Grabbing mechanism, feeding equipment and feeding control method

Abstract

A kind of grabbing mechanism (100), feeding device (10) and feeding control method, the grabbing mechanism includes base body (110) and first grabbing component (120), and one side of base body is configured with clamping area (113);First grabbing component includes first gripper (121) and second gripper (122), in the opposite sides of clamping area, one side of which is provided with first gripper, and the other side is provided with second gripper;Wherein, at least one of first gripper and second gripper is movably connected with base body, so that the spacing between first gripper and second gripper is adjustable, so as to meet the different specifications size plate (300) grabbing demand.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical grabbing, and particularly relates to a grabbing mechanism, a feeding device and a feeding control method. BACKGROUND

[0002] Products are usually provided with multiple sizes, and the corresponding plate pieces in the products are usually also provided with multiple size specifications; in the production process of the products, a grabbing mechanism is usually used to grab the plate pieces; and in the process of different size specifications of the products, the grabbing mechanism needs to grab plate pieces of different specifications and sizes; however, the grabbing mechanism can only grab plate pieces of a single size, and cannot simultaneously meet the use requirements of grabbing plate pieces of multiple specifications and sizes.

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

[0004] The purpose of the embodiments of the application is to provide a grabbing mechanism, a feeding device and a feeding control method, which can solve the problem that the grabbing mechanism can only grab plate pieces of a single size and cannot simultaneously meet the use requirements of grabbing plate pieces of multiple specifications and sizes.

[0005] The technical solution adopted by the embodiments of the application is as follows:

[0006] In a first aspect, a grabbing mechanism is provided, which includes a base body and a first grabbing assembly. The base body is provided with a clamping area on one side. The first grabbing assembly includes a first clamping jaw and a second clamping jaw. The first clamping jaw is arranged on one side of the clamping area, and the second clamping jaw is arranged on the other side of the clamping area. At least one of the first clamping jaw and the second clamping jaw is movably connected to the base body, so that the distance between the first clamping jaw and the second clamping jaw is adjustable.

[0007] In the grabbing mechanism of the embodiments of the application, the plate piece is located in the clamping area, and the first clamping jaw and the second clamping jaw abut against opposite sides of the plate piece to clamp the plate piece, thereby achieving grabbing of the plate piece. 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 plate pieces of different specifications and sizes, thereby meeting the grabbing requirements of plate pieces of different specifications and sizes, i.e., the grabbing mechanism of the embodiments of the application can be compatible with plate pieces of different specifications and sizes.

[0008] In one embodiment, in the case where the first clamping jaw is movably connected to the base body, the first grabbing assembly further includes a first adjusting piece connected to the first clamping jaw. The base body is provided with a plurality of first mounting positions, and the first adjusting piece is connected to different first mounting positions, so that the distance between the first clamping jaw and the second clamping jaw is different.

[0009] By adopting the technical scheme of the embodiment, when the first adjusting piece is installed at the first mounting position, the distance between the first clamping jaw and the second clamping jaw is relatively fixed, so that one first mounting position can correspond to one specification size of the plate piece, and then in the actual grabbing process, the first mounting position corresponding to the specification size of the target plate piece can be quickly found, and the first adjusting piece can be connected to the first mounting position corresponding to the specification size of the target plate piece, the accuracy of the adjusting operation is high, and the operation is simple, convenient and fast.

[0010] In one embodiment, the first grabbing assembly further comprises a first locking piece, and the first locking piece is used for locking the first adjusting piece at different first mounting positions.

[0011] By adopting the technical scheme of the embodiment, the first adjusting piece can be connected to different first mounting positions by operating the first locking piece, and the distance between the first clamping jaw and the second clamping jaw can be changed, so that the adjusting operation is simple and convenient.

[0012] In one embodiment, the first locking piece comprises a first fastener, each first mounting position is provided with a first connecting hole, the first adjusting piece is provided with a second connecting hole, and the first fastener is arranged in the first connecting hole and the second connecting hole to lock the first adjusting piece at the first mounting position.

[0013] By adopting the technical scheme of the embodiment, the first adjusting piece and the first mounting position are locked by the first fastener, so that the structure is simple, and the adjusting operation is convenient and fast.

