Grabbing mechanism, feeding equipment and feeding control method

Abstract

A grabbing mechanism (100), a feeding device (10) and a feeding control method, the grabbing mechanism comprising a base body (110) and a first grabbing assembly (120), one side of the base body being configured with a clamping area (113); the first grabbing assembly comprises a first clamping jaw (121) and a second clamping jaw (122), in the two opposite sides of the clamping area, the first clamping jaw is arranged on one side, and the second clamping jaw is arranged on the other side; and at least one of the first clamping jaw and the second clamping jaw is movably connected with the base body, so that the distance between the first clamping jaw and the second clamping jaw is adjustable, and the grabbing requirements of plates (300) of different specifications and sizes can be met.

Description

Grasping mechanism, feeding equipment and feeding control method Technical Field

[0001] The present application belongs to the field of mechanical grasping technology, and in particular relates to a grasping mechanism, a feeding device and a feeding control method. Background Art

[0002] Products are usually provided in a variety of sizes, and the panels in the corresponding products are usually also provided in a variety of sizes and specifications. In the production process of the products, a gripping mechanism is usually used to grip the panels. In the process of producing products of different sizes and specifications, the gripping mechanism needs to grip panels of different sizes. However, the gripping mechanism can only grip panels of a single size and cannot simultaneously accommodate the use requirements of gripping of multiple sizes and specifications.

[0003] The above statements are only used to provide background information related to the present application and do not necessarily constitute prior art.

[0004] Application Contents

[0005] The purpose of the embodiments of the present application is to provide a gripping mechanism, a feeding device and a feeding control method, including but not limited to solving the problem in the related art that the gripping mechanism can only grip panels of a single size and cannot simultaneously accommodate the use requirements of gripping of multiple specifications and sizes.

[0006] The technical solution adopted in the embodiment of this application is:

[0007] In a first aspect, a gripping mechanism is provided, which includes a base and a first gripping assembly, wherein a clamping area is constructed on one side of the base; the first gripping assembly includes a first clamping jaw and a second clamping jaw, wherein the first clamping jaw is provided on one side and the second clamping jaw is provided on the other side of the opposite sides of the clamping area; wherein at least one of the first clamping jaw and the second clamping jaw is movably connected to the base so that the distance between the first clamping jaw and the second clamping jaw is adjustable.

[0008] In the gripping mechanism of the embodiment of the present application, the plate is located in the clamping area, and the first clamping jaw and the second clamping jaw are respectively abutted on opposite sides of the plate to clamp the plate, thereby achieving the gripping of the plate; and the distance between the first clamping jaw and the second clamping jaw is adjustable, so that the first clamping jaw and the second clamping jaw can clamp plates of different specifications and sizes, thereby meeting the gripping requirements of plates of different specifications and sizes, that is, the gripping mechanism of the embodiment of the present application is compatible with plates of different specifications and sizes.

[0009] In one embodiment, when the first clamping jaw is movably connected to the base, the first grasping assembly further includes a first adjusting member connected to the first clamping jaw, the base is constructed with multiple first mounting positions, and the first adjusting member is connected to different first mounting positions so that the distance between the first clamping jaw and the second clamping jaw is different.

[0010] By adopting the technical solution of this embodiment, when the first adjusting member is installed in the first mounting position, the distance between the first clamping jaw and the second clamping jaw is relatively determined, so that one first mounting position can correspond to a specification size of the panel. Then, in the actual grasping process, the first mounting position corresponding to the specification size of the target panel can be quickly found, and the first adjusting member can be connected to the first mounting position corresponding to the specification size of the target panel. The adjustment operation is highly accurate and the operation is simple, convenient and fast.

[0011] In one embodiment, the first gripping assembly further includes a first locking member, and the first locking member is used to lock the first adjusting member at a different first installation position.

[0012] By adopting the technical solution of this embodiment, the first adjusting member can be connected to different first mounting positions by operating the first locking member, thereby changing the distance between the first clamping jaw and the second clamping jaw, and the adjustment operation is simple and convenient.

[0013] In one embodiment, the first locking member includes a first fastener, each first mounting position is provided with a first connecting hole, the first adjusting member is provided with a second connecting hole, and the first fastener is passed through the first connecting hole and the second connecting hole to lock the first adjusting member at the first mounting position.

[0014] By adopting the technical solution of this embodiment, a locking form of the first fastener is adopted between the first adjusting member and the first mounting position, which has a simple structure and convenient and quick adjustment operation.

[0015] In one embodiment, the first grabbing assembly further includes a first detection module, and the first installation position connected to the first adjusting member is the first detection position; the first detection module is used to obtain position information of the first detection position and send the position information of the first detection position.

[0016] By adopting the technical solution of this embodiment, it is possible to detect whether the first adjustment member is connected to the first mounting position corresponding to the target panel, so that the subsequent grasping mechanism can grasp the target panel stably and reliably, reducing the error rate of panel processing and conversion.

[0017] In one embodiment, the first detection module includes a first trigger member and multiple first detection members, the multiple first detection members are arranged in one-to-one correspondence with multiple first installation positions, the first trigger member is connected to the first adjustment member, and the first trigger member is used to trigger the first detection member corresponding to the first detection position to send the position information of the first detection position.

[0018] By adopting the technical solution of this embodiment, the first triggering member triggers the first detection member corresponding to the first detection position, so as to detect whether the first adjusting member is connected to the first installation position corresponding to the target panel. The structure of the first detection module is simple and convenient for processing and manufacturing.

[0019] In one embodiment, the first detection member includes a proximity switch, and the first trigger member includes a metal trigger member for triggering the proximity switch.

[0020] By adopting the technical solution of this embodiment, a metal triggering member is used to trigger the proximity switch structure, which has high triggering accuracy, so that the position information detection accuracy of the first detection position is good, and the structure is simple, which is conducive to reducing the cost of the grasping mechanism.

[0021] In one embodiment, when the second clamping jaw is movably connected to the base, the movable connection structure between the second clamping jaw and the base is the same as the movable connection structure between the first clamping jaw and the base.

[0022] By adopting the technical solution of this embodiment, the movable connection structure between the second clamping jaw and the base is the same as the movable connection structure between the first clamping jaw and the base, and the gripping mechanism is more convenient to manufacture.

[0023] In one embodiment, the first clamping jaw further includes a first driving member, the first driving member connecting the first adjusting member and the first clamping jaw, and the first driving member is used to drive the first clamping jaw to move toward the second clamping jaw to clamp the plate located in the clamping area.

[0024] By adopting the technical solution of this embodiment, the plate is located in the clamping area, and the first driving member can drive the first clamping jaw to move toward the second clamping jaw to clamp the plate, thereby achieving gripping of the plate.

[0025] In one embodiment, the first clamping jaw is provided with a first protective member on the side of the clamping area for abutting against one side of the plate, and the hardness range of the first protective member is 20HD-100HD; and / or, the second clamping jaw is provided with a second protective member on the side of the clamping area for abutting against the other edge of the plate, and the hardness range of the second protective member is 20HD-100HD.

[0026] By adopting the technical solution of the embodiment of the present application, during the clamping process of the panel, the protective member (the first protective member and / or the second protective member) abuts against the edge of the panel, can abut against the panel stably and reliably, and the panel positioning accuracy is good, but it is not too hard to damage the panel.

[0027] In one embodiment, the gripping mechanism further includes a second gripping assembly, which includes a third clamping jaw and a fourth clamping jaw; on the other two opposite sides of the clamping area, one side is provided with a third clamping jaw and the other side is provided with a fourth clamping jaw, and at least one of the third clamping jaw and the fourth clamping jaw is movably connected to the base to adjust the distance between the third clamping jaw and the fourth clamping jaw.

[0028] By adopting the technical solution of this embodiment, the first jaw and the second jaw clamp the plate from opposite sides, while the third jaw and the fourth jaw clamp the plate from the other side of the plate, so that the plate has more clamping points and the stability of clamping and grasping is good; in addition, the distance between the third jaw and the fourth jaw is adjustable. On the one hand, the third jaw and the fourth jaw can be relatively close to achieve the grasping of the plate. On the other hand, it can also meet the grasping needs of plates of more specifications and sizes.

[0029] In one embodiment, when the third clamping jaw is movably connected to the base, the second gripping assembly further includes a second driving member, the second driving member connecting the third clamping jaw and the base, and the second driving member is used to drive the third clamping jaw to move so as to adjust the distance between the third clamping jaw and the fourth clamping jaw;

[0030] When the fourth clamping jaw is movably connected to the base, the second grasping assembly further includes a third driving member, which connects the fourth clamping jaw and the base and is used to drive the fourth clamping jaw to move to adjust the distance between the third clamping jaw and the fourth clamping jaw.

[0031] By adopting the technical solution of this embodiment, the overall structure is simple and easy to process and manufacture.

[0032] In one embodiment, the gripping mechanism further includes a moving component connected to the base, and the moving component is used to drive the base to move.

[0033] By adopting the technical solution of this embodiment, the moving component drives the base and components such as the first grabbing component connected to the base to move. The moving component can move the base and components such as the first grabbing component to the silo mechanism for storing the panels for grabbing; after the grabbing is completed, the moving component moves the panels to subsequent processing equipment for processing, thereby realizing the grabbing and conveying of the panels.

[0034] In one embodiment, a suction member for sucking the plate is provided on a side of the base body facing the clamping area.

[0035] By adopting the technical solution of this embodiment, after the adsorption part first adsorbs and fixes the plate in the clamping area, the first clamp and the second clamp can clamp the plate more conveniently and quickly and the clamping is more stable and reliable; in addition, after the first clamp and the second clamp are clamped, the plate is adsorbed by the adsorption part, which can reduce the risk of the plate falling between the first clamp and the second clamp, which is conducive to improving the yield.

[0036] In one embodiment, the adsorption part includes a connecting part and an elastic part, the connecting part connects the base and the elastic part, the elastic part is located on the side of the connecting part facing the clamping area, and the surface of the elastic part facing the clamping area is provided with a vacuum adsorption hole for adsorbing the plate.

[0037] By adopting the technical solution of this embodiment, on the one hand, the design of the elastic part allows elastic contact between the plate and the adsorption part, which is beneficial to reducing damage to the plate; on the other hand, the plate is adsorbed by using vacuum adsorption holes, which has a simple structure and is easy to manufacture.

[0038] In one embodiment, a side portion of the base body facing the clamping area is further provided with a limiting member, and the side portion of the limiting member facing the clamping area is used to abut against the plate.

[0039] By adopting the technical means of this embodiment, when the plate is adsorbed on the elastic part through the vacuum adsorption hole, the plate can abut against the side of the limiter facing the clamping area to prevent the plate from continuing to squeeze the elastic part, thereby reducing the risk of the elastic part being over-extruded. At the same time, it can also achieve accurate positioning of the plate and improve the accuracy of subsequent operations.

[0040] In one embodiment, the gripping mechanism further includes a distance detection member, which is used to detect the distance value between the plate and the distance detection member; when the distance value is within a preset range, the plate is located in the clamping area, and the distance detection member is also used to send a gripping signal to grip the plate.

[0041] By adopting the technical solution of this embodiment, the distance detection member is used to determine whether there is a plate in the clamping area, thereby reducing the risk of the gripping mechanism grabbing nothing, and also enabling the gripping mechanism to grip the plate stably and reliably.

[0042] In one embodiment, the gripping mechanism further includes a sensing element configured to sense the plate in the clamping area.

[0043] By adopting the technical solution of this embodiment, it is possible to determine whether the grasping mechanism has grasped the panel successfully through the sensing element, and whether the panel has fallen during the movement of the panel can also be detected.

[0044] In a second aspect, a loading device is provided, comprising a gripping mechanism as described in the above embodiment.

[0045] In one embodiment, the loading device further includes a silo mechanism for storing panels, the silo mechanism includes a frame and a storage assembly, the storage assembly is connected to the frame, and the storage assembly can store panels of different specifications and sizes.

[0046] Through the technical solution of this embodiment, the storage component can store plates of different specifications and sizes, which can increase the universal range of the silo mechanism. At the same time, it can also be more compatible with the grasping mechanism that can grasp plates of different specifications and sizes, which is conducive to improving production efficiency.

[0047] In one embodiment, the material storage assembly includes a support member and a material storage module, and the support member is connected to the frame; the material storage module includes a first material storage member and a second material storage member arranged on the support member, and a storage area for storing plates is formed between the first material storage member and the second material storage member; at least one of the first material storage member and the second material storage member is movably connected to the support member so that the distance between the first material storage member and the second material storage member is adjustable.

[0048] By adopting the technical solution of this embodiment, the distance between the first storage member and the second storage member is adjustable, that is, the size of the storage area is adjustable, so as to meet the placement requirements of plates of different specifications and sizes, thereby making the silo mechanism compatible with plates of different specifications and sizes.

[0049] In one embodiment, based on the movably connected first material storage member and the base, the support member is configured with multiple second mounting positions, and the first material storage member is connected to different second mounting positions so that the distances between the first material storage member and the second material storage member are different.

[0050] By adopting the technical solution of this embodiment, when the first material storage member is installed in the second installation position, the distance between the first material storage member and the second material storage member is relatively determined, so that one second installation position can correspond to a specification size of the plate. Then, during the loading process of the hopper mechanism, the first material storage member can be quickly connected to the second installation position corresponding to the plate to be loaded, and the loading operation is convenient; in addition, during the grabbing process of the plate, the storage area of ​​the target plate can also be quickly found through the second installation position.

[0051] In one embodiment, the storage module further comprises a second locking member, and the second locking member is used to lock the first storage member at a different second installation position.

[0052] By adopting the technical solution of this embodiment, the first material storage member can be connected to different second installation positions by operating the second locking member, and the distance between the first material storage member and the second material storage member can be changed, and the adjustment operation is simple and convenient.

[0053] In one embodiment, the storage module further includes a second detection module, and the second installation position connected to the first storage member is the second detection position; the second detection module is used to obtain position information of the second detection position and to send the position information of the second detection position.

[0054] By adopting the technical solution of this embodiment, it is possible to detect whether the material storage module stores the target, so that the subsequent grasping mechanism can accurately target the panel, reducing the error rate of panel processing and conversion.

[0055] In one embodiment, the second detection module includes a second trigger member and multiple second detection members, the multiple second detection members are arranged in one-to-one correspondence with the multiple second installation positions, the second trigger member is connected to the first storage member, and the second trigger member is used to trigger the second detection member corresponding to the second detection position to send the position information of the second detection position.

[0056] By adopting the technical solution of this embodiment, the second triggering member triggers the second detection member corresponding to the second detection position, so as to detect whether the first material storage member is connected to the second installation position corresponding to the target panel. The structure of the first detection module is simple and convenient for processing and manufacturing.

[0057] In one embodiment, when the second material storage member is movably connected to the support member, the movably connected structure between the second material storage member and the support member is the same as the movably connected structure between the first material storage member and the support member.

[0058] By adopting the technical solution of this embodiment, the movable connection structure between the second material storage member and the support member is the same as the movable connection structure between the first material storage member and the support member, and the structure is simpler and convenient to process and manufacture.

[0059] In one embodiment, the silo mechanism includes a plurality of storage assemblies, the plurality of storage assemblies are located in a receiving space formed by a frame, a top of the frame is configured with a first opening for a gripping mechanism to enter the receiving space, and the plurality of storage assemblies are stacked along the height of the frame;

[0060] Each material storage assembly is connected to a sliding member, and each sliding member is slidably connected to the frame, so that the sliding member can drive the corresponding material storage assembly to slide along the first direction between the bottom of the first opening and the side of the first opening.

[0061] By adopting the technical solution of this embodiment, the design of multiple storage components can meet the storage needs of more panels, and can also enable the silo component to store panels of multiple specifications and sizes at the same time to facilitate the replacement of panels; in addition, the storage component can be moved from below the first opening to the side of the first opening, so that the storage component located on the lower layer of the storage component can be exposed, thereby facilitating the grabbing component to grab the panels on the storage component on the lower layer.

[0062] In one embodiment, the frame is configured with a second opening communicating with the accommodation space, and the storage assembly is slidably connected to the sliding member so that the storage assembly can enter and exit the accommodation space through the second opening along the second direction.

[0063] By adopting the technical solution of this embodiment, the material storage assembly can be moved out of the accommodating space through the second opening, and the material storage assembly is exposed outside the frame, which can facilitate the loading of the panels of the material storage assembly.

[0064] In one embodiment, the first direction is parallel to the second direction.

[0065] By adopting the technical solution of this embodiment, the sliding direction of the sliding member relative to the frame is parallel to the sliding direction of the storage assembly relative to the sliding member. With this design, the sliding direction is single, the structure of the hopper mechanism can be designed to be simpler, and the risk of sliding interference can be reduced.

[0066] In one embodiment, the silo mechanism further includes a third locking member, which is used to lock the connecting sliding member and the material storage assembly.

[0067] By adopting the technical solution of this embodiment, during the sliding of the sliding member relative to the frame, the third locking member can fixedly connect the sliding member and the storage assembly, so that the sliding member can drive the storage assembly to slide relative to the frame, thereby facilitating the grabbing assembly to grab the plates stored on the lower storage assembly.

[0068] In one embodiment, one of the sliding member and the storage assembly is provided with a locking hole, and the other is connected with a third locking member, and the end of the third locking member is used to be inserted into the locking hole to lock the connection between the sliding member and the storage assembly.

[0069] By adopting the technical solution of this embodiment, a locking method in which the third locking member and the locking hole cooperate with each other is adopted, which has a simple structure and is easy to manufacture.

[0070] In a third aspect, a feeding control method is provided, the feeding control method comprising:

[0071] receiving first specification information of a panel that can be grasped by the grasping mechanism;

[0072] receiving second specification information of panels stored in a storage module to be taken from a silo mechanism;

[0073] When the first specification information, the second specification information and the specification information of the target panel are consistent, the grabbing mechanism is controlled to grab the panel stored in the material storage module to be taken.

[0074] By adopting the technical solution of this embodiment, it is possible to accurately judge whether the state of the gripping mechanism is capable of gripping the target panel, and whether the target panel is stored in the storage module to be picked up. When the first specification information, the second specification information and the specification information of the target panel are consistent, the gripping mechanism is capable of gripping the target panel, and the target panel is stored in the storage module to be picked up. In this way, the gripping mechanism can stably grip the target panel in the storage module, and accurately transport it to subsequent equipment, thereby reducing the error rate of panel changeover.

[0075] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0077] FIG1 is a schematic structural diagram of a gripping mechanism provided in an embodiment of the present application.

[0078] FIG2 is a structural diagram of the grabbing mechanism shown in FIG1 with the moving component hidden from one perspective.

[0079] FIG3 is a structural diagram of the grabbing mechanism shown in FIG1 with the moving component hidden from another perspective.

[0080] FIG. 4 is an exploded schematic diagram of the grabbing mechanism shown in FIG. 1 with the hidden moving component.

[0081] FIG5 is a structural diagram of a feeding mechanism provided in an embodiment of the present application from one perspective.

[0082] FIG6 is a schematic structural diagram of the material storage assembly shown in FIG5 .

[0083] FIG7 is a schematic structural diagram of the material storage module shown in FIG6 .

[0084] FIG8 is an exploded schematic diagram of the storage module shown in FIG7 .

[0085] FIG9 is a structural schematic diagram of the feeding mechanism shown in FIG5 from another perspective.

[0086] FIG10 is a partial enlarged view of point A in FIG9 .

[0087] In the figures, the following reference numerals are provided: 10, feeding device; 100, gripping mechanism; 110, base; 111, first mounting position; 1111, first connecting hole; 112, third mounting position; 1121, third connecting hole; 113, clamping area; 120, first gripping assembly; 121, first clamping jaw; 122, second clamping jaw; 123, first adjusting member; 1231, second connecting hole; 124, first detection module; 1241, first triggering member; 1242, first detection member; 125, first driving member; 126, second adjusting member; 1261, fourth connecting hole; 127, third detection module; 1271, third triggering member; 1272, third detection member; 128, first protective 1281, first inclined surface; 129, second protective element; 1291, second inclined surface; 130, second grabbing assembly; 131, third clamping jaw; 132, fourth clamping jaw; 133, second driving element; 134, third protective element; 1341, third inclined surface; 135, fourth protective element; 1351, fourth inclined surface; 140, moving assembly; 150, adsorption element; 151, connecting portion; 152, elastic portion; 1521, vacuum adsorption hole; 160, limiting element; 170, distance detection element; 180, sensing element; 200, silo mechanism; 210, frame; 211, accommodating space; 212, first opening; 213, second opening; 220, Storage assembly; 2201, storage area; 221, support member; 2211, second mounting position; 2212, locking hole; 2213, fifth connecting hole; 2214, first support plate; 2215, second support plate; 222, storage module; 2221, first storage member; 22211, first plug-in slot; 22212, sixth connecting hole; 2222, second storage member; 22221, second plug-in slot; 2223, second Locking member; 2224, second detection module; 22241, second trigger member; 22242, second detection member; 2225, intermediate member; 22251, support groove; 2226, first slide rail; 230, sliding member; 240, third locking member; 250, alarm device; 260, door opening and closing assembly; 270, fourth driving member; 281, second slide rail; 2811, guide rail; 2812, slider; 282, third slide rail; 300, plate member. DETAILED DESCRIPTION

[0088] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0089] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0090] In the description of the embodiments of this application, the technical terms "first," "second," etc., are used solely to distinguish between different objects and should not be understood to indicate or imply relative importance, or to implicitly specify the quantity, specific order, or primary-secondary relationship of the technical features indicated. Therefore, a feature designated "first" or "second" may explicitly or implicitly include one or more of such features.

[0091] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments in any suitable manner.

[0092] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0093] In the description of the embodiments of this application, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more (including two groups), and "multiple sheets" refers to two or more (including two sheets). "Several" means one or more, unless otherwise specifically defined.

[0094] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present application.

[0095] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0096] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0097] Products are usually provided in a variety of sizes, and the panels in the corresponding products are usually also provided in a variety of sizes and specifications. In the production process of the products, a gripping mechanism is usually used to grip the panels. In the process of producing products of different sizes and specifications, the gripping mechanism needs to grip panels of different sizes. However, the gripping mechanism can only grip panels of a single size and cannot simultaneously accommodate the use requirements of gripping of multiple sizes and specifications.

[0098] In order to clearly illustrate the above-mentioned problem, the embodiment of the present application takes the gluing process of the side panel of the battery as an example. Before the side panel is glued, the grabbing mechanism will hold the side panel, that is, the grabbing mechanism needs to abut against the two opposite edges of the side panel, thereby clamping the panel, thereby achieving the grabbing of the battery side panel, and finally the grabbed battery side panel is grabbed into the gluing device for gluing; the gluing device can usually meet the gluing needs of side panels of various sizes, so when faced with gluing needs of different sizes, the grabbing mechanism needs to grab side panels of different sizes into the gluing equipment; but the grabbing mechanism in the related art can only meet the grabbing needs of side panels of a single size, and cannot meet the grabbing needs of multiple sizes.

[0099] Based on the above considerations, an embodiment of the present application provides a gripping mechanism, which includes a base and a first gripping component. A clamping area is constructed on one side of the base, and the first gripping component includes a first clamping jaw and a second clamping jaw located on opposite sides of the clamping area, and at least one of the first clamping jaw and the second clamping jaw is movably connected to the base, so that the distance between the first clamping jaw and the second clamping jaw is adjustable; when the plate is located in the clamping area, the first clamping jaw and the second clamping jaw can respectively abut on the opposite sides of the plate to clamp the plate, thereby achieving the gripping of the plate, and the distance between the first clamping jaw and the second clamping jaw is adjustable, so that the first clamping jaw and the second clamping jaw can clamp plates of different specifications and sizes, thereby meeting the gripping requirements of plates of different specifications and sizes, that is, the gripping mechanism of the embodiment of the present application is compatible with plates of different specifications and sizes. The gripping mechanism of the embodiment of the present application can be applied to the gluing process of the battery side plate, the injection and heating of the battery cell, and other battery production processes that require gripping of plates.

[0100] The following describes the gripping mechanism 100 in conjunction with some embodiments:

[0101] As shown in Figures 1 and 2, in one embodiment of the present application, a gripping mechanism 100 is provided, which includes a base 110 and a first gripping assembly 120. One side of the base 110 is configured with a clamping area 113; the first gripping assembly 120 includes a first clamping jaw 121 and a second clamping jaw 122. On two opposite sides of the clamping area 113, one side is provided with the first clamping jaw 121 and the other side is provided with the second clamping jaw 122; wherein, at least one of the first clamping jaw 121 and the second clamping jaw 122 is movably connected to the base 110 so that the distance between the first clamping jaw 121 and the second clamping jaw 122 is adjustable.

[0102] The base 110 may refer to the mounting base 110 of the first grabbing assembly 120, which mainly serves to support and fix the first grabbing assembly 120. In order to improve the structural strength of the base 110, the material of the base 110 may be metal materials such as iron, alloy or stainless steel. The base 110 may be a plate 300, a frame or other structural form. The shape of the base 110 may be various, such as square, round, triangular, etc.

[0103] The clamping area 113 may refer to an area between the first clamping jaw 121 and the second clamping jaw 122 .

[0104] The first gripping assembly 120 may be a component used to grip the panel 300. The first gripping assembly 120 includes a first clamping jaw 121 and a second clamping jaw 122. The first clamping jaw 121 is the component of the first gripping assembly 120 located on one side of the clamping area 113, and the second clamping jaw 122 is the component of the first gripping assembly 120 located on the side of the clamping area 113 opposite the first clamping jaw 121. The first clamping jaw 121 and the second clamping jaw 122 are located on opposite sides of the clamping area 113. When the panel 300 is within the clamping area 113, the first clamping jaw 121 and the second clamping jaw 122 respectively clamp on opposite sides of the panel 300, thereby gripping the panel 300. To improve gripping stability, the first clamping jaw 121 and the second clamping jaw 122 are typically made of metal (e.g., stainless steel, iron, etc.).

[0105] At least one of the first clamping jaw 121 and the second clamping jaw 122 is movably connected to the base 110 so that the distance between the first clamping jaw 121 and the second clamping jaw 122 is adjustable. It can be understood that the first clamping jaw 121 can be movably connected to the base 110, and the distance between the first clamping jaw 121 and the second clamping jaw 122 is changed by adjusting the first clamping jaw 121; the second clamping jaw 122 can also be movably connected to the base 110, and the distance between the first clamping jaw 121 and the second clamping jaw 122 is changed by adjusting the second clamping jaw 122; or the first clamping jaw 121 and the second clamping jaw 122 can both be movably connected to the base 110, and the distance between the first clamping jaw 121 and the second clamping jaw 122 is changed by adjusting the first clamping jaw 121 and the second clamping jaw 122; wherein the movable connection can refer to the relative movement of the two connected parts: for example, one of the parts can be driven by a driving member to move relative to the other part, or it can refer to the two parts being connected by a movable connection such as a sliding connection.

[0106] The working process of the gripping mechanism 100 in the embodiment of the present application is as follows:

[0107] When it is necessary to grasp the panel 300 or update the clamping of a panel 300 of a new specification, first adjust the distance between the first clamp 121 and the second clamp 122 to the clamping size range of the target panel 300. Then, when the panel 300 is located in the clamping area 113, the first clamp 121 and the second clamp 122 clamp the panel 300 in the clamping area 113, thereby achieving the grasping of the panel 300.

[0108] In the gripping mechanism 100 of the embodiment of the present application, the plate 300 is located in the clamping area 113, and the first clamping jaw 121 and the second clamping jaw 122 are respectively abutted against the opposite sides of the plate 300 to clamp the plate 300, thereby achieving the gripping of the plate 300; and the distance between the first clamping jaw 121 and the second clamping jaw 122 is adjustable, so that the first clamping jaw 121 and the second clamping jaw 122 can clamp plates 300 of different specifications and sizes, thereby meeting the gripping requirements of plates 300 of different specifications and sizes, that is, the gripping mechanism 100 of the embodiment of the present application is compatible with plates 300 of different specifications and sizes.

[0109] In another embodiment of the present application, in combination with Figures 2 to 4, the gripping mechanism 100 is provided, in which, when the first clamping jaw 121 is movably connected to the base 110, the first gripping assembly 120 also includes a first adjusting member 123 connected to the first clamping jaw 121, and the base 110 is constructed with multiple first mounting positions 111, and the first adjusting member 123 is connected to different first mounting positions 111 so that the distance between the first clamping jaw 121 and the second clamping jaw 122 is different.

[0110] The first adjusting member 123 may refer to a component for connecting the first clamping jaw 121 and the base 110. The first adjusting member 123 is movably connected to the base 110, so that the distance between the first clamping jaw 121 and the second clamping jaw 122 can be adjusted by changing the connection position of the first adjusting member 123 on the base 110.

[0111] The first mounting position 111 may refer to a position on the base 110 for connecting to the first adjusting member 123; the plurality of first mounting positions 111 may refer to two, three, or more than four positions formed on the base 110 for mounting the first adjusting member 123. For example, there are three first mounting positions 111 (see the positions indicated by the dashed boxes in FIG. 2 ), and the three first mounting positions 111 are arranged along a third direction (see the direction indicated by the arrow M in FIG. 2 ), the third direction being the direction from the second clamping jaw 122 to the first clamping jaw 121. The first adjusting member 123 is connected to different first mounting positions 111, and the spacing between the first clamping jaw 121 and the second clamping jaw 122 is different.

[0112] By adopting the technical solution of this embodiment, when the first adjusting member 123 is installed in the first mounting position 111, the distance between the first clamping jaw 121 and the second clamping jaw 122 is relatively determined, so that one first mounting position 111 can correspond to a specification size of the panel 300. Then, in the actual grasping process, the first mounting position 111 corresponding to the specification size of the target panel 300 can be quickly found, and the first adjusting member 123 can be connected to the first mounting position 111 corresponding to the specification size of the target panel 300. The adjustment operation is highly accurate and the operation is simple, convenient and fast.

[0113] In another embodiment of the present application, as shown in Figures 2 to 4 , the first gripping assembly 120 of the gripping mechanism 100 provided further includes a first locking member, which is used to lock the first adjusting member 123 at different first installation positions 111.

[0114] The first locking member may refer to a component that can lock the first adjusting member 123 at different first mounting positions 111. The first adjusting member 123 is fixed to the first mounting position 111 of the base 110 through the first locking member. At the same time, the first locking member can also release the lock between the first adjusting member 123 and the first mounting position 111, and then fix it to another first mounting position 111 through the first locking member. In this way, the distance between the first clamping jaw 121 and the second clamping jaw 122 is adjusted, so that it is suitable for grasping panels 300 of different specifications and sizes.

[0115] By adopting the technical solution of this embodiment, the first adjusting member 123 can be connected to different first mounting positions 111 by operating the first locking member, thereby changing the distance between the first clamping jaw 121 and the second clamping jaw 122, and the adjustment operation is simple and convenient.

[0116] In another embodiment of the present application, in combination with Figures 2 to 4, the first locking member of the provided gripping mechanism 100 includes a first fastener, each first mounting position 111 is provided with a first connecting hole 1111, the first adjusting member 123 is provided with a second connecting hole 1231, and the first fastener is passed through the first connecting hole 1111 and the second connecting hole 1231 to lock the first adjusting member 123 at the first mounting position 111.

[0117] The first fastener may refer to a component used to fasten the first adjustment member 123 and the base 110 , wherein the first fastener may be a bolt, a screw, a latch, or other components.

[0118] The first connecting hole 1111 may refer to a hole structure provided in the first mounting position 111; the second connecting hole 1231 may refer to a hole structure provided in the first adjusting member 123, and the first fastener is passed through the first connecting hole 1111 and the second connecting hole 1231 and locks the first adjusting member 123 in the first mounting position 111; for example, the first fastener is a screw, which passes through the second connecting hole 1231 and then engages with the first connecting hole 1111 to fix the first adjusting member 123 and the first mounting position 111 together; and during the adjustment process, the screw is unscrewed from the second connecting hole 1231, and then the screw is connected to the first connecting hole 1231 of the first mounting position 111 at another position. The hole 1111 is threadedly matched to adjust the distance between the first clamping jaw 121 and the second clamping jaw 122, and the adjustment operation is simple, convenient and fast; wherein, the first adjusting member 123 can be provided with a plurality of second connecting holes 1231, so each first mounting position 111 can also be provided with a plurality of first connecting holes 1111 corresponding thereto, and the number of first fasteners can also be multiple, and the first fasteners are respectively passed through the first connecting holes 1111 and the second connecting holes 1231, and the first adjusting member 123 and the first mounting position 111 of the base 110 have multiple connection points, and the connection strength of the first adjusting member 123 and the base 110 is good, which is conducive to improving the stability and reliability of the grasping of the plate 300. For example, the first adjusting member 123 is provided with four second connection holes 1231, and each first mounting position 111 is provided with four first connection holes 1111. The four second connection holes 1231 correspond one-to-one to the four first connection holes 1111, and two adjacent first mounting positions 111 share two second connection holes 1231, so that there is an intersection between two adjacent first mounting positions 111. This arrangement makes the structure compact and is conducive to reducing the size of the grasping mechanism 100.

[0119] By adopting the technical solution of this embodiment, a locking form of the first fastener is adopted between the first adjusting member 123 and the first installation position 111, which has a simple structure and convenient and quick adjustment operation.

[0120] In another embodiment of the present application, in combination with Figures 2 to 4, the first gripping component 120 of the gripping mechanism 100 provided further includes a first detection module 124, and the first mounting position 111 that is in a connected state with the first adjusting member 123 is a first detection position; the first detection module 124 is used to obtain position information of the first detection position and send the position information of the first detection position.

[0121] The first detection position may refer to the first installation position 111 that is in a connected state with the first adjustment member 123 .

[0122] The first detection module 124 may refer to a module capable of obtaining the position information of the first detection position and sending the position information of the first detection position; it can be understood that the first detection module 124 can obtain the position information of the first mounting position 111 that is in a connected state with the first adjustment member 123, that is, the position information of the first detection position, and send the position information, then through the position information, the specification information of the panel 300 corresponding to the first detection position can be known. In actual applications, the position information sent by the first detection module 124 can be consistent with the position information of the first installation position 111 corresponding to the target panel 300, so as to determine whether the first adjustment member 123 is adjusted to the first installation position 111 corresponding to the target panel 300; if the position information sent by the first detection module 124 is inconsistent with the position information of the first installation position 111 corresponding to the target panel 300, the first detection position is not the first installation position 111 corresponding to the target panel 300, that is, the installation position of the first adjustment member 123 is incorrect; if the position information sent by the first detection module 124 is consistent with the position information of the first installation position 111 corresponding to the target panel 300, the first detection position is the first installation position 111 corresponding to the target panel 300, and the installation position of the first adjustment member 123 is correct.

[0123] By adopting the technical solution of this embodiment, it is possible to detect whether the first adjustment member 123 is connected to the first mounting position 111 corresponding to the target panel 300, so that the subsequent grasping mechanism 100 can stably and reliably grasp the target panel 300, reducing the error rate of processing and changing the panel 300.

[0124] In another embodiment of the present application, in combination with Figures 2 to 4, the first detection module 124 of the gripping mechanism 100 provided includes a first trigger member 1241 and multiple first detection members 1242, and the multiple first detection members 1242 are arranged in a one-to-one correspondence with the multiple first mounting positions 111. The first trigger member 1241 is connected to the first adjustment member 123, and the first trigger member 1241 is used to trigger the first detection member 1242 corresponding to the first detection position to send the position information of the first detection position.

[0125] The first detecting component 1242 may refer to a component capable of sending a signal. For example, the signal sent by the first detecting component 1242 may be a current signal, a voltage signal, or the like.

[0126] The first triggering component 1241 may refer to a component that can trigger the first detecting component 1242 to send a signal.

[0127] The multiple first detection members 1242 correspond one-to-one to the multiple first installation positions 111 . It is understandable that the number of the first detection members 1242 is the same as the number of the first installation positions 111 , and each first installation position 111 has a first detection member 1242 corresponding thereto.

[0128] The first trigger member 1241 is connected to the first adjusting member 123, and the first trigger member 1241 is used to trigger the first detecting member 1242 corresponding to the first detecting position to send the position information of the first detecting position; it can be understood that the first trigger member 1241 is installed on the first adjusting member 123; when the first adjusting member 123 is connected to the first detecting position, the first trigger member 1241 corresponds to the first detecting member 1242 corresponding to the first detecting position, thereby triggering the first detecting member 1242 to send a signal, then the position information of the first detecting position can be accurately determined by the signal sent by the first detecting member 1242; for example, the number of the first detecting members 1242 is three, and the three first detecting members 1242 are arranged and numbered in sequence along the third direction, and the three first mounting positions 111 are numbered in sequence along the third direction; the first adjusting member 123 is connected to When the first first installation position 111 is reached, the first trigger member 1241 is arranged opposite to the first first detection member 1242, thereby triggering the first first detection member 1242 to send a signal. By sending a signal through the first first detection member 1242, it can be known that the first adjusting member 123 is connected to the first first installation position 111. When the first installation position 111 corresponding to the target panel 300 is the first first installation position 111, that is, the installation position of the first adjusting member 123 is correct, the first clamp 121 and the second clamp 122 can grab the target panel 300, reducing the error rate of the grabbing mechanism 100; when the first installation position 111 corresponding to the target panel 300 is not the first installation position, the installation position of the first adjusting member 123 is incorrect, and the operator can be reminded to connect the first adjusting member 123 to the correct first installation position 111 through alarms or other means.

[0129] By adopting the technical solution of this embodiment, the first trigger member 1241 triggers the first detection member 1242 corresponding to the first detection position, so as to detect whether the first adjustment member 123 is connected to the first installation position 111 corresponding to the target plate 300. The structure of the first detection module 124 is simple and convenient for processing and manufacturing.

[0130] In another embodiment of the present application, as shown in Figures 2 to 4, the first detection member 1242 of the provided grasping mechanism 100 includes a proximity switch, and the first trigger member 1241 includes a metal trigger member for triggering the proximity switch.

[0131] A proximity switch may refer to a position switch that can be operated without direct mechanical contact with a moving part, and a metal trigger may refer to a metal part that can trigger the proximity switch; when in use, when the first adjustment member 123 is connected to the first detection position, the metal trigger is located within the sensing area of ​​the proximity switch corresponding to the first detection position, and the proximity switch can quickly send an electrical signal, and the position information of the first detection position can be accurately determined based on the electrical signal.

[0132] By adopting the technical solution of this embodiment, a metal trigger is used to trigger the proximity switch, which has high triggering accuracy, making the position information detection accuracy of the first detection position good, and has a simple structure, which is conducive to reducing the cost of the grasping mechanism 100.

[0133] In another embodiment of the present application, in combination with Figures 2 to 4, the gripping mechanism 100 is provided, in which, when the second clamping jaw 122 is movably connected to the base 110, the movable connection structure between the second clamping jaw 122 and the base 110 is the same as the movable connection structure between the first clamping jaw 121 and the base 110.

[0134] The movable connection structure between the second clamping jaw 122 and the base 110 is the same as the movable connection structure between the first clamping jaw 121 and the base 110. It can be understood that the movable connection method between the first clamping jaw 121 and the base 110 is the same as the movable connection method between the second clamping jaw 122 and the base 110.

[0135] By adopting the technical solution of this embodiment, the movable connection structure between the second clamping jaw 122 and the base 110 is the same as the movable connection structure between the first clamping jaw 121 and the base 110, and the grasping mechanism 100 is more convenient to manufacture.

[0136] In one embodiment, the second clamping jaw 122 is connected to a second adjusting member 126, the base 110 has a plurality of third mounting positions 112, the second adjusting member 126 is connected to different third mounting positions 112, and the spacing between the first clamping jaw 121 and the second clamping jaw 122 is different, so that the plates 300 of different specifications and sizes can be clamped; the first grabbing assembly 120 also includes a fourth locking member, which is used to lock the second adjusting member 126 at different first mounting positions 111, and the fourth locking member includes a third fastener, and each third mounting position 112 is provided with a third connecting hole 112 1. The second adjusting member 126 is provided with a fourth connecting hole 1261, and the third fastener is passed through the third connecting hole 1121 and the fourth connecting hole 1261 to lock the second adjusting member 126 to the third mounting position 112. The third fastener can refer to a fastener such as a screw, a bolt, or a latch; when the third fastener is a screw, the screw is passed through the third connecting hole 1121 and is threadedly connected to the fourth connecting hole 1261 to fix the second adjusting member 126 on the base 110; the number of the third mounting positions 112 is two, and the two third mounting positions 112 are arranged in sequence along the third direction. Each third mounting position 112 is provided with four third connecting holes 1121, and the second adjusting member 126 is provided with four fourth connecting holes 1261. The four fourth connecting holes 1261 are connected to the four third connecting holes 1121 of the third mounting position 112 in a one-to-one correspondence through screws, thereby fixing the second adjusting member 126 on the base 110.

[0137] In one embodiment, the first grasping component 120 further includes a third detection module 127, and the third mounting position 112 that is in a connected state with the second adjusting member 126 is the third detection position; the third detection module 127 is used to obtain position information of the third detection position and send the position information of the third detection position; the third detection module 127 includes a third trigger member 1271 and a plurality of third detection members 1272, and the plurality of third detection members 1272 are arranged in a one-to-one correspondence with the plurality of third mounting positions 112, the third trigger member 1271 is connected to the second adjusting member 126, and the third trigger member 1271 is used to trigger the third detection member 1272 corresponding to the third detection position to send the position information of the third detection position; The third detection member 1272 includes a proximity switch, and the third trigger member 1271 is a metal trigger member for triggering the proximity switch; in this way, when the second adjustment member 126 is connected to the third detection position, the third trigger member 1271 is located in the sensing area of ​​the third detection member 1272 corresponding to the third detection position, thereby triggering the third detection member 1272 corresponding to the third detection position to send an electrical signal, and the position information of the third detection member 1272 can be determined by the electrical signal, and whether the position signal of the third detection member 1272 is consistent with the position information of the third installation position 112 corresponding to the target panel 300, thereby determining whether the connection position of the second adjustment member 126 and the base 110 is correct. For example, the number of the third detection members 1272 is two, and the two third detection members 1272 are sequentially arranged along the third direction and numbered in sequence, and the two third mounting positions 112 are sequentially numbered along the third direction; when the second adjusting member 126 is connected to the second third mounting position 112, the third triggering member 1271 is arranged opposite to the second third detection member 1272, thereby triggering the second third detection member 1272 to send a signal, and through the second third detection member 1272 sending a signal, it can be known that the second adjusting member 126 is connected to the second third mounting position 112. When the third mounting position 112 corresponding to the target panel 300 is the second third mounting position 112, that is, the installation position of the second adjusting member 126 is correct, the first clamp 121 and the second clamp 122 can grasp the target panel 300, reducing the error rate of the grasping mechanism 100; when the third mounting position 112 corresponding to the target panel 300 is not the second mounting position, the installation position of the second adjusting member 126 is wrong, and the operator can be reminded to connect the second adjusting member 126 to the correct third mounting position 112 through alarms or other means.

[0138] In another embodiment of the present application, in combination with Figures 2 to 4, the first clamping jaw 121 of the provided gripping mechanism 100 also includes a first driving member 125, which connects the first adjusting member 123 and the first clamping jaw 121. The first driving member 125 is used to drive the first clamping jaw 121 to move toward the second clamping jaw 122 to clamp the plate 300 located in the clamping area 113.

[0139] The first driving member 125 may be a component connected between the first adjusting member 123 and the first clamping jaw 121, and may drive the first clamping jaw 121 to move toward the second clamping jaw 122 to clamp the plate 300 in the clamping area 113. The first driving member 125 may be a driving member such as a cylinder or a linear module.

[0140] By adopting the technical solution of this embodiment, the plate 300 is located in the clamping area 113 , and the first driving member 125 can drive the first clamping jaw 121 to move toward the second clamping jaw 122 to clamp the plate 300 and achieve gripping of the plate 300 .

[0141] In some cases, the first jaw 121 can also directly utilize the first driving member 125 to drive the second jaw 122 closer to the first jaw 121, so that the distance between the first jaw 121 and the second jaw 122 can be adjusted. This adjustment method has a simple structure and is easy to process. However, in actual use, this method must take into account the gripping requirements of panels 300 of different specifications and sizes. On the one hand, the stroke of the first driving member 125 driving the first jaw 121 may need to be designed to be longer, and the clamping efficiency is low. On the other hand, the first driving member 125 driving the first jaw 121 to move a long distance may result in a large displacement error, making it difficult to adjust the distance between the first jaw 121 and the second jaw 122, making it difficult to clamp the target panel 300 or there is a problem of damaging the target panel 300. Another embodiment of the present application provides On the basis of the first driving member 125 driving the first clamping jaw 121 to move toward the second clamping jaw 122, the first adjusting member 123 is connected to different first mounting positions 111, so that when clamping, the first adjusting member 123 can be first connected to the first mounting position 111 corresponding to the target plate 300, so that the distance between the first clamping jaw 121 and the second clamping jaw 122 is close to the clamping size of the target plate 300, and the first driving member 125 drives the first clamping jaw 121 to move to realize the function of clamping the plate 300, that is, the stroke of the first driving member 125 driving the first clamping jaw 121 to move can be designed to be smaller, which is conducive to improving the clamping efficiency and the accuracy of grasping; in addition, it is also convenient to subsequently combine with the first detection module 124 to accurately detect the position of the first clamping jaw 121, further improving the accuracy of clamping.

[0142] In one embodiment, the connection structure between the second clamping jaw 122 and the second adjusting member 126 can also be the same as the connection structure between the first clamping jaw 121 and the first adjusting member 123, that is, the second clamping jaw 122 can be connected to the second adjusting member 126 using the first driving member 125, so that the first clamping jaw 121 and the second clamping jaw 122 can move relative to each other at the same time, which is conducive to improving the clamping efficiency.

[0143] In one embodiment, the connection structure between the second clamping jaw 122 and the second adjusting member 126 may be different from the connection structure between the first clamping jaw 121 and the first adjusting member 123. For example, the second clamping jaw 122 is fixedly connected to the second adjusting member 126. During the clamping process of the plate 300, the first clamping jaw 121, driven by the first driving member 125, pushes the edge of the plate 300 to abut against the second clamping jaw 122. The second clamping jaw 122 is fixed relative to the base 110. The second clamping jaw 122 serves as a positioning reference for clamping the plate 300. This ensures accurate positioning of the plate 300, facilitating subsequent processing and manufacturing.

[0144] In one embodiment, the first clamping jaw 121 is provided with a first protective member 128 on the side facing the clamping area 113 for abutting against one side of the plate 300; and / or, the second clamping jaw 122 is provided with a second protective member 129 on the side facing the clamping area 113 for abutting against the other side of the plate 300.

[0145] It can be understood that the first clamping jaw 121 is provided with a first protective member 128 facing the side of the clamping area 113 for abutting against one side of the plate 300; or, the second clamping jaw 122 is provided with a second protective member 129 facing the side of the clamping area 113 for abutting against the other side of the plate 300; or, the first clamping jaw 121 is provided with a first protective member 128 facing the side of the clamping area 113 for abutting against one side of the plate 300, and the second clamping jaw 122 is provided with a second protective member 129 facing the side of the clamping area 113 for abutting against the other side of the plate 300.

[0146] The first guard member 128 can have a hardness ranging from 20HD to 100HD. It is located to the side of the first jaw 121 facing the clamping area 113 and can be made of a hard plastic. When clamping the panel 300, the first guard member 128 abuts against the edge of the panel 300. The hardness of the first guard member 128 is limited to between 20HD and 100HD, ensuring a stable and reliable abutment with the panel 300 and accurate positioning of the panel 300 without being too hard to damage the panel 300. The first guard member 128 can be made of a hard plastic material such as plastic steel.

[0147] The second guard 129 can have a hardness range of 20HD-100HD and is located to the side of the second jaw 122 facing the clamping area 113. The second guard 129 can be made of a hard plastic. When clamping the panel 300, the second guard 129 abuts against the edge of the panel 300. The hardness of the second guard 129 is limited to between 20HD and 100HD, ensuring a stable and reliable abutment with the panel 300 and accurate positioning of the panel 300 without being too hard to damage the panel 300. The second guard 129 can be made of a hard plastic material such as plastic steel.

[0148] The above hardness value can be measured by a Shore D hardness tester.

[0149] By adopting the technical solutions of the embodiments of the present application, during the clamping process of the plate 300, the protective member (the first protective member 128 and / or the second protective member 129) abuts against the edge of the plate 300, enabling stable and reliable abutment with the plate 300, and achieving good positioning accuracy of the plate 300 without being too hard to damage the plate 300. By setting the hardness of the protective member (the first protective member 128 and / or the second protective member 129) within the above-mentioned range, the protective member is neither damaged during the abutment process with the plate 300 nor too hard to damage the plate 300.

[0150] Furthermore, in specific applications, the hardness of the first protective member 128 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected based on specific needs and is not limited here. Similarly, the hardness of the second protective member 129 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected based on specific needs.

[0151] In one embodiment, the distance between the first guard 128 and the second guard 129 increases in size as it moves away from the base 110, to facilitate entry of the panel 300 into the clamping zone 113 for clamping. For example, the first guard 128 has a first inclined surface 1281 on its side facing the clamping zone 113, extending obliquely away from the second clamping jaw 122 in the direction away from the base 110. The second guard 129 has a second inclined surface 1291 on its side facing the clamping zone 113, extending obliquely away from the first clamping jaw 121 in the direction away from the base 110. As the panel 300 enters the clamping zone 113, the first inclined surface 1281 and the second inclined surface 1291 on opposite sides of the panel 300, respectively, guide the panel 300, making it easier for the panel 300 to enter the clamping zone 113 for clamping and gripping.

[0152] In another embodiment of the present application, in combination with Figures 2 to 4, the gripping mechanism 100 provided also includes a second gripping assembly 130, and the second gripping assembly 130 includes a third clamping jaw 131 and a fourth clamping jaw 132; on the other two opposite sides of the clamping area 113, one side is provided with a third clamping jaw 131, and the other side is provided with a fourth clamping jaw 132, and at least one of the third clamping jaw 131 and the fourth clamping jaw 132 is movably connected to the base 110 to adjust the distance between the third clamping jaw 131 and the fourth clamping jaw 132.

[0153] The second gripping assembly 130 may refer to a component used to clamp the panel 300 from the other two opposite sides of the clamping area 113. For example, as shown in Figure 2, the first gripping assembly 120 clamps from the left and right sides of the clamping area 113, and the second gripping assembly clamps from the front and back sides of the clamping area 113.

[0154] The third clamping jaw 131 may refer to a component of the first grabbing assembly 120 located on one of the other two opposite sides of the clamping area 113 , and the fourth clamping jaw 132 may refer to a component of the first grabbing assembly 120 disposed opposite to the third clamping jaw 131 .

[0155] At least one of the third jaw 131 and the fourth jaw 132 is movably connected to the base 110 to adjust the distance between the third jaw 131 and the fourth jaw 132; it is understandable that the third jaw 131 can be movably connected to the base 110, and the distance between the third jaw 131 and the fourth jaw 132 can be changed by adjusting the third jaw 131; the fourth jaw 132 can also be movably connected to the base 110, and the distance between the third jaw 131 and the fourth jaw 132 can be changed by adjusting the fourth jaw 132; or both the third jaw 131 and the fourth jaw 132 can be movably connected to the base 110, and the distance between the third jaw 131 and the fourth jaw 132 can be changed by adjusting the third jaw 131 and the fourth jaw 132.

[0156] By adopting the technical solution of this embodiment, the first jaw 121 and the second jaw 122 clamp the plate 300 from opposite sides, and the third jaw 131 and the fourth jaw 132 clamp the plate 300 from the other side of the plate 300, so that the plate 300 has more clamping points and good clamping and grasping stability; in addition, the distance between the third jaw 131 and the fourth jaw 132 is adjustable. On the one hand, the third jaw 131 and the fourth jaw 132 can be relatively close to each other, thereby realizing the grasping of the plate 300. On the other hand, it can also meet the grasping requirements of plates 300 of more specifications and sizes.

[0157] In another embodiment of the present application, in combination with Figures 2 to 4, the second gripping assembly 130 of the gripping mechanism 100 provided further includes a second driving member 133, which connects the third clamping jaw 131 and the base 110. The second driving member 133 is used to drive the third clamping jaw 131 to move to adjust the distance between the third clamping jaw 131 and the fourth clamping jaw 132.

[0158] The second driving member 133 may be a component for driving the third clamping jaw 131 to move. The second driving member 133 is connected between the third clamping jaw 131 and the base 110. The second driving member 133 drives the third clamping jaw 131 to move toward or away from the fourth clamping jaw 132, thereby changing the distance between the third clamping jaw 131 and the fourth clamping jaw 132. For example, the second driving member 133 may be a driving component such as a cylinder or a linear module.

[0159] By adopting the technical solution of this embodiment, the structure of the second driving member 133 driving the third clamping jaw 131 to move is simple and convenient to manufacture.

[0160] In another embodiment of the present application, in combination with Figures 2 to 4, the gripping mechanism 100 provided is such that when the fourth jaw 132 is movably connected to the base 110, the second gripping assembly 130 also includes a third driving member, which connects the fourth jaw 132 and the base 110, and the third driving member is used to drive the fourth jaw 132 to move to adjust the distance between the third jaw 131 and the fourth jaw 132.

[0161] The third driving member may be a member for driving the movement of the fourth clamping jaw 132. The third driving member is connected between the fourth clamping jaw 132 and the base 110. The third driving member drives the fourth clamping jaw 132 to move toward or away from the third clamping jaw 131, thereby changing the distance between the third clamping jaw 131 and the fourth clamping jaw 132. For example, the third driving member may be a driving member such as a cylinder or a linear module.

[0162] By adopting the technical solution of this embodiment, the structure of the third driving member driving the fourth clamping jaw 132 to move is simple and convenient to manufacture.

[0163] In another embodiment, the fourth clamping jaw 132 can also be fixedly connected to the base 110. With this design, during the clamping process, the fourth clamping jaw 132 is fixed relative to the base 110. The fourth clamping jaw 132 serves as a positioning reference for clamping the panel 300. The positioning accuracy of the panel 300 is good, which is conducive to subsequent processing and manufacturing.

[0164] In one embodiment, the third clamping jaw 131 is provided with a third protective member 134 on the side facing the clamping area 113 for abutting against one side of the plate 300; and / or, the fourth clamping jaw 132 is provided with a fourth protective member 135 on the side facing the clamping area 113 for abutting against the other side of the plate 300.

[0165] It can be understood that the third clamping jaw 131 is provided with a third protective member 134 on the side facing the clamping area 113 for abutting against one side of the plate 300; or, the fourth clamping jaw 132 is provided with a fourth protective member 135 on the side facing the clamping area 113 for abutting against the other side of the plate 300; or, the third clamping jaw 131 is provided with a third protective member 134 on the side facing the clamping area 113 for abutting against one side of the plate 300, and the fourth clamping jaw 132 is provided with a fourth protective member 135 on the side facing the clamping area 113 for abutting against the other side of the plate 300.

[0166] The third guard 134 can have a hardness range of 20HD-100HD. It is located to the side of the third jaw 131 facing the clamping area 113 and can be made of a hard plastic. When clamping the panel 300, the third guard 134 abuts the edge of the panel 300. The hardness of the third guard 128 is limited to between 20HD and 100HD, ensuring a stable and reliable abutment with the panel 300 and accurate positioning of the panel 300, while not being too hard to damage the panel 300. The third guard 134 can be made of a hard plastic material such as plastic steel.

[0167] The fourth guard 135 can have a hardness ranging from 20HD to 100HD. It is located to the side of the fourth jaw 132 facing the clamping area 113 and can be made of a hard plastic. When clamping the panel 300, the fourth guard 135 abuts against the edge of the panel 300. The hardness of the fourth guard 135 is limited to between 20HD and 100HD, ensuring a stable and reliable abutment with the panel 300 and accurate positioning of the panel 300 without being too hard to damage the panel 300. The fourth guard 135 can be made of a hard plastic material such as plastic steel.

[0168] The above hardness value can be measured by a Shore D hardness tester.

[0169] By adopting the technical solutions of the embodiments of the present application, during the clamping process of the plate 300, the protective member (the third protective member 134 and / or the fourth protective member 135) abuts against the edge of the plate 300, enabling stable and reliable abutment with the plate 300, and achieving good positioning accuracy of the plate 300 without being too hard to damage the plate 300. By setting the hardness of the protective member (the third protective member 134 and / or the fourth protective member 135) within the above-mentioned range, the protective member is neither damaged during the abutment process nor too hard to damage the plate 300.

[0170] Furthermore, in specific applications, the hardness of the third protective member 134 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected based on specific needs and is not limited here. Similarly, the hardness of the fourth protective member 135 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected based on specific needs.

[0171] In one embodiment, the distance between the third guard member 134 and the fourth guard member 135 increases in size as it moves away from the base 110, facilitating entry and clamping of the panel 300 within the clamping zone 113. For example, the third guard member 134 has a third inclined surface 1341 on its side facing the clamping zone 113, extending obliquely away from the fourth clamping jaw 132 in the direction away from the base 110. The fourth guard member 135 has a fourth inclined surface 1351 on its side facing the clamping zone 113, extending obliquely away from the third clamping jaw 131 in the direction away from the base 110. As the panel 300 enters the clamping zone 113, the third inclined surface 1341 and the fourth inclined surface 1351 guide the opposing sides of the panel 300, respectively, making it easier for the panel 300 to enter the clamping zone 113 and be clamped, thereby achieving gripping.

[0172] In another embodiment, the movable connection mode between the third clamping jaw 131 and the base 110 may also adopt the movable connection mode between the first clamping jaw 121 and the base 110, that is, the third clamping jaw 131 is connected to different positions on the base 110 to achieve adjustment of the distance between the third clamping jaw 131 and the fourth clamping jaw 132, and the detection module may also be used to detect the position information of the connection between the third clamping jaw 131 and the base 110, so as to obtain the distance between the third clamping jaw 131 and the fourth clamping jaw 132; and / or, the movable connection mode between the fourth clamping jaw 132 and the base 110 may also adopt the movable connection mode between the first clamping jaw 121 and the base 110, that is, the fourth clamping jaw 132 is connected to different positions on the base 110 to achieve adjustment of the distance between the third clamping jaw 131 and the fourth clamping jaw 132, and the detection module may also be used to detect the position information of the connection between the third clamping jaw 131 and the base 110, so as to obtain the distance between the third clamping jaw 131 and the fourth clamping jaw 132. The detection module detects the position information of the connection between the fourth clamp 132 and the base 110, so as to obtain the distance between the third clamp 131 and the fourth clamp 132; these methods can be applied between panels 300 of different specifications and sizes, and the panels 300 have larger sizes in both directions; and between different specifications and sizes of battery side panels, the length size of the battery side panels is relatively different, and the width size of the battery side panels is relatively small. In this way, the first clamp 121 and the second clamp 122 are used to clamp the battery side panels along the length direction of the battery side panels, and the third clamp 131 and the fourth clamp 132 are used to clamp the battery side panels along the length direction of the battery side panels, and the first detection module 124 and the second detection module 2224 are used to obtain the distance between the first clamp 121 and the second clamp 122, so as to obtain the specification information of the battery side panels that can be clamped by the grasping mechanism 100.

[0173] In another embodiment of the present application, as shown in FIG. 1 , the gripping mechanism 100 provided further includes a moving component 140 , which is connected to the base 110 and is used to drive the base 110 to move.

[0174] The moving component 140 may refer to a component that can drive the base 110 to move. The moving component 140 may be a cylinder, a linear module, a robot, or other components.

[0175] By adopting the technical solution of this embodiment, the moving component 140 drives the base 110 and components such as the first grabbing component 120 connected to the base 110 to move. The moving component 140 can move the base 110 and components such as the first grabbing component 120 to the silo mechanism 200 for storing the plate 300 for grabbing; after the grabbing is completed, the moving component 140 moves the plate 300 to the subsequent processing equipment for processing, thereby realizing the grabbing and transportation of the plate 300.

[0176] In another embodiment of the present application, a suction member 150 for sucking the plate 300 is provided on the side of the base 110 of the gripping mechanism 100 facing the clamping area 113 .

[0177] The adsorption part 150 may refer to a component that can adsorb the plate 300 , wherein the adsorption part 150 and the plate 300 may be adsorbed by vacuum adsorption, adhesive adsorption, or the like; for example, the adsorption part 150 may be a suction cup or a component with an adhesive layer covering its surface.

[0178] By adopting the technical solution of this embodiment, after the adsorption component 150 first adsorbs and fixes the plate 300 in the clamping area 113, the first clamping jaw 121 and the second clamping jaw 122 clamp the plate 300 more conveniently and quickly, and the clamping is more stable and reliable; in addition, after the first clamping jaw 121 and the second clamping jaw 122 clamp, the plate 300 is adsorbed by the adsorption component 150, which can reduce the risk of the plate 300 falling between the first clamping jaw 121 and the second clamping jaw 122, which is conducive to improving the yield rate.

[0179] In one embodiment, there are multiple adsorption members 150 , and the multiple adsorption members 150 are evenly spaced along the third direction between the first clamping jaw 121 and the second clamping jaw 122 , so that the stability and reliability of the clamping and adsorption of the plate 300 are better.

[0180] In another embodiment of the present application, in combination with Figures 2 to 4, the adsorption part 150 of the gripping mechanism 100 provided includes a connecting part 151 and an elastic part 152, the connecting part 151 connects the base 110 and the elastic part 152, the elastic part 152 is located on the side of the connecting part 151 facing the clamping area 113, and the surface of the elastic part 152 facing the clamping area 113 is provided with a vacuum adsorption hole 1521 for adsorbing the plate 300.

[0181] The elastic portion 152 may refer to a portion of the adsorption element 150 that is made of an elastic material, such as silicone or rubber.

[0182] The connecting part 151 may refer to the part of the adsorption part 150 that connects the base 110 and the elastic part 152 . It should be noted that the connecting part 151 is made of hard materials, such as metal, plastic steel and other materials, so as to provide good support for the elastic part 152 and the plate 300 .

[0183] The elastic portion 152 is located on the side of the connecting portion 151 facing the clamping area 113. It can be understood that the elastic portion 152 is closer to the clamping area 113 than the connecting portion 151. When the plate 300 enters the clamping area 113, the plate 300 first contacts the elastic portion 152, so that there is elastic contact between the plate 300 and the adsorption part 150, which is beneficial to reduce damage to the plate 300.

[0184] The surface of the elastic part 152 facing the clamping area 113 is provided with a vacuum adsorption hole 1521 for adsorbing the plate 300. It can be understood that the surface of the elastic part 152 facing away from the connecting part 151 is provided with a vacuum adsorption hole 1521, so that after the plate 300 enters the clamping area 113, a negative pressure is formed in the vacuum adsorption hole 1521, thereby adsorbing and fixing the plate 300.

[0185] By adopting the technical solution of this embodiment, on the one hand, the design of the elastic part 152 allows elastic contact between the plate 300 and the adsorption part 150, which is beneficial to reduce damage to the plate 300; on the other hand, the plate 300 is adsorbed by means of the vacuum adsorption hole 1521, which has a simple structure and is easy to manufacture.

[0186] In one embodiment, the vacuum adsorption holes 1521 can be connected to a vacuum generator via a pipe, and the vacuum generator can be used to draw a vacuum, thereby forming a negative pressure in the vacuum adsorption holes 1521 to complete the vacuum adsorption of the plate 300. The number of vacuum adsorption holes 1521 can be multiple, and the multiple vacuum adsorption holes 1521 can be arranged in a ring or a matrix.

[0187] During actual use, since the elastic part 152 is elastic, when the vacuum adsorption hole 1521 adsorbs the plate 300, the plate 300 will squeeze the elastic part 152 and deform, resulting in a different position of the plate 300 after each grabbing, that is, the positioning accuracy of the plate 300 is not high.

[0188] In another embodiment of the present application, as shown in Figures 2 to 4, the base 110 of the gripping mechanism 100 provided is further provided with a limit member 160 on the side facing the clamping area 113, and the limit member 160 facing the side of the clamping area 113 is used to abut against the plate 300.

[0189] The limiting member 160 may refer to a component installed on the base 110 toward the clamping area 113 . The side of the limiting member 160 toward the clamping area 113 can abut against the plate 300 , thereby preventing the plate 300 from continuing to move toward the base 110 , thereby achieving the positioning of the plate 300 .

[0190] By adopting the technical means of this embodiment, when the plate 300 is adsorbed on the elastic part 152 through the vacuum adsorption hole 1521, the plate 300 can abut against the side of the limiting part 160 toward the clamping area 113 to prevent the plate 300 from continuing to squeeze the elastic part 152, thereby reducing the risk of the elastic part 152 being over-extruded. At the same time, the accurate positioning of the plate 300 can be achieved, thereby improving the accuracy of subsequent operations.

[0191] In one embodiment, the adsorption members 150 and the limiting members 160 are alternately arranged along the third direction to enhance the limiting effect of the plate 300 , which is beneficial to improving the positioning accuracy of the plate 300 .

[0192] In another embodiment of the present application, in combination with Figures 2 to 4, the provided gripping mechanism 100 also includes a distance detection member 170, which is used to detect the distance value between the plate 300 and the distance detection member 170; when the distance value is within a preset range, the plate 300 is located in the clamping area 113, and the distance detection member 170 is also used to send a gripping signal to grip the plate 300.

[0193] The distance detection component 170 can refer to a sensor that can measure distance. When the distance value detected by the distance detection component 170 is within a preset range, the plate 300 is located in the clamping area 113. At this time, the distance detection component 170 sends a grabbing signal, and the grabbing mechanism 100 can grab the plate 300 after receiving the grabbing signal; the distance detection component 170 can be a distance sensor, such as: a laser distance sensor, an ultrasonic distance sensor, an infrared ranging sensor, etc.

[0194] By adopting the technical solution of this embodiment, the distance detection member 170 is used to determine whether there is a plate 300 in the clamping area 113, thereby reducing the risk of the gripping mechanism 100 gripping nothing and enabling the gripping mechanism 100 to grip the plate 300 stably and reliably.

[0195] In another embodiment of the present application, as shown in FIG. 2 to FIG. 4 , the provided gripping mechanism 100 further includes a sensing element 180 , which is used to sense the plate 300 in the clamping area 113 .

[0196] The sensing element 180 may be a component capable of sensing the presence of the panel 300 in the clamping area 113. The sensing element 180 may be a photoelectric sensor, an ultrasonic sensor, or other components. After the gripping mechanism 100 grips the panel 300, the sensing element 180 senses whether the panel 300 is present in the clamping area 113. If the panel 300 is present in the clamping area 113, the gripping mechanism 100 has successfully gripped the panel 300. If the panel 300 is not present in the clamping area 113, the gripping mechanism 100 has failed to grip the panel 300, or the panel 300 has fallen from the gripping mechanism 100, requiring the gripping mechanism 100 to re-grab the panel 300.

[0197] By adopting the technical solution of this embodiment, the sensor 180 can be used to determine whether the grasping mechanism 100 has grasped the plate 300 successfully, and whether the plate 300 has fallen can also be detected during the movement of the plate 300.

[0198] In another embodiment of the present application, as shown in FIG5 , a loading device 10 is provided, comprising a gripping mechanism 100 as described in the above embodiment.

[0199] In another embodiment of the present application, in combination with Figures 5 and 6, the provided loading device 10 also includes a silo mechanism 200 for storing panels 300, the silo mechanism 200 includes a frame 210 and a storage assembly 220, the storage assembly 220 is connected to the frame 210, and the storage assembly 220 can store panels 300 of different specifications and sizes.

[0200] The silo mechanism 200 may refer to a mechanism for storing panels 300. The silo mechanism 200 includes a frame 210 and a storage assembly 220. The frame 210 may refer to an installation base 110 of the storage assembly 220, which serves to support the storage assembly 220. The storage assembly 220 can store panels 300 of different specifications and sizes.

[0201] Through the technical solution of this embodiment, the storage component 220 can store panels 300 of different specifications and sizes, which can increase the universal range of the silo mechanism 200. At the same time, it can also be more compatible with the grasping mechanism 100 that can grasp panels 300 of different specifications and sizes, which is conducive to improving production efficiency.

[0202] In another embodiment of the present application, in combination with Figures 5 and 6, the storage assembly 220 of the provided loading device 10 includes a support member 221 and a storage module 222, and the support member 221 is connected to the frame 210; the storage module 222 includes a first storage member 2221 and a second storage member 2222 arranged on the support member 221, and a storage area 2201 for storing the plate 300 is formed between the first storage member 2221 and the second storage member 2222; at least one of the first storage member 2221 and the second storage member 2222 is movably connected to the support member 221 so that the distance between the first storage member 2221 and the second storage member 2222 is adjustable.

[0203] The support member 221 may refer to the mounting base 110 of the storage module 222, which supports the storage assembly 220; at the same time, the support member 221 may also connect the rack 210 and the storage module 222; the support member 221 may be a plate-shaped, frame-shaped or other structure.

[0204] The storage module 222 may refer to a component for storing the panels 300. The storage module 222 includes a first storage member 2221 and a second storage member 2222. The first storage member 2221 and the second storage member 2222 may refer to two components for enclosing and forming a storage area 2201. The storage area 2201 may refer to a storage area for the panels 300. For example, the first storage member 2221 and the second storage member 2222 are spaced apart on the support member 221, and the area between the first storage member 2221 and the second storage member 2222 forms the storage area 2201.

[0205] When the loader 221 is in the process of moving the first and second loader 2222 together, the loader 221 can move relative to the support 221, thereby changing the distance between the first and second loader 2222; when the loader 221 is in the process of moving the first and second loader 2222 together, the loader 221 can move relative to the support 221, thereby changing the distance between the first and second loader 2222; when the loader 221 is in the process of moving the first and second loader 2222 together, the loader 221 can move relative to the support 221, thereby changing the distance between the first and second loader 2222.

[0206] By adopting the technical solution of this embodiment, the distance between the first material storage part 2221 and the second material storage part 2222 is adjustable, that is, the size of the storage area 2201 is adjustable, so as to meet the placement requirements of panels 300 of different specifications and sizes, thereby making the silo mechanism 200 compatible with panels 300 of different specifications and sizes.

[0207] In one embodiment, the first material storage piece 2221 is movably connected to the support piece 221, and the second material storage piece 2222 is fixedly connected to the support piece 221, so that by adjusting the first material storage piece 2221, the distance between the first material storage piece 2221 and the second material storage piece 2222 can be adjusted; or, the second material storage piece 2222 is movably connected to the support piece 221, and the first material storage piece 2221 is fixedly connected to the support piece 221, so that by adjusting the second material storage piece 2222, the distance between the first material storage piece 2221 and the second material storage piece 2222 can be adjusted; in this way, the component located on one side of the storage area 2201 is adjustable, the structure set in this way is simple, and the adjustment operation is simple.

[0208] In one embodiment, the first material storage member 2221 and the second material storage member 2222 are both movably connected to the support member 221, so that the components located on opposite sides of the material storage area 2201 are adjustable. With this arrangement, the adjustment operation is more flexible.

[0209] In one embodiment, the first storage member 2221 and the second storage member 2222 may be provided with a first insertion groove 22211 and a second insertion groove 22221, respectively. The plate 300 may be placed vertically, and the two ends of the plate 300 are respectively inserted into the first insertion groove 22211 and the second insertion groove 22221, thereby realizing the positioning of the plate 300 in the storage area 2201 to facilitate the subsequent grasping of the grasping mechanism 100. In another embodiment, the first storage assembly 220 may not be provided with the first insertion groove 22211, and the second storage assembly 220 may be provided with a first insertion groove 22211. The second insertion slot 22221 may not be provided, and the panel 300 may be laid flat on the storage area 2201 or placed vertically in the storage area 2201 . The specific setting may be based on the actual storage requirements of the panel 300 and is not limited here.

[0210] In one embodiment, the support member 221 is provided with an intermediate member 2225, which is located between the first material storage member 2221 and the second material storage member 2222, and the intermediate member 2225 is provided with a support groove 22251. The plate 300 is vertically placed in the support groove 22251, thereby supporting the middle part of the plate 300 and improving the stability and reliability of the vertical placement of the plate 300.

[0211] In one embodiment, a plurality of storage modules 222 are disposed on a support member 221. This allows the storage assembly 220 to simultaneously meet the storage requirements of panels 300 of various sizes and specifications, thereby increasing the storage capacity of the panels 300 in the silo mechanism 200. For example, the support member 221 includes a first support plate 2214 and a plurality of second support plates 2215 disposed on the first support plate 2214. The plurality of storage modules 222 are disposed on the plurality of second support plates 2215 in a one-to-one correspondence, thereby forming a modular installation structure for ease of assembly.

[0212] In another embodiment of the present application, please combine it with Figures 7 and 8 to provide a loading device 10. On the basis of the first material storage member 2221 being movably connected to the base 110, the support member 221 is constructed with multiple second mounting positions 2211, and the first material storage member 2221 is connected to different second mounting positions 2211 so that the distance between the first material storage member 2221 and the second material storage member 2222 is different.

[0213] The second mounting position 2211 may refer to a position on the support member 221 for connecting to the first material storage member 2221, and the plurality of second mounting positions 2211 may refer to two, three, or more than four positions formed on the base 110 for installing the first adjusting member 123. For example, the number of the second mounting positions 2211 (see the positions shown in the dotted boxes in FIG8 ) is three, and the three second mounting positions 2211 are arranged along a fourth direction (see the direction indicated by the arrow N in FIG8 ), the fourth direction being the direction from the first material storage member 2221 to the second material storage member 2222, the first material storage member 2221 being connected to different second mounting positions 2211, and the spacing between the first material storage member 2221 and the second material storage member 2222 is different.

[0214] By adopting the technical solution of this embodiment, when the first material storage piece 2221 is installed in the second mounting position 2211, the distance between the first material storage piece 2221 and the second material storage piece 2222 is relatively determined, so that one second mounting position 2211 can correspond to a specification size of the panel 300. Then, during the loading process of the hopper mechanism 200, the first material storage piece 2221 can be quickly connected to the second mounting position 2211 corresponding to the panel 300 to be loaded, and the loading operation is convenient; in addition, during the grabbing process of the panel 300, the storage area 2201 of the target panel 300 can also be quickly found through the second mounting position 2211.

[0215] In another embodiment of the present application, please refer to Figures 7 and 8 , the storage module 222 of the provided loading device 10 also includes a second locking member 2223, and the second locking member 2223 is used to lock the first storage member 2221 at a different second installation position 2211.

[0216] The second locking piece 2223 can refer to a component that can lock the first material storage piece 2221 to a different second mounting position 2211. The first material storage piece 2221 is fixed to the second mounting position 2211 of the support member 221 through the second locking piece 2223. At the same time, the second locking piece 2223 can also release the lock between the first material storage piece 2221 and the second mounting position 2211, and then lock the first material storage piece 2221 to another second mounting position 2211 through the second locking piece 2223. In this way, the distance between the first material storage piece 2221 and the second material storage piece 2222 is adjusted, thereby being compatible with panels 300 of different specifications and sizes.

[0217] By adopting the technical solution of this embodiment, the first material storage member 2221 can be connected to different second installation positions 2211 by operating the second locking member 2223, and the distance between the first material storage member 2221 and the second material storage member 2222 can be changed, and the adjustment operation is simple and convenient.

[0218] In one embodiment, the second locking member 2223 includes a second fastener, each second mounting position 2211 is provided with a fifth connecting hole 2213, the first storage member 2221 is provided with a sixth connecting hole 22212, and the second fastener is passed through the fifth connecting hole 2213 and the sixth connecting hole 22212 to lock the first storage member 2221 at the second mounting position 2211.

[0219] The second fastener may refer to a component used to fasten and connect the first material storage member 2221 and the support member 221 , wherein the second fastener may be a bolt, a screw, a latch, or the like.

[0220] The fifth connecting hole 2213 may refer to a hole structure opened in the second mounting position 2211; the sixth connecting hole 22212 may refer to a hole structure opened in the first material storage piece 2221, and the second fastener is passed through the fifth connecting hole 2213 and the sixth connecting hole 22212 and locks the first material storage piece 2221 in the second mounting position 2211; for example, the second fastener is a latch, which is passed through the sixth connecting hole 22212 and the fifth connecting hole 2213, thereby fixing the first material storage piece 2221 and the second mounting position 2211 together; and during the adjustment process, the latch is pulled out from the fifth connecting hole 2213 and the sixth connecting hole 22212, and then the latch is inserted into the fifth connecting hole 2213 of the second mounting position 2211 in other positions, so that the distance between the first clamping jaw 121 and the second clamping jaw 122 can be adjusted, and the adjustment operation is simple, convenient and fast.

[0221] By adopting the technical solution of this embodiment, a locking form of the second fastener is adopted between the first material storage member 2221 and the second installation position 2211, which has a simple structure and convenient and quick adjustment operation.

[0222] In one embodiment, the first material storage piece 2221 and the support piece 221 are slidingly connected by the first slide rail 2226, and the first slide rail 2226 extends along the fourth direction, thereby providing a guiding effect for the first material storage piece 2221 to move relative to the support piece 221, and also facilitating the alignment of the fifth connecting hole 2213 and the sixth connecting hole 22212, facilitating the installation of the second fastener, and making the spacing adjustment operation between the first material storage piece 2221 and the second material storage piece 2222 simpler; the number of the first slide rails 2226 can be multiple, for example, the number of the first slide rails 2226 is two, and the two first slide rails 2226 are located on opposite sides of the second mounting position 2211. This arrangement has a better guiding effect on the movement of the first material storage piece 2221.

[0223] In another embodiment of the present application, please combine it with Figures 7 and 8. The storage module 222 of the provided loading device 10 also includes a second detection module 2224, and the second installation position 2211 that is in a connected state with the first storage member 2221 is the second detection position; the second detection module 2224 is used to obtain the position information of the second detection position and to send the position information of the second detection position.

[0224] The second detection position may refer to the second installation position 2211 that is in a connected state with the first storage member 2221 .

[0225] The second detection module 2224 may refer to the ability to obtain the position information of the second detection position and send the position information of the second detection position; it can be understood that the second detection module 2224 can obtain the position information of the second installation position 2211 that is in a connected state with the first storage part 2221, that is, the position information of the second detection position, and send the position information, then through the position information, the specification information of the panel 300 corresponding to the second detection position can be known. In actual applications, the position information sent by the second detection module 2224 can be determined to be consistent with the position information of the second installation position 2211 corresponding to the target panel 300, so as to determine whether the target panel 300 is stored on the storage module 222; if the position information sent by the second detection module 2224 is inconsistent with the position information of the second installation position 2211 corresponding to the target panel 300, the target panel 300 is not stored on the storage module 222; if the position information sent by the second detection module 2224 is consistent with the position information of the second installation position 2211 corresponding to the target panel 300, the target panel 300 is stored on the storage module 222, which facilitates the accurate grasping of the subsequent panels 300.

[0226] By adopting the technical solution of this embodiment, it is possible to detect whether the storage module 222 stores the target, so that the subsequent grasping mechanism 100 can accurately target the plate 300, reducing the error rate of processing and changing the plate 300.

[0227] In another embodiment of the present application, please combine it with Figures 7 and 8. The second detection module 2224 of the feeding device 10 provided includes a second trigger member 22241 and multiple second detection members 22242. The multiple second detection members 22242 are arranged in a one-to-one correspondence with the multiple second mounting positions 2211. The second trigger member 22241 is connected to the first storage member 2221. The second trigger member 22241 is used to trigger the second detection member 22242 corresponding to the second detection position to send the position information of the second detection position.

[0228] The second detecting component 22242 may refer to a component capable of sending a signal. For example, the signal sent by the second detecting component 22242 may be a current signal, a voltage signal, or other signal.

[0229] The second triggering component 22241 may refer to a component that can trigger the second detecting component 22242 to send a signal.

[0230] The plurality of second detecting members 22242 correspond one-to-one to the plurality of second mounting positions 2211 . It is understandable that the number of the second detecting members 22242 is the same as the number of the second mounting positions 2211 , and each second mounting position 2211 has a corresponding second detecting member 22242 .

[0231] The second triggering member 22241 is connected to the first storage member 2221, and the second triggering member 22241 is used to trigger the second detection member 22242 corresponding to the second detection position to send the position information of the second detection position; it can be understood that the second triggering member 22241 is installed on the first storage member 2221; when the first storage member 2221 is connected to the second detection position, the second triggering member 22241 corresponds to the second detection member 22242 corresponding to the second detection position, thereby triggering the second detection member 22242 to send a signal, then the signal sent by the second detection member 22242 can accurately determine the position information of the second detection position; for example, the number of the second detection members 22242 is three, and the three second detection members 22242 are arranged in sequence along the fourth direction and numbered in sequence, and the three second mounting positions 2211 are numbered in sequence along the fourth direction; the first storage member 2221 is connected to the second detection position When connected to the first second mounting position 2211, the second trigger member 22241 is arranged opposite to the first second detection member 22242, thereby triggering the first second detection member 22242 to send a signal. By sending a signal through the first second detection member 22242, it can be known that the first material storage member 2221 is connected to the first second mounting position 2211. When the second mounting position 2211 corresponding to the target panel 300 is the first second mounting position 2211, the storage module 222 stores the target panel 300, and the first clamp 121 and the second clamp 122 can grab the target panel 300, reducing the error rate of the grabbing mechanism 100; when the second mounting position 2211 corresponding to the target panel 300 is not the first mounting position, the storage module 222 does not store the target panel 300, and an alarm can be issued through the alarm device 250 set on the frame 210 to remind the operator to replace the panel 300.

[0232] By adopting the technical solution of this embodiment, the second triggering member 22241 triggers the second detection member 22242 corresponding to the second detection position, so as to detect whether the first material storage member 2221 is connected to the second installation position 2211 corresponding to the target panel 300. The structure of the first detection module 124 is simple and convenient for processing and manufacturing.

[0233] In another embodiment of the present application, please refer to Figures 7 and 8 , the second detection member 22242 of the feeding device 10 provided includes a proximity switch, and the second trigger member 22241 includes a metal trigger member for triggering the proximity switch.

[0234] A proximity switch may refer to a position switch that can be operated without direct mechanical contact with moving parts, and a metal trigger may refer to a metal part that can trigger the proximity switch; when in use, when the first storage member 2221 is connected to the second detection position, the metal trigger is located in the sensing area of ​​the proximity switch corresponding to the second detection position, and the proximity switch can quickly send an electrical signal, and the position information of the second detection position can be accurately determined based on the electrical signal.

[0235] By adopting the technical solution of this embodiment, a metal trigger is used to trigger the proximity switch structure, which has high triggering accuracy, so that the position information detection accuracy of the second detection position is good, and the structure is simple, which is conducive to reducing the cost of the silo mechanism 200.

[0236] In another embodiment of the present application, the feeding device 10 is provided, in which, when the second material storage member 2222 is movably connected to the support member 221, the movable connection structure between the second material storage member 2222 and the support member 221 is the same as the movable connection structure between the first material storage member 2221 and the support member 221.

[0237] The movable connection structure between the second material storage member 2222 and the support member 221 is the same as the movable connection structure between the first material storage member 2221 and the support member 221. It can be understood that the movable connection method between the second material storage member 2222 and the support member 221 is the same as the movable connection method between the first material storage member 2221 and the support member 221. The movable connection method between the second material storage member 2222 and the support member 221 can refer to the movable connection method between the first material storage member 2221 and the support member 221 in the above embodiment, and will not be repeated here.

[0238] By adopting the technical solution of this embodiment, the movable connection structure between the second material storage member 2222 and the support member 221 is the same as the movable connection structure between the first material storage member 2221 and the support member 221, which is simpler in structure and convenient for processing and manufacturing.

[0239] In another embodiment of the present application, in combination with Figures 6, 9 and 10, the hopper mechanism 200 of the feeding device 10 provided includes a plurality of storage components 220, and the plurality of storage components 220 are located in the accommodating space 211 formed by the frame 210. The top of the frame 210 is constructed with a first opening 212 for the grasping mechanism 100 to enter the accommodating space 211, and the plurality of storage components 220 are stacked along the height of the frame 210; each storage component 220 is connected to a sliding member 230, and each sliding member 230 is slidably connected to the frame 210, so that the sliding member 230 can drive the corresponding storage component 220 to slide along a first direction (refer to the direction indicated by the arrow X shown in Figure 6) between the bottom of the first opening 212 and the side of the first opening 212.

[0240] The accommodating space 211 may refer to a space formed by the frame 210 , and the accommodating space 211 provides installation space for a plurality of material storage assemblies 220 .

[0241] The first opening 212 may refer to an opening on the top of the frame 210 , which allows the grabbing mechanism 100 to enter the accommodating space 211 to grab the panels 300 stored in the storage assembly 220 .

[0242] The height direction of the frame 210 can be seen from the direction indicated by arrow Y in Figure 5. Multiple storage assemblies 220 are stacked along the height direction of the frame 210 to fully utilize the space within the frame 210 and facilitate the miniaturization of the silo mechanism 200.

[0243] The slide 230 may refer to a component connected between the storage assembly 220 and the frame 210, and the component is slidably connected to the frame 210, so that the slide 230 slides relative to the frame 210, thereby driving the corresponding storage assembly 220 to slide relative to the frame 210, so that the storage assembly 220 can move below the first opening 212 along the first direction and slide back and forth to the side of the first opening 212; when the storage assembly 220 moves to the bottom of the first opening 212, the grabbing assembly can grab the plate 300 stored in the storage assembly 220, and when the storage assembly 220 moves to the side of the first opening 212, the storage assembly 220 can move below the lower storage assembly 220, thereby exposing the lower storage assembly 220, making it convenient for the grabbing assembly to grab the plate 300 of the lower storage assembly 220.

[0244] By adopting the technical solution of this embodiment, the design of multiple storage components 220 can meet the storage needs of more panels 300, and can also enable the silo component to store panels 300 of multiple specifications and sizes at the same time, so as to facilitate the replacement of panels 300; in addition, the storage component 220 can be moved from below the first opening 212 to the side of the first opening 212, so that the storage component 220 located at the lower layer of the storage component 220 can be exposed, thereby facilitating the grabbing component to grab the panels 300 on the storage component 220 of the lower layer.

[0245] In one embodiment, a second slide rail 281 is connected between the frame 210 and the sliding member 230, and the second slide rail 281 is distributed along a second direction (refer to the direction indicated by the arrow X in Figure 6). Under the sliding guidance of the second slide rail 281, a sliding connection between the frame 210 and the sliding member 230 is achieved; wherein, the number of the second slide rails 281 is multiple, for example, the number of the second slide rails 281 is two, and the two second slide rails 281 are located at opposite ends of the sliding member 230 to improve the sliding stability of the frame 210 and the sliding member 230.

[0246] In one embodiment, the frame 210 is further provided with a fourth driving member 270. The fourth driving member 270 is connected to the sliding member 230 and drives the sliding member 230 to slide in the second direction relative to the frame 210. The fourth driving member 270 can be a component such as a cylinder or a linear module. The fourth driving member 270 can be driven to achieve automated sliding of the sliding member 230. There can be multiple fourth driving members 270, for example, there can be two fourth driving members 270. Two second slide rails 281 are located at opposite ends of the sliding member 230 to improve the sliding stability of the frame 210 and the sliding member 230.

[0247] In another embodiment of the present application, in combination with Figures 6, 9 and 10, the frame 210 of the feeding device 10 provided is constructed with a second opening 213 connected to the accommodating space 211, and the storage assembly 220 is slidably connected to the sliding member 230 so that the storage assembly 220 can enter and exit the accommodating space 211 through the second opening 213 along the second direction.

[0248] The second opening 213 may refer to an opening formed by the frame 210, and the storage assembly 220 and the sliding member 230 can slide relative to each other, so that the storage assembly 220 can enter and exit the accommodating space 211 through the second opening 213 along the second direction. When the storage assembly 220 moves out of the accommodating space 211 through the second opening 213, that is, the storage assembly 220 moves to the outside of the frame 210, the storage assembly 220 is exposed outside the frame 210, which can facilitate the loading of the plate 300 of the storage assembly 220; after the loading is completed, the storage assembly 220 can be pushed through the second opening 213 into the accommodating space 211 to be grabbed by the grasping mechanism 100.

[0249] By adopting the technical solution of this embodiment, the storage assembly 220 can be moved out of the accommodating space 211 through the second opening 213 , and the storage assembly 220 is exposed outside the frame 210 , which can facilitate the loading of the plate 300 of the storage assembly 220 .

[0250] In one embodiment, a switch door assembly 260 is disposed at the second opening 213 to facilitate loading of the panel 300 .

[0251] In another embodiment of the present application, the first direction of the feeding device 10 is provided to be parallel to the second direction.

[0252] By adopting the technical solution of this embodiment, the sliding direction of the sliding member 230 relative to the frame 210 is parallel to the sliding direction of the storage assembly 220 relative to the sliding member 230. With this design, the sliding direction is single, the structure of the hopper mechanism 200 can be designed to be simpler, and the risk of sliding interference can be reduced.

[0253] In one embodiment, a second slide rail 281 is connected between the storage assembly 220 and the sliding member 230, and the second slide rail 281 is distributed along the second direction. Under the sliding guidance of the second slide rail 281, the sliding connection between the storage assembly 220 and the sliding member 230 is achieved; for example, the second slide rail 281 is connected between the first support plate 2214 and the sliding member 230, and the side of the first support plate 2214 facing away from the sliding member 230 is slidably connected to the guide rail 2811 in the second slide rail 281 through the slider 2812 to increase the sliding stability of the storage assembly 220. Wherein, the number of the second slide rail 281 is multiple, for example, the number of the second slide rail 281 is two, and the two second slide rails 281 are located at opposite ends of the sliding member 230 to improve the sliding stability of the storage assembly 220 and the sliding member 230.

[0254] In another embodiment of the present application, in combination with Figures 6, 9 and 10, the hopper mechanism 200 of the feeding device 10 provided further includes a third locking member 240, which is used to lock the connecting sliding member 230 and the storage assembly 220.

[0255] When the third locking member 240 unlocks the sliding member 230 and the storage assembly 220, the storage assembly 220 and the sliding member 230 can slide relative to each other, so that the storage assembly 220 can slide out of the frame 210 from the second opening 213 for loading.

[0256] By adopting the technical solution of this embodiment, during the sliding of the sliding member 230 relative to the frame 210, the third locking member 240 can fixedly connect the sliding member 230 and the storage assembly 220, so that the sliding member 230 can drive the storage assembly 220 to slide relative to the frame 210, so as to facilitate the grabbing assembly to grab the plate 300 stored on the lower storage assembly 220.

[0257] In another embodiment of the present application, in combination with Figures 6, 9 and 10, one of the sliding member 230 and the storage assembly 220 of the feeding device 10 is provided with a locking hole 2212, and the other is connected with a third locking member 240, and the end of the third locking member 240 is used to be inserted into the locking hole 2212 to lock the connection between the sliding member 230 and the storage assembly 220.

[0258] It is understandable that the sliding member 230 is connected to the third locking member 240, and the locking hole 2212 is provided in the storage assembly 220; or the storage assembly 220 is connected to the third locking member 240, and the locking hole 2212 is provided on the sliding member 230. The end of the locking member is inserted into the locking hole 2212, thereby locking the sliding member 230 and the storage assembly 220, wherein the third locking member 240 can be a cylinder, a screw, a latch, or other components. For example, the third locking member 240 is a cylinder, which is installed on the sliding member 230, and the locking hole 2212 is provided on the support member 221. The piston rod of the cylinder extends out and is inserted into the locking hole 2212, thereby locking the sliding member 230 and the support member 221 together, and the piston rod of the cylinder retracts and moves out of the locking hole 2212 to release the lock of the sliding member 230 and the support member 221. At this time, the support member 221 can be pulled to drive the storage module 222 to move out of the frame 210 for loading.

[0259] By adopting the technical solution of this embodiment, a locking method in which the third locking member 240 and the locking hole 2212 cooperate with each other is adopted, which has a simple structure and is easy to manufacture.

[0260] In another embodiment of the present application, in combination with Figures 5 to 10, a feeding control method is provided, which includes:

[0261] receiving first specification information of the panel 300 that can be grasped by the grasping mechanism 100;

[0262] receiving second specification information of the panel 300 stored in the storage module 222 to be taken out of the silo mechanism 200;

[0263] When the first specification information, the second specification information and the specification information of the target panel 300 are consistent, the gripping mechanism 100 is controlled to grip the panel 300 stored in the material storage module 222 to be picked up.

[0264] Receive the first specification information of the plate 300 that the grasping mechanism 100 can grasp. It can be understood that the grasping mechanism 100 can be the grasping mechanism 100 as in the above-mentioned embodiment. By detecting the installation position of the first clamping jaw 121 and the second clamping jaw 122 in the grasping mechanism 100 and the base 110, the spacing between the first clamping jaw 121 and the second clamping jaw 122 can be determined, and the spacing can correspond to the specification size information of the plate 300 one by one, that is, the specification size information of the plate 300 that the grasping mechanism 100 can grasp can be determined by the spacing. Then, the installation position of the first clamping jaw 121 and the second clamping jaw 122 respectively relative to the base 110 can be detected. The first specification information of the panel 300 that the grasping mechanism 100 can grasp is obtained by conversion; for example, when the first clamping jaw 121 is connected to a different first mounting position 111 on the base 110 through the first adjusting member 123, and the second clamping jaw 122 is connected to a different third mounting position 112 on the base 110 through the second adjusting member 126 to change the distance between the first clamping jaw 121 and the second clamping jaw 122, the position information of the first detection position and the position information of the third detection position are obtained by the first detection module 124 and the third detection module 127, and the first specification information of the panel 300 that the grasping mechanism 100 can grasp is obtained by conversion.

[0265] Receive the second specification information of the plate 300 stored in the storage module 222 to be taken in the hopper mechanism 200; it can be understood that the hopper mechanism 200 can be the hopper mechanism 200 as in the above-mentioned embodiment, and the storage module 222 to be taken can be the storage module 222 as in the above-mentioned embodiment, and by detecting the installation position of the first storage member 2221 and the second storage member 2222 and the support member 221 in the storage module 222, the spacing between the first storage member 2221 and the second storage member 2222 can be determined, and the spacing can be consistent with the specification information of the plate 300 One to one correspondence, that is, the specification and size information of the panel 300 stored on the storage module 222 can be determined by the spacing; for example, when the second storage member 2222 is fixedly connected to the support member 221, and the first storage member 2221 is connected to different second mounting positions 2211 on the support member 221 to change the spacing between the first storage member 2221 and the second storage member 2222, the position information of the second detection position is obtained by the second detection module 2224, and the second specification information of the panel 300 stored in the storage module 222 to be taken out can be converted.

[0266] When the first specification information, the second specification information and the specification information of the target panel 300 are consistent, the grasping mechanism 100 is controlled to grasp the panel 300 stored in the storage module 222 to be taken. It can be understood that the first specification information of the panel 300 that the grasping mechanism 100 is in a state that can be grasped, the second specification information of the panel 300 stored in the storage module 222 to be taken in the silo mechanism 200, and the specification information of the target panel 300 are matched, that is, the grasping mechanism 100 can grasp the target panel 300, and the target panel 300 is stored in the storage module 222 to be taken. In this way, the grasping mechanism 100 can stably grasp the target panel 300 in the storage module 222, and accurately transport it to the subsequent equipment, thereby reducing the error rate of the panel 300 change.

[0267] The specification information of the target panel 300 can be manually input into the control device used to control the grabbing mechanism 100 to grab the panel 300 stored in the storage module 222 to be picked up, or it can be read from the storage unit of the control device. The loading control method can realize the combination of software and hardware; among them, the control device controls the movement of components and reads the information of the storage unit, which is a relatively mature technology and will not be repeated here.

[0268] By adopting the technical solution of this embodiment, it is possible to accurately judge whether the state of the grasping mechanism 100 is capable of grasping the target panel 300, and whether the target panel 300 is stored in the storage module 222 to be taken. When the first specification information, the second specification information and the specification information of the target panel 300 are consistent, that is, the grasping mechanism 100 is capable of grasping the target panel 300, and the target panel 300 is stored in the storage module 222 to be taken, the grasping mechanism 100 can stably grasp the target panel 300 in the storage module 222, and accurately transport it to subsequent equipment, thereby reducing the error rate of panel 300 change.

[0269] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other and will not be repeated herein for the sake of brevity.

[0270] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A gripping mechanism, characterized in that: include, a base body, one side of which is configured with a clamping area; and A first gripping assembly, comprising a first clamping jaw and a second clamping jaw, wherein one side of the two opposite sides of the clamping area is provided with the first clamping jaw, and the other side is provided with the second clamping jaw; At least one of the first clamping jaw and the second clamping jaw is movably connected to the base, so that the distance between the first clamping jaw and the second clamping jaw is adjustable.

2. The gripping mechanism according to claim 1, characterized in that: When the first clamping jaw is movably connected to the base, the first grasping assembly further comprises a first adjusting member connected to the first clamping jaw, the base is constructed with a plurality of first mounting positions, and the first adjusting member is connected to different first mounting positions so that the distance between the first clamping jaw and the second clamping jaw is different.

3. The gripping mechanism according to claim 2, characterized in that: The first grabbing assembly further includes a first locking member, and the first locking member is used to lock the first adjusting member at different first installation positions.

4. The gripping mechanism according to claim 3, characterized in that: The first locking member includes a first fastener, each of the first mounting positions is provided with a first connecting hole, the first adjusting member is provided with a second connecting hole, and the first fastener is passed through the first connecting hole and the second connecting hole to lock the first adjusting member at the first mounting position.

5. The gripping mechanism according to any one of claims 2 to 4, characterized in that: The first grabbing assembly further includes a first detection module, and the first mounting position connected to the first adjusting member is a first detection position; the first detection module is used to obtain position information of the first detection position and send the position information of the first detection position.

6. The gripping mechanism according to claim 5, characterized in that: The first detection module includes a first trigger member and multiple first detection members, the multiple first detection members are arranged in a one-to-one correspondence with the multiple first installation positions, the first trigger member is connected to the first adjustment member, and the first trigger member is used to trigger the first detection member corresponding to the first detection position to send the position information of the first detection position.

7. The gripping mechanism according to claim 6, characterized in that: The first detection member includes a proximity switch, and the first trigger member includes a metal trigger member for triggering the proximity switch.

8. The gripping mechanism according to any one of claims 2 to 7, characterized in that: When the second clamping jaw is movably connected to the base, the movably connected structure of the second clamping jaw and the base is the same as the movably connected structure of the first clamping jaw and the base.

9. The gripping mechanism according to any one of claims 2 to 8, characterized in that: The first clamping jaw further comprises a first driving member, the first driving member connects the first adjusting member and the first clamping jaw, and the first driving member is used for driving the first clamping jaw to move toward the second clamping jaw to clamp the plate located in the clamping area.

10. The gripping mechanism according to any one of claims 1 to 9, characterized in that: The first clamping jaw is provided with a first protective member on the side facing the clamping area for abutting against one side of the plate, and the hardness range of the first protective member is 20HD-100HD; and / or, the second clamping jaw is provided with a second protective member on the side facing the clamping area for abutting against the other edge of the plate, and the hardness range of the second protective member is 20HD-100HD.

11. The gripping mechanism according to any one of claims 1 to 10, characterized in that: The gripping mechanism also includes a second gripping assembly, which includes a third clamp and a fourth clamp; on the other two opposite sides of the clamping area, one side is provided with the third clamp and the other side is provided with the fourth clamp, and at least one of the third clamp and the fourth clamp is movably connected to the base to adjust the distance between the third clamp and the fourth clamp.

12. The gripping mechanism according to claim 11, characterized in that: In the case where the third clamping jaw is movably connected to the base, the second grabbing assembly further comprises a second driving member, the second driving member is connected to the third clamping jaw and the base, and the second driving member is used to drive the third clamping jaw to move so as to adjust the distance between the third clamping jaw and the fourth clamping jaw; When the fourth jaw is movably connected to the base, the second grasping assembly further includes a third driving member, which connects the fourth jaw and the base and is used to drive the fourth jaw to move so as to adjust the distance between the third jaw and the fourth jaw.

13. The gripping mechanism according to any one of claims 1 to 12, characterized in that: The grabbing mechanism further comprises a moving component, wherein the moving component is connected to the base and is used for driving the base to move.

14. The gripping mechanism according to any one of claims 1 to 13, characterized in that: The side of the base body facing the clamping area is provided with a suction piece for suctioning the plate.

15. The gripping mechanism according to claim 14, characterized in that: The adsorption component includes a connecting portion and an elastic portion, the connecting portion connects the base and the elastic portion, the elastic portion is located on the side of the connecting portion facing the clamping area, and a vacuum adsorption hole for adsorbing the plate is provided on the surface of the elastic portion facing the clamping area.

16. The gripping mechanism according to claim 15, characterized in that: A limiting member is further provided on the side of the base body facing the clamping area, and the limiting member is used to abut against the plate member on the side facing the clamping area.

17. The gripping mechanism according to any one of claims 1 to 16, characterized in that: The gripping mechanism also includes a distance detection member, which is used to detect the distance value between the plate and the distance detection member; when the distance value is within a preset range, the plate is located in the clamping area, and the distance detection member is also used to send a gripping signal to grip the plate.

18. The gripping mechanism according to any one of claims 1 to 17, characterized in that: The gripping mechanism further comprises a sensing member, and the sensing member is used for sensing the plate in the clamping area.

19. A feeding device, characterized in that: The method comprises the grasping mechanism according to any one of claims 1 to 18.

20. The feeding device according to claim 19, characterized in that: The feeding device also includes a silo mechanism for storing panels, the silo mechanism includes a frame and a storage assembly, the storage assembly is connected to the frame, and the storage assembly can store panels of different specifications and sizes.

21. The feeding device according to claim 20, characterized in that: The material storage assembly includes a support member and a material storage module, the support member is connected to the frame; the material storage module includes a first material storage member and a second material storage member arranged on the support member, and a storage area for storing the plate members is formed between the first material storage member and the second material storage member; at least one of the first material storage member and the second material storage member is movably connected to the support member so that the distance between the first material storage member and the second material storage member is adjustable.

22. The feeding device according to claim 21, characterized in that: On the basis that the first material storage member is movably connected to the base, the support member is configured with a plurality of second installation positions, and the first material storage member is connected to different second installation positions, so that the distances between the first material storage member and the second material storage member are different.

23. The feeding device according to claim 22, characterized in that: The material storage module further comprises a second locking member, and the second locking member is used to lock the first material storage member at a different second installation position.

24. The feeding device according to claim 22 or 23, characterized in that: The material storage module also includes a second detection module, and the second installation position connected to the first material storage member is a second detection position; the second detection module is used to obtain position information of the second detection position and to send the position information of the second detection position.

25. The feeding device according to claim 24, characterized in that: The second detection module includes a second trigger member and multiple second detection members, the multiple second detection members are arranged in a one-to-one correspondence with the multiple second mounting positions, the second trigger member is connected to the first material storage member, and the second trigger member is used to trigger the second detection member corresponding to the second detection position to send the position information of the second detection position.

26. The feeding device according to any one of claims 22 to 25, characterized in that: In the case that the second material storage member is movably connected to the support member, the movably connected structure between the second material storage member and the support member is the same as the movably connected structure between the first material storage member and the support member.

27. The feeding device according to any one of claims 20 to 26, characterized in that: The silo mechanism comprises a plurality of material storage assemblies, the plurality of material storage assemblies are located in a receiving space formed by the frame, the top of the frame is configured with a first opening for the grabbing mechanism to enter the receiving space, and the plurality of material storage assemblies are stacked along the height of the frame; Each of the material storage components is connected to a sliding member, and each of the sliding members is slidably connected to the frame, so that the sliding member can drive the corresponding material storage component to slide between below the first opening and the side of the first opening along the first direction.

28. The feeding device according to claim 27, characterized in that: The frame is configured with a second opening communicating with the accommodation space, and the material storage assembly is slidably connected to the sliding member so that the material storage assembly can enter and exit the accommodation space through the second opening along a second direction.

29. The feeding device according to claim 28, characterized in that: The first direction is parallel to the second direction.

30. The feeding device according to any one of claims 27 to 29, characterized in that: The silo mechanism further comprises a third locking member, and the third locking member is used for locking the connection between the sliding member and the material storage assembly.

31. The feeding device according to claim 30, characterized in that: One of the sliding member and the material storage assembly is provided with a locking hole, and the other is connected with the third locking member, and the end of the third locking member is used to be inserted into the locking hole to lock and connect the sliding member and the material storage assembly.

32. A feeding control method, characterized in that: The feeding control method comprises: Receiving first specification information of a panel that can be grasped by the grasping mechanism; Receiving second specification information of the plate stored in the storage module to be taken in the silo mechanism; When the first specification information, the second specification information and the specification information of the target panel are consistent, the grabbing mechanism is controlled to grab the panel stored in the material storage module to be picked up.

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