CN212173773U

CN212173773U - Gripping apparatus

Info

Publication number: CN212173773U
Application number: CN202020872945.3U
Authority: CN
Inventors: 张建华; 邓雄光; 郭登旺; 张敏; 吴君杰
Original assignee: Superstar Shenzhen Automation Co ltd
Current assignee: Superstar Shenzhen Automation Co ltd
Priority date: 2020-05-22
Filing date: 2020-05-22
Publication date: 2020-12-18
Anticipated expiration: 2030-05-22

Abstract

The application provides a gripping apparatus, which belongs to the field of digital battery manufacturing equipment. The gripping apparatus comprises a base, an actuating mechanism and a plurality of first gripping mechanisms, wherein the actuating mechanism is connected to the base. The first grabbing mechanisms are movably arranged on the base and connected to the executing mechanism, the first grabbing mechanisms are used for grabbing workpieces, and the executing mechanism is used for driving the first grabbing mechanisms to move relative to the base, so that the distance between every two adjacent first grabbing mechanisms is increased or decreased simultaneously. The gripping apparatus adopting the structure can grip a plurality of batteries simultaneously, a plurality of first gripping mechanisms are movably arranged on the base, and the actuating mechanisms drive the first gripping mechanisms to move relative to the base, so that the distance between every two adjacent first gripping mechanisms is increased or reduced simultaneously, and then the gripping apparatus can grip a plurality of batteries of different models and different stations simultaneously, and the use flexibility of the gripping apparatus is improved.

Description

Gripping apparatus

Technical Field

The application relates to the field of digital battery manufacturing equipment, in particular to a gripper.

Background

The battery is used as a novel green energy source, and the application field is more and more extensive. In recent years, the demand for batteries has been increasing, and in the production and manufacturing process of batteries, the final process is packaging and shipment, and processes such as pad printing, code spraying and the like are required for the batteries. At present, when batteries of different models are produced, the gripping apparatus is generally switched to correspondingly grip and discharge the batteries of different models or different stations by using different gripping apparatuses, and the flexibility of the gripping apparatus is low, so that the production cost is increased, the starting rate of a production line is reduced, and the production efficiency is influenced.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a gripper to improve the problem that the use flexibility of the existing battery gripper is low.

In a first aspect, an embodiment of the present application provides a gripper, including a base, an actuator, and a plurality of first gripping mechanisms; the actuating mechanism is connected to the base; the first grabbing mechanisms are movably arranged on the base and connected to the executing mechanism, the first grabbing mechanisms are used for grabbing workpieces, and the executing mechanism is used for driving the first grabbing mechanisms to move relative to the base, so that the distance between every two adjacent first grabbing mechanisms is increased or decreased simultaneously.

In above-mentioned technical scheme, be provided with a plurality of first mechanisms of snatching on the gripping apparatus, can snatch a plurality of batteries simultaneously through a plurality of first mechanisms of snatching. In addition, a plurality of first mechanisms of snatching all movably set up on the base, through the relative base of a plurality of first mechanisms of snatching of actuating mechanism drive and move to make every two adjacent first distances of snatching between the mechanism increase simultaneously or reduce, and then can realize snatching simultaneously a plurality of batteries of different models and different stations, improved the use flexibility of gripping apparatus.

In addition, the gripping apparatus provided by the embodiment of the present application further has the following additional technical features:

further, the actuating mechanism comprises a movable seat, a first driving piece and a transmission assembly; the movable seat is movably connected to the base, and the first driving piece is used for driving the movable seat to move along a first preset direction relative to the base; the plurality of first grabbing mechanisms are connected with the movable seat through the transmission assembly; when the first driving piece drives the movable seat to move relative to the base along a first preset direction, the movable seat can drive the transmission assembly to move, the transmission assembly can drive the first grabbing mechanisms to move relative to the base along a second preset direction, and therefore the distance between every two adjacent first grabbing mechanisms is increased or decreased simultaneously.

In the technical scheme, the first driving piece is connected to the base, the movable seat is connected to the first driving seat, the first grabbing mechanisms are connected with the movable seat through the transmission assembly, the movable seat is driven to move along a first preset direction relative to the base through the first driving piece, the transmission assembly can be driven to move, therefore, the first grabbing mechanisms are driven to move along a second preset direction relative to the base, and the distance between every two adjacent first grabbing mechanisms can be adjusted.

Further, the transmission assembly comprises at least one transmission unit; every two adjacent first grabbing mechanisms are connected with the movable seat through a transmission unit.

In the technical scheme, the transmission unit is connected to the movable seat, every two adjacent first grabbing mechanisms are connected with the movable seat through the transmission unit, so that transmission is performed through the transmission unit, the first grabbing mechanisms are driven to move along the second preset direction relative to the base, and the structure is simple and convenient to achieve.

Further, the at least one transmission unit comprises a first transmission unit; the first transmission unit comprises a first connecting seat and two first connecting pieces; the first connecting seat is fixedly connected with the movable seat; one ends of the two first connecting pieces are hinged to the first connecting seats, and the other ends of the two first connecting pieces are hinged to the two adjacent first grabbing mechanisms respectively.

In the above technical scheme, first mechanism of snatching is two, the one end of two first connecting pieces articulates respectively in two first mechanisms of snatching, the other end of two first connecting pieces all articulates in first connecting seat, first connecting seat fixed connection is in the sliding seat, when first driving piece drive sliding seat moves along first predetermined direction, the sliding seat can drive first connecting seat and move along first predetermined direction, so that the distance between sliding seat and the first mechanism of snatching increases or reduces, thereby make the contained angle between two first connecting pieces increase or reduce, and then drive the relative base of first mechanism of snatching and move along the second predetermined direction, so that two first mechanisms of snatching are close to each other or keep away from, the regulation of the distance between two first mechanisms of snatching has been realized.

Further, the at least one transmission unit comprises a first transmission unit and at least one second transmission unit; the first transmission unit comprises a first connecting seat and two first connecting pieces; the first connecting seat is fixedly connected with the movable seat; one ends of the two first connecting pieces are hinged to the first connecting seats, and the other ends of the two first connecting pieces are hinged to the two adjacent first grabbing mechanisms respectively; the second transmission unit comprises a second connecting seat and two second connecting pieces; the second connecting seat is movably connected to the movable seat; one ends of the two second connecting pieces are hinged to the second connecting seats, and the other ends of the two second connecting pieces are hinged to the two adjacent first grabbing mechanisms respectively.

In the above technical solution, the transmission assembly is provided with a first transmission unit and at least one second transmission unit, one end of each of two first connecting members is hinged to each of two adjacent first grabbing mechanisms, the other end of each of the two first connecting members is hinged to the first connecting seat, the first connecting seat is fixedly connected to the movable seat, one end of each of two second connecting members is hinged to each of two adjacent first grabbing mechanisms, the other end of each of the two second connecting members is hinged to the second connecting seat, the second connecting seat is movably connected to the movable seat along the second preset direction, when the movable seat is driven by the first driving member to move along the first preset direction, the movable seat can drive the first connecting seat and the second connecting seat to move along the first preset direction, so as to increase or decrease the distance between the movable seat and the first grabbing mechanisms, thereby simultaneously increasing or decreasing the included angle between the two first connecting members and the included angle between the two second connecting members, and then drive first mechanism of snatching and move along second direction of predetermineeing relatively the base to make every two adjacent first mechanisms of snatching be close to each other or keep away from, realized that the distance between every two adjacent first mechanisms of snatching can be adjusted.

Further, the first preset direction and the second preset direction are perpendicular to each other.

In the technical scheme, the first preset direction and the second preset direction are perpendicular to each other, so that the moving direction of the first grabbing mechanisms is controlled, the distance between every two adjacent first grabbing mechanisms can be adjusted conveniently by the executing mechanism, and the structure is simple and convenient to realize.

Further, the first grabbing mechanism comprises a first mounting seat, a first suction piece and a second suction piece; the first mounting seat is movably arranged on the base and is connected with the actuating mechanism; the first suction piece and the second suction piece are arranged on the first mounting seat at intervals.

In above-mentioned technical scheme, absorb the accessory through the first absorption piece of interval setting on first mount pad and the cooperation of second absorption piece is common to absorb the battery to guarantee the stability of absorbing the battery, prevent that the phenomenon that the battery drops appears in the gripping apparatus to the in-process of transferring of battery.