[0014] In one embodiment, the first grabbing assembly further comprises a first detection module, and the first mounting position in the connected state with the first adjusting piece is a first detection position; the first detection module is used for acquiring position information of the first detection position and sending the position information of the first detection position.

[0015] By adopting the technical scheme of the embodiment, whether the first adjusting piece is connected to the first mounting position corresponding to the target plate piece can be detected, so that the subsequent grabbing mechanism can stably and reliably grab the target plate piece, and the error rate of plate piece processing and reform is reduced.

[0016] In one embodiment, the first detection module comprises a first trigger piece and a plurality of first detection pieces, the plurality of first detection pieces are arranged in one-to-one correspondence with the plurality of first mounting positions, the first trigger piece is connected with the first adjusting piece, and the first trigger piece is used for triggering the first detection piece corresponding to the first detection position to send the position information of the first detection position.

[0017] By adopting the technical scheme of the embodiment, whether the first adjusting piece is connected to the first mounting position corresponding to the target plate piece can be detected by triggering the first detection piece corresponding to the first detection position by the first trigger piece, the structure of the first detection module is simple, and the processing and manufacturing are convenient.

[0018] In one embodiment, the first detection member comprises a proximity switch, and the first trigger member comprises a metal trigger member for triggering the proximity switch.

[0019] By adopting the technical scheme of the embodiment, the structure of triggering the proximity switch by the metal trigger member is high in triggering accuracy, the position information detection of the first detection position is good in accuracy, and the structure is simple, thereby being beneficial to reducing the cost of the grabbing mechanism.

[0020] In one embodiment, the movable connection structure of the second clamping jaw and the base body is the same as the movable connection structure of the first clamping jaw and the base body.

[0021] By adopting the technical scheme of the embodiment, the movable connection structure of the second clamping jaw and the base body is the same as the movable connection structure of the first clamping jaw and the base body, and the grabbing mechanism is more convenient to process and manufacture.

[0022] In one embodiment, the first grabbing assembly further comprises a first driving member, the first driving member being connected to the first adjusting member and the first clamping jaw, and the first driving member being used to drive the first clamping jaw to move towards the second clamping jaw to clamp the plate member in the clamping area.

[0023] By adopting the technical scheme of the embodiment, the plate member is located in the clamping area, the first driving member is used to drive the first clamping jaw to move towards the second clamping jaw to clamp the plate member, and the grabbing of the plate member is realized.

[0024] In one embodiment, the side of the first clamping jaw towards the clamping area is provided with a first protective member used to abut against one side of the plate member, the hardness range of the first protective member is 20HD-100HD; and / or, the side of the second clamping jaw towards the clamping area is provided with a second protective member used to abut against the other side of the plate member, the hardness range of the second protective member is 20HD-100HD.

[0025] By adopting the technical scheme of the embodiment, in the clamping process of the plate member, the protective member (the first protective member and / or the second protective member) abuts against the side of the plate member, the abutment is stable and reliable, the positioning accuracy of the plate member is good, and the plate member is not damaged due to being too hard.

[0026] In one embodiment, the grabbing mechanism further comprises a second grabbing assembly, the second grabbing assembly comprising a third clamping jaw and a fourth clamping jaw; in the other opposite two sides of the clamping area, one side is provided with the third clamping jaw, and the other side is provided with the fourth clamping jaw, at least one of the third clamping jaw and the fourth clamping jaw being movably connected to the base body to adjust the spacing between the third clamping jaw and the fourth clamping jaw.

[0027] By adopting the technical scheme of the embodiment, the first clamping jaw and the second clamping jaw clamp the plate from opposite sides of the plate, and the third clamping jaw and the fourth clamping jaw clamp the plate from the other opposite side of the plate, so that the plate has more clamping points, and the stability of clamping and grabbing is good; in addition, the spacing between the third clamping jaw and the fourth clamping jaw is adjustable, on the one hand, the third clamping jaw and the fourth clamping jaw can be relatively close, so as to realize the grabbing of the plate, and on the other hand, the grabbing demand of the plate of more specifications and sizes can be met.

[0028] In an embodiment, the third clamping jaw is movably connected to the base body, and the second grabbing assembly further comprises a second driving member connected to the third clamping jaw and the base body, and configured to drive the third clamping jaw to move, so as to adjust the spacing between the third clamping jaw and the fourth clamping jaw.

[0029] In an embodiment, the fourth clamping jaw is movably connected to the base body, and the second grabbing assembly further comprises a third driving member connected to the fourth clamping jaw and the base body, and configured to drive the fourth clamping jaw to move, so as to adjust the spacing between the third clamping jaw and the fourth clamping jaw.

[0030] By adopting the technical scheme of the embodiment, the overall structure is simple, and the processing and manufacturing are convenient.

[0031] In an embodiment, the grabbing mechanism further comprises a moving assembly connected to the base body, and configured to drive the base body to move.

[0032] By adopting the technical scheme of the embodiment, the moving assembly drives the base body and the components connected to the base body, such as the first grabbing assembly, to move, and the moving assembly can move the base body and the components, such as the first grabbing assembly, into the stock bin mechanism to grab the plate, and then move the plate to the subsequent processing equipment for processing after the grabbing is completed, so as to realize the grabbing and conveying of the plate.

[0033] In an embodiment, the side of the base body facing the clamping area is provided with a suction member configured to suction the plate.

[0034] By adopting the technical scheme of the embodiment, the suction member first suctions and fixes the plate in the clamping area, and then the first clamping jaw and the second clamping jaw clamp the plate more conveniently and quickly, and the clamping is more stable and reliable; in addition, after the first clamping jaw and the second clamping jaw clamp the plate, the plate is subjected to the suction effect of the suction member, so that the risk of the plate falling between the first clamping jaw and the second clamping jaw is reduced, and the yield is improved.

[0035] In an embodiment, the suction member comprises a connecting portion and an elastic portion, the connecting portion is connected to the base body and the elastic portion, the elastic portion is located on the side of the connecting portion facing the clamping area, and the surface of the elastic portion facing the clamping area is provided with a vacuum suction hole configured to suction the plate.

[0036] By adopting the technical scheme of the embodiment, on the one hand, the elastic part is designed to be in elastic contact between the plate and the suction accessory, which is conducive to reducing damage to the plate; on the other hand, the plate is adsorbed in the form of a vacuum adsorption hole, which is simple in structure and convenient to manufacture.

[0037] In one embodiment, the base body further comprises a limiting piece towards the side of the clamping area, which is used to abut against the plate.

[0038] By adopting the technical means of the embodiment, the plate can abut against the side of the clamping area of the limiting piece during the process of being adsorbed on the elastic part by the vacuum adsorption hole, so as to block the plate from continuing to press the elastic part, reduce the risk of over-pressing the elastic part, and also achieve accurate positioning of the plate and improve the accuracy of subsequent operations.

[0039] In one embodiment, the grabbing mechanism further comprises a distance detection piece for detecting the distance value between the plate and the distance detection piece; when the distance value is within a preset range, the plate is located in the clamping area, and the distance detection piece is further used to send a grabbing signal for grabbing the plate.

[0040] By adopting the technical scheme of the embodiment, whether the plate is present in the clamping area is determined by the distance detection piece, which reduces the risk of empty grabbing of the grabbing mechanism and enables the grabbing mechanism to stably and reliably grab the plate.

[0041] In one embodiment, the grabbing mechanism further comprises a sensing piece for sensing the plate in the clamping area.

[0042] By adopting the technical scheme of the embodiment, whether the plate is successfully grabbed by the grabbing mechanism can be determined by the sensing piece, and whether the plate falls during movement can also be detected.

[0043] In a second aspect, a feeding device is provided, which comprises the grabbing mechanism of the above-mentioned embodiments.

[0044] In one embodiment, the feeding device further comprises a stockhouse mechanism for storing the plate, and the stockhouse mechanism comprises a rack and a stock assembly, the stock assembly is connected with the rack, and the stock assembly can store plates of different specifications and sizes.

[0045] By adopting the technical scheme of the embodiment, the stock assembly can store plates of different specifications and sizes, which can increase the universal range of the stockhouse mechanism, and also can be more suitable for the grabbing mechanism capable of grabbing plates of different specifications and sizes, thereby being conducive to improving production efficiency.

[0046] In one embodiment, the storage assembly comprