from the carrier assembly 10, the guide bar 52 is moved down into the interior of the carrier assembly 10.

Alternatively, as shown in fig. 8 and 9, the anti-falling assembly 50 further includes a mounting seat 53, the mounting seat 53 is used for mounting the driving cylinder 51, and the mounting seat 53 is fixed on the carrier assembly 10. The mounting base 53 may be fixed on the carrier assembly 10 by using a connecting piece, so as to implement the mounting of the mounting base 53, for example, the mounting base 53 may be fixed on the carrier assembly 10 by using a screw.

It will be appreciated that a support assembly 10 may be provided for

By providing the mounting seat 53 for mounting the driving cylinder 51, the driving cylinder 51 can be fixed on the bearing assembly 10 through the mounting seat 53, so that the driving cylinder 51 can be fixed.

Alternatively, as shown in fig. 8 and 9, the guide rod 52 has a conical structure, the side of which is provided with a notch 521, and the tip of which is disposed away from the drive cylinder 51.

According to the embodiment of the application, the guide rod 52 is provided with the conical structure, the conical tip is far away from the driving cylinder 51, and the notch 521 is arranged on the conical side surface, so that the guide rod 52 can be conveniently moved, and on the other hand, the guide rod 52 can be prevented from rotating, and the loosening probability of the guide rod 52 is reduced.

Alternatively, as shown in fig. 8 and 9, the notch 521 is a planar structure. The notches 521 may be cut directly in the axial direction on the conical structure to form the notches 521. The notch 521 has a planar structure, so as to reduce the rotation probability of the guide rod 52.

By arranging the notch 521 to be in a planar structure, the embodiment of the application can enable the planar structure to prevent the guide rod 52 from rotating, so that the loosening probability of the guide rod 52 is reduced.

Optionally, as shown in fig. 6, the grip 100 further includes a cover plate 60, where the cover plate 60 is disposed at an end of the carrier assembly 10 away from the clamping assembly 30. The cover plate 60 is disposed at the left end of the first direction X-X in fig. 1, so as to protect not only the carrier assembly 10 but also the anti-falling assembly 50 in the carrier assembly 10.

By providing the cover plate 60 at the end of the bearing assembly 10 away from the clamping assembly 30, the application can form protection for the anti-falling assembly 50 and protect the end of the bearing assembly 10 away from the clamping assembly 30.

Alternatively, as shown in fig. 6, the cover plate 60 has a truncated cone-shaped structure, and the small round end of the truncated cone-shaped structure is disposed away from the carrier assembly 10. According to the embodiment of the application, the cover plate 60 is in the truncated cone-shaped structure, and the small round end of the truncated cone-shaped structure is arranged away from the bearing assembly 10, so that the cover plate 60 has a guiding function besides a protection function, and the bearing assembly 10 is convenient to insert into the winding drum 101.

Alternatively, as shown in fig. 6, the outer surface of the small round end of the truncated cone-shaped structure is provided with a code reader 70. The code reader 70 here can identify the location and send the result to the controller of the conveyor 300, facilitating the controller to adjust the movement of the drive unit 22.

According to the embodiment of the application, the code reader 70 is arranged on the outer surface of the small round end of the round table-shaped structure, so that the position can be accurately identified through the code reader 70, and the cover plate 60 is prevented from being impacted.

In some embodiments of the present application, as shown in fig. 4, the gripper 100 further includes a guide cylinder 80, where the guide cylinder 80 is disposed on the base plate 211 for adjusting the position of the spool 101 along a third direction Z-Z, where the third direction Z-Z is disposed intersecting the first direction X-X and the second direction Y-Y, respectively.

According to the embodiment of the application, the position of the winding drum 101 along the third direction Z-Z can be adjusted through the guide cylinder 80 arranged on the base plate 211, so that the position of the winding drum 101 is adjusted, and the butt joint is convenient to realize.

In addition, the bearing assembly 10 of the present application is compatible with reels 101 of different diameters, and can be realized by adjusting the size of the bearing 12 and the size of the first slider 15.

The second aspect of the present application proposes a conveying device 300, as shown in fig. 2, the conveying device 300 includes a main body 200 and a gripper 100, and the gripper 100 is disposed on the main body 200. The main body 200 can drive the gripper 100 to move, and transfer the cartridge held by the gripper 100.

The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A gripper, the gripper comprising:

the bearing assembly is used for bearing the winding drum;

the driving assembly comprises a supporting unit and a driving unit, the supporting unit is arranged on the bearing assembly, the driving unit is installed on the supporting unit and is used for driving the bearing assembly to move along a first direction, so that the winding drum is sleeved on the bearing assembly, the driving unit comprises a first driving system, the first driving system comprises a first driving piece, a synchronous belt, a gear and a rack, and the first driving piece drives the gear to rotate through the synchronous belt;

the rack is arranged along the axial direction of the bearing part, and the gear is in meshed connection with the rack, so that the bearing part moves along the first direction; and

The clamping assembly is arranged on the supporting unit and used for clamping the winding drum;

wherein the first direction is coincident with an axial direction of the spool.

2. The grip of claim 1, wherein the carrier assembly includes a carrier and a bearing, the carrier being cylindrical;

the bearing is arranged on the outer peripheral surface of the bearing part and is used for supporting the winding drum.

3. The grip of claim 2, wherein a plurality of said bearings are provided, and wherein a plurality of said bearings are spaced apart along an axial direction of said carrier.

4. The grip of claim 2, wherein the bearing assembly further comprises a connecting shaft disposed in the bearing portion, the bearing is sleeved on an outer circumferential surface of the connecting shaft, and at least a portion of the bearing is disposed through an outer portion of the bearing portion.

5. The grip of claim 2, wherein the outer peripheral surface of the carrying portion is provided with a first rail extending in the axial direction of the carrying portion, and the first rail is provided with a first slider slidable along the first rail.

6. The grip of claim 5, wherein the number of the first rails is at least two, and at least two of the first rails are disposed at intervals along the circumferential direction of the outer circumferential surface of the bearing portion, and each of the first rails is provided with the first slider, respectively.

7. The gripper of claim 6, wherein the drive unit further comprises a second drive system, the second drive system comprises a second drive member, a guide shaft and a linear bearing, the linear bearing is arranged on the support unit, the linear bearing is sleeved on the guide shaft, and the axial direction of the guide shaft is parallel to the axial direction of the bearing part;

the second driving piece is installed on the supporting unit, and the second driving piece can drive the clamping assembly to move along the first direction.

8. The gripper of claim 1, wherein said gripping assembly comprises oppositely disposed first and second gripping portions that are movable toward and away from each other to grip or release said spool.

9. The grip of claim 8, wherein the gripping assembly further includes a spacer disposed on a surface of the first gripping portion facing the second gripping portion and/or a surface of the second gripping portion facing the first gripping portion.

10. The grip of claim 9, wherein said spacer is a soft member.

11. The grip of claim 9, wherein said pad is provided with a proximity switch.

12. The hand grip according to claim 8, wherein the supporting unit includes a base plate, a mounting plate and a clamping plate, the mounting plate is provided on the base plate, the number of the mounting plates is four, four mounting plates are provided on the base plate at intervals, and the mounting plate is connected with the clamping plate;

the number of the clamping plates is two, and the two clamping plates are respectively connected with the first clamping part and the second clamping part.

13. The grip of claim 12, wherein said drive unit further includes a third drive system, said third drive system including a third drive, a second wire rail, and a second slider;

the third driving piece is arranged on the mounting plate;

the second wire rail is arranged on the substrate, extends along a second direction and is intersected with the first direction;

the second sliding block is slidably arranged in the second linear rail, and one end of the second sliding block is connected with the mounting plate;

the third driving piece can drive the two mounting plates which are oppositely arranged along the second direction to be close to or far away from each other, so that the first clamping part and the second clamping part are close to or far away from each other.

14. The grip of claim 12, wherein said grip further comprises: and the safety detection sensor is arranged on the substrate.

15. The grip of claim 1, wherein said grip further comprises: the anti-falling assembly is arranged in the bearing assembly, which is far away from the inner part of one end of the clamping assembly.

16. The grip of claim 15, wherein said anti-slip assembly includes a drive cylinder and a guide bar, one end of said drive cylinder being connected to said guide bar;

the bearing assembly is provided with a through hole, and the guide rod can extend out of the bearing assembly to the outer side of the through hole under the action of the driving cylinder.

17. The grip of claim 16, wherein said anti-drop assembly further includes a mount for mounting said drive cylinder, and said mount is secured to said carrier assembly.

18. The grip of claim 16, wherein said guide bar has a conical configuration, wherein a side of said conical configuration is notched, and wherein a tip of said conical configuration is disposed away from said drive cylinder.

19. The grip of claim 18, wherein said notch is a planar structure.

20. The grip of any one of claims 1 to 19, further comprising a cover plate disposed at an end of the carrier assembly remote from the gripping assembly.

21. The grip of claim 20, wherein said cover plate is a frustoconical structure with a small rounded end of said frustoconical structure disposed away from said carrier assembly.

22. The grip of claim 21, wherein an outer surface of said small rounded end of said frustoconical structure is provided with a code reader.

23. The gripper of claim 12, further comprising a guide cylinder disposed on the base plate for adjusting the position of the spool in a third direction, the third direction intersecting the first and second directions, respectively.

24. A delivery device, comprising: a main body portion; and

the grip of any one of claims 1 to 23, disposed on the body portion.