Further, the first mounting seat comprises a moving seat, a first rotating arm and a second rotating arm; the movable seat is movably arranged on the base and is connected with the actuating mechanism; the first rotating arm is rotatably connected to the moving seat, and the first suction accessory is connected to the first rotating arm; the second rotating arm is rotatably connected to the moving seat, and the second adsorption piece is connected to the second rotating arm; when the first rotating arm or the second rotating arm rotates relative to the moving seat, the distance between the first adsorption part and the second adsorption part can be adjusted.

In the above technical scheme, first mount pad is provided with removes the seat, first swinging boom and second swinging boom, first inhaling the annex and connecting in removing the seat through first swinging boom, the second adsorbs the piece and connects in removing the seat through the second swinging boom, and first swinging boom and second swinging boom all rotationally connect in removing the seat, thereby can adjust the distance between first inhaling annex and the second adsorption piece through rotating first swinging boom or rotating the second swinging boom, and then adjust the angle between first inhaling annex and the second adsorption piece, in order to avoid the bat printing pattern on the battery, bat printing pattern on the battery has been prevented and has been adsorbed annex or second and has been destroyed by first inhaling.

Further, the rotation axis of the first rotating arm is perpendicular to the extending direction of the first rotating arm; the rotating axis of the second rotating arm is vertical to the extending direction of the second rotating arm; the first suction device is movably arranged on the first rotating arm and can move along the extending direction of the first rotating arm; the second adsorption piece is movably arranged on the second rotating arm and can move along the extending direction of the second rotating arm.

In above-mentioned technical scheme, first inhale annex and second absorption piece movably respectively connect in first swinging boom and second swinging boom, absorb the distance between annex and the second absorption piece through removing first absorption annex or second absorption piece can adjust to realize absorbing the battery of equidimension not, thereby improved the use flexibility of gripping apparatus.

Further, one of the first suction member and the second suction member is a circular suction cup, and the other is an oval suction cup.

In above-mentioned technical scheme, one of first absorption spare and the second absorption spare sets up to circular sucking disc, and another sets up to oval sucking disc, and the first mechanism of snatching that adopts this kind of structure snatchs the battery, absorbs the battery through circular sucking disc and oval sucking disc cooperation jointly, can realize the bikini and adsorb on the battery to guarantee absorbent stationarity, and through the position of adjusting oval sucking disc, can prevent effectively that oval sucking disc from covering the bat printing pattern on the battery.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a gripper provided in an embodiment of the present application at a first viewing angle;

FIG. 2 is an enlarged partial view of the gripper shown in FIG. 1 at A;

FIG. 3 is a schematic view of the gripper of FIG. 1 shown in a second perspective;

FIG. 4 is an enlarged partial view of the gripper shown in FIG. 1 at B;

figure 5 is a bottom view of the gripper shown in figure 1.

Icon: 100-a gripper; 10-a base; 11-a first slide rail; 12-a second slide rail; 13-a third slide rail; 20-an actuator; 21-a movable seat; 22-a first drive member; 23-a transmission assembly; 231-a first transmission unit; 2311-a first connection; 2312-a first connector; 232-a second transmission unit; 2321-a second connecting seat; 2322 — second connecting member; 24-a first stop; 241-a first limiting seat; 242 — a first stop; 25-a second limit; 251-a second limiting seat; 252-a second stop; 30-a first grasping mechanism; 31-a first mount; 311-a movable seat; 312 — a first rotating arm; 3121-a first chute; 313-a second rotating arm; 3131-a second runner; 32-a first suction attachment; 33-a second adsorption member; 40-a second grasping mechanism; 41-a second driving member; 42-a second mount; 43-an adsorption component; 431-a third rotating arm; 4311-third runner; 432-a third absorbent member; c-a first preset direction; d-a second preset direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," and "third" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Examples

The embodiment of the application provides a gripper 100, which can improve the problem that the existing gripper 100 has low flexibility and cannot grip batteries of different models and different stations, and the specific structure of the gripper 100 is explained in detail in the following with reference to the accompanying drawings.

As shown in fig. 1, the gripper 100 includes a base 10, an actuator 20, and a plurality of first gripping mechanisms 30, the actuator 20 being connected to the base 10. The first grabbing mechanism 30 is movably arranged on the base 10, the first grabbing mechanism 30 is connected to the actuating mechanism 20, the first grabbing mechanism 30 is used for grabbing a workpiece, and the actuating mechanism 20 is used for driving the first grabbing mechanism 30 to move relative to the base 10, so that the distance between every two adjacent first grabbing mechanisms 30 is increased or decreased simultaneously.

The gripper 100 is provided with a plurality of first gripping mechanisms 30, and a plurality of batteries can be gripped simultaneously by the plurality of first gripping mechanisms 30. In addition, a plurality of first grabbing mechanisms 30 are all movably arranged on the base 10, and the actuating mechanism 20 drives the plurality of first grabbing mechanisms 30 to move relative to the base 10, so that the distance between every two adjacent first grabbing mechanisms 30 is increased or reduced simultaneously, and then a plurality of batteries of different models and different stations can be grabbed simultaneously, and the use flexibility of the grabber 100 is improved.

Wherein the base 10 serves to connect other components, the structure of the base 10 may be various. In this embodiment, the base 10 has a plate-like structure, but in other embodiments, the base 10 may have a block-like structure, a columnar structure, or the like.

Alternatively, as shown in fig. 1, a first slide rail 11 is disposed on the base 10, and the first grabbing mechanism 30 is movably disposed on the first slide rail 11.

In this embodiment, and with continued reference to FIG. 1, the actuator 20 includes a movable mount 21, a first drive member 22, and a transmission assembly 23. The movable seat 21 is movably connected to the base 10, and the first driving member 22 is used for driving the movable seat 21 to move along the first predetermined direction C relative to the base 10. The plurality of first gripping mechanisms 30 are connected with the movable base 21 through the transmission assembly 23. When the first driving element 22 drives the movable seat 21 to move along the first preset direction C relative to the base 10, the movable seat 21 can drive the transmission assembly 23 to move, and the transmission assembly 23 can drive the first grabbing mechanisms 30 to move along the second preset direction D relative to the base 10, so that the distance between every two adjacent first grabbing mechanisms 30 is increased or decreased simultaneously. The first driving element 22 drives the movable seat 21 to move along the first preset direction C relative to the base 10, and can drive the transmission assembly 23 to move, so that the first grabbing mechanisms 30 are driven to move along the second preset direction D relative to the base 10, and the distance between every two adjacent first grabbing mechanisms 30 can be adjusted.

The first preset direction C is perpendicular to the second preset direction D. By setting the first preset direction C and the second preset direction D to be perpendicular to each other so as to control the moving direction of the first grasping mechanisms 30, the actuator 20 facilitates adjustment of the distance between each adjacent two first grasping mechanisms 30.

Illustratively, the movable seat 21 has a plate-like structure. Wherein, still be provided with second slide rail 12 on the base 10, the extending direction of second slide rail 12 is unanimous with first predetermined direction C, and movable seat 21 is movably set up in second slide rail 12. In this embodiment, the number of the second slide rails 12 is two, and in other embodiments, the number of the second slide rails 12 may also be one, three, four, five, or the like.

Optionally, the first driving element 22 is an air cylinder, a cylinder body of the air cylinder is fixed to the base 10, the movable seat 21 is movably disposed on the second slide rail 12, and an output end of the air cylinder is connected to the movable seat 21, so as to drive the movable seat 21 to move on the second slide rail 12 along the first preset direction C relative to the base 10. In other embodiments, the first driving member 22 may also have other structures, for example, the first driving member 22 includes a motor and a rack, the motor is fixed to the base 10, the movable seat 21 is movably disposed on the second slide rail 12, the rack is connected to the movable seat 21, and a gear disposed on an output end of the motor is engaged with the rack, so as to drive the movable seat 21 to move on the second slide rail 12 along the first preset direction C relative to the base 10.

Further, the transmission assembly 23 includes at least one transmission unit, and each adjacent two first grabbing mechanisms 30 are connected with the movable base 21 through one transmission unit.

The transmission unit is connected to the movable seat 21, and every two adjacent first grabbing mechanisms 30 are connected with the movable seat 21 through one transmission unit, so that transmission is performed through the transmission unit, and the first grabbing mechanisms 30 are driven to move along the second preset direction D relative to the base 10.

In the present embodiment, as shown in fig. 1 and 2, the transmission assembly 23 includes a first transmission unit 231 and at least one second transmission unit 232. The first transmission unit 231 includes a first link 2311 and two first links 2312. First connecting seat 2311 is fixedly connected with movable seat 21. One ends of the two first connecting pieces 2312 are hinged to the first connecting seats 2311, and the other ends of the two first connecting pieces 2312 are hinged to the two adjacent first grabbing mechanisms 30 respectively. The second transmission unit 232 includes a second connection seat 2321 and two second connection members 2322. The second connecting seat 2321 is movably connected to the movable seat 21. One end of each of the two second connecting members 2322 is hinged to the second connecting seat 2321, and the other end of each of the two second connecting members 2322 is hinged to each of the two adjacent first grabbing mechanisms 30.

The transmission assembly 23 is provided with a first transmission unit 231 and at least one second transmission unit 232, one end of each of two first connection pieces 2312 is hinged to each of two adjacent first grabbing mechanisms 30, the other end of each of two first connection pieces 2312 is hinged to the first connection seat 2311, the first connection seat 2311 is fixedly connected to the movable seat 21, one end of each of two second connection pieces 2322 is hinged to each of two adjacent first grabbing mechanisms 30, the other end of each of two second connection pieces 2322 is hinged to the second connection seat 2321, the second connection seat 2321 is movably connected to the movable seat 21 along the second preset direction D, when the first driving piece 22 drives the movable seat 21 to move along the first preset direction C, the movable seat 21 can drive the first connection seat 2311 and the second connection seat 2321 to move along the first preset direction C, so that the distance between the movable seat 21 and the first grabbing mechanisms 30 is increased or decreased, therefore, the included angle between the two first connecting pieces 2312 and the included angle between the two second connecting pieces 2322 are increased or decreased simultaneously, and the first grabbing mechanisms 30 are driven to move along the second preset direction D relative to the base 10, so that every two adjacent first grabbing mechanisms 30 are close to or far away from each other, and the distance between every two adjacent first grabbing mechanisms 30 can be adjusted.

Wherein, be provided with third slide rail 13 on the sliding seat 21, the extending direction of third slide rail 13 is unanimous with second preset direction D, and second connecting seat 2321 movably sets up in third slide rail 13.

The second transmission unit 232 may be one, two, three, four, etc. Illustratively, as shown in fig. 1 and 2, there are two second transmission units 232, and the two second transmission units 232 are respectively disposed at two sides of the first transmission unit 231.

It should be noted that in other embodiments, the transmission assembly 23 may include only one first transmission unit 231. The first transmission unit 231 includes a first link 2311 and two first links 2312. First connecting seat 2311 is fixedly connected with movable seat 21. One ends of the two first connecting pieces 2312 are hinged to the first connecting seats 2311, and the other ends of the two first connecting pieces 2312 are hinged to the two adjacent first grabbing mechanisms 30 respectively. When first driving piece 22 drives movable seat 21 to move along first predetermined direction C, movable seat 21 can drive first connecting seat 2311 to move along first predetermined direction C, so that movable seat 21 and the first distance between snatching the mechanism 30 increase or reduce, thereby make the contained angle between two first connecting pieces 2312 increase or reduce, and then drive first relative base 10 of snatching the mechanism 30 and move along second predetermined direction D, so that two first mechanisms 30 of snatching are close to each other or keep away from, the regulation of two first distances of snatching between the mechanism 30 has been realized.

In this embodiment, as shown in fig. 1 and fig. 3, the actuator 20 further includes a first limiting member 24 and a second limiting member 25. The first limiting member 24 is connected to the base 10, and when the first driving member 22 drives the movable seat 21 to move forward along the first predetermined direction C, the movable seat 21 can abut against the first limiting member 24. The second limiting member 25 is connected to the movable seat 21, and when the first driving member 22 drives the movable seat 21 to move in the reverse direction along the first predetermined direction C, the second limiting member 25 can abut against the base 10.

The first limiting member 24 includes a first limiting base 241 and a first limiting device 242, the first limiting base 241 is screwed to the base 10 through a bolt, and the first limiting device 242 is connected to the first limiting base 241. The second limiting member 25 includes a second limiting seat 251 and a second limiting device 252, the second limiting seat 251 is screwed to the base 10 through a bolt, and the second limiting device 252 is connected to the second limiting seat 251.

Illustratively, the first and

second stops

242, 252 are hydraulic buffers.

In other embodiments, the first limiting member 24 and the second limiting member 25 may also be of other structures, for example, the first limiting member 24 is integrally a first limiting member, a first buffer spring is disposed on the first limiting member, and when the first driving member 22 drives the movable seat 21 to move forward along the first predetermined direction C, the movable seat 21 can abut against the first buffer spring. The second limiting member 25 is integrally a second limiting member, the second limiting member is provided with a second buffer spring, and when the first driving member 22 drives the movable seat 21 to move in the reverse direction along the first preset direction C, the movable seat 21 can abut against the second buffer spring.

In this embodiment, as shown in fig. 1 and 4, the first grasping mechanism 30 includes a first mounting seat 31, a first suction member 32, and a second suction member 33. The first mounting seat 31 is movably disposed on the base 10, and the first mounting seat 31 is connected to the actuator 20. The first suction member 32 and the second suction member 33 are spaced apart from each other and disposed at the first mounting seat 31. The first adsorption part 32 and the second adsorption part 33 which are arranged on the first mounting seat 31 at intervals are matched with each other to absorb the battery, so that the stability of absorbing the battery is ensured, and the phenomenon that the battery falls off in the process of transferring the battery by the gripper 100 is prevented.

Further, as shown in fig. 1 and 4, the first mounting base 31 includes a moving base 311, a first rotating arm 312, and a second rotating arm 313. The movable base 311 is movably disposed on the first slide rail 11, and the movable base 311 is connected to the actuator 20. The first rotating arm 312 is rotatably connected to the moving base 311, and the first suction fitting 32 is connected to the first rotating arm 312. The second rotating arm 313 is rotatably connected to the moving base 311, and the second suction member 33 is connected to the second rotating arm 313. When the first rotating arm 312 or the second rotating arm 313 rotates relative to the movable base 311, the distance between the first suction member 32 and the second suction member 33 can be adjusted.

The first suction device 32 is connected to the movable base 311 through the first rotating arm 312, the second suction device 33 is connected to the movable base 311 through the second rotating arm 313, and the first rotating arm 312 and the second rotating arm 313 are both rotatably connected to the movable base 311, so that the distance between the first suction device 32 and the second suction device 33 can be adjusted by rotating the first rotating arm 312 or rotating the second rotating arm 313, and further the angle between the first suction device 32 and the second suction device 33 is adjusted to avoid the pad printing pattern on the battery, and the pad printing pattern on the battery is prevented from being damaged by the first suction device 32 or the second suction device 33.

As shown in fig. 5, the first rotating arm 312 is screwed to the moving base 311 through a bolt, when the bolt is loosened, the first rotating arm 312 can rotate around the axis of the bolt relative to the moving base 311, so as to adjust the angle between the first suction member 32 and the second suction member 33, and after the bolt is adjusted to a proper position, the bolt is tightened, so as to fix the first rotating arm 312 to the moving base 311. The second rotating arm 313 is also screwed to the moving base 311 by a bolt, and when the bolt is loosened, the second rotating arm 313 can rotate around the axis of the bolt relative to the moving base 311, so as to adjust the angle between the first suction member 32 and the second suction member 33, and after the bolt is adjusted in place, the bolt is tightened, so as to fix the second rotating arm 313 to the moving base 311.

Illustratively, the first rotating arm 312 and the second rotating arm 313 are both strip-shaped structures.

Further, as shown in fig. 1 and 4, the rotation axis of the first rotating arm 312 is perpendicular to the extending direction of the first rotating arm 312. The rotation axis of the second rotating arm 313 is perpendicular to the extending direction of the second rotating arm 313. The first suction attachment 32 is movably disposed on the first rotating arm 312, and the first suction attachment 32 can move along an extending direction of the first rotating arm 312. The second adsorption member 33 is movably disposed on the second rotating arm 313, and the second adsorption member 33 can move along the extending direction of the second rotating arm 313. The distance between the first suction piece 32 and the second suction piece 33 can be adjusted by moving the first suction piece 32 or the second suction piece 33, so that the suction of batteries with different sizes is realized, and the use flexibility of the gripper 100 is improved.

The first rotating arm 312 is provided with a first sliding slot 3121, and the first suction attachment 32 is movably inserted into the first sliding slot 3121 along the extending direction of the first rotating arm 312. Two nuts are screwed on the first suction attachment 32, the two nuts are respectively arranged on the upper side and the lower side of the first rotating arm 312 to fix the first suction attachment 32 on the first rotating arm 312, and when one of the nuts is unscrewed, the first suction attachment 32 can move in the first sliding groove 3121 relative to the first rotating arm 312 to adjust the distance between the first suction attachment 32 and the second suction attachment 33. Similarly, the second rotating arm 313 has a second sliding slot 3131, and the second absorption piece 33 is movably inserted into the second sliding slot 3131 along the extending direction of the second rotating arm 313. Two nuts are screwed on the second suction member 33, the two nuts are respectively disposed on the upper and lower sides of the second rotating arm 313 to fix the second suction member 33 on the second rotating arm 313, and when one of the nuts is unscrewed, the second suction member 33 can move in the second sliding slot 3131 relative to the second rotating arm 313 to adjust the distance between the first suction member 32 and the second suction member 33.

In the present embodiment, one of the first suction member 32 and the second suction member 33 is a circular suction cup, and the other is an oval suction cup. Adopt the first mechanism 30 of snatching of this kind of structure to snatch the battery, absorb the battery through circular sucking disc and oval sucking disc cooperation jointly, can realize the bikini and adsorb on the battery to guarantee absorbent stationarity, and through the position of adjusting oval sucking disc, can prevent effectively that oval sucking disc from covering the bat printing pattern on the battery.

Illustratively, as shown in fig. 5, the first suction member 32 is a circular suction cup, and the second suction member 33 is an oval suction cup.

In this embodiment, as shown in fig. 3, the gripper 100 further includes a second grabbing mechanism 40, the second grabbing mechanism 40 is connected to the base 10, and the second grabbing mechanism 40 is used for grabbing a tray on which the battery is placed. The gripping apparatus 100 with the structure can grip and move the material plate for placing the battery when gripping and transferring the battery, thereby avoiding manual work of transferring and replacing the material plate, improving the automation rate and the production efficiency of the production line and saving the manual work.

Wherein, the second snatchs mechanism 40 includes second driving piece 41, second mount pad 42 and two adsorption component 43, and second mount pad 42 is movably set up in base 10, and second driving piece 41 is used for driving relative base 10 of second mount pad 42 and moves along first predetermined direction C, and two adsorption component 43 all rotationally connect in second mount pad 42 to adjust distance and angle between two adsorption component 43, absorb in order to realize the charging tray to different models.

Illustratively, the second driving member 41 is an air cylinder, a cylinder body of the air cylinder is connected to the base 10, the second mounting seat 42 is movably disposed on the base 10, and an output end of the air cylinder is connected to the second mounting seat 42, so as to drive the second mounting seat 42 to move along the first preset direction C relative to the base 10.

Alternatively, as shown in fig. 3, the suction assembly 43 includes a third rotating arm 431 and two third suction members 432, the third rotating arm 431 is screwed to the second mounting seat 42 through a bolt, when the bolt is loosened, the third rotating arm 431 can rotate around the axis of the bolt relative to the second mounting seat 42, so as to adjust the distance and angle between the two suction assemblies 43, and after the bolt is adjusted to the position, the bolt is tightened to fix the third rotating arm 431 to the second mounting seat 42. The third rotating arm 431 is in a strip structure, the third rotating arm 431 is provided with a third sliding groove 4311, and the two third adsorbing members 432 are movably inserted into the third sliding groove 4311 along the extending direction of the third rotating arm 431. Two nuts are screwed on the two third adsorption pieces 432, the two nuts are respectively arranged on the upper side and the lower side of the third rotating arm 431, so that the third adsorption piece 432 is fixed on the third rotating arm 431, and when one of the nuts is unscrewed, the third adsorption piece 432 can move in the third sliding groove 4311 relative to the third rotating arm 431, so that the distance between the two third adsorption pieces 432 is adjusted.

Illustratively, the two third suction members 432 are circular suction cups.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gripper, comprising:

a base;

the actuating mechanism is connected to the base; and

the first grabbing mechanisms are movably arranged on the base and connected to the executing mechanism, the first grabbing mechanisms are used for grabbing workpieces, and the executing mechanism is used for driving the first grabbing mechanisms to move relative to the base, so that the distance between every two adjacent first grabbing mechanisms is increased or decreased simultaneously.

2. The gripper of claim 1, wherein the actuator comprises a movable mount, a first drive member, and a transmission assembly;

the movable seat is movably connected to the base, and the first driving piece is used for driving the movable seat to move along a first preset direction relative to the base;

the plurality of first grabbing mechanisms are connected with the movable seat through the transmission assembly;

when the first driving piece drives the movable seat to move relative to the base along a first preset direction, the movable seat can drive the transmission assembly to move, the transmission assembly can drive the first grabbing mechanisms to move relative to the base along a second preset direction, and therefore the distance between every two adjacent first grabbing mechanisms is increased or decreased simultaneously.

3. The gripper of claim 2, wherein the transmission assembly comprises at least one transmission unit;

every two adjacent first grabbing mechanisms are connected with the movable seat through a transmission unit.

4. A gripper according to claim 3 wherein said at least one transmission unit comprises a first transmission unit;

the first transmission unit comprises a first connecting seat and two first connecting pieces;

the first connecting seat is fixedly connected with the movable seat;

one ends of the two first connecting pieces are hinged to the first connecting seats, and the other ends of the two first connecting pieces are hinged to the two adjacent first grabbing mechanisms respectively.

5. A gripper according to claim 3 wherein said at least one transmission unit comprises a first transmission unit and at least one second transmission unit;

the first connecting seat is fixedly connected with the movable seat;

one ends of the two first connecting pieces are hinged to the first connecting seats, and the other ends of the two first connecting pieces are hinged to the two adjacent first grabbing mechanisms respectively;

the second transmission unit comprises a second connecting seat and two second connecting pieces;

the second connecting seat is movably connected to the movable seat;

one ends of the two second connecting pieces are hinged to the second connecting seats, and the other ends of the two second connecting pieces are hinged to the two adjacent first grabbing mechanisms respectively.

6. The gripper of claim 2, wherein the first predetermined direction and the second predetermined direction are perpendicular to each other.

7. The gripper of any one of claims 1-6, wherein the first gripping mechanism comprises a first mount, a first suction member, and a second suction member;

the first mounting seat is movably arranged on the base and is connected with the actuating mechanism;

the first suction piece and the second suction piece are arranged on the first mounting seat at intervals.

8. The gripper of claim 7, wherein the first mounting block comprises a moving block, a first rotating arm, and a second rotating arm;

the movable seat is movably arranged on the base and is connected with the actuating mechanism;

the first rotating arm is rotatably connected to the moving seat, and the first suction accessory is connected to the first rotating arm;

the second rotating arm is rotatably connected to the moving seat, and the second adsorption piece is connected to the second rotating arm;

when the first rotating arm or the second rotating arm rotates relative to the moving seat, the distance between the first adsorption part and the second adsorption part can be adjusted.

9. The gripper of claim 8, wherein the axis of rotation of the first rotating arm is perpendicular to the direction of extension of the first rotating arm;

the rotating axis of the second rotating arm is vertical to the extending direction of the second rotating arm;

the first suction device is movably arranged on the first rotating arm and can move along the extending direction of the first rotating arm;

the second adsorption piece is movably arranged on the second rotating arm and can move along the extending direction of the second rotating arm.

10. The gripper of claim 7, wherein one of the first suction member and the second suction member is a circular suction cup and the other is an oval suction cup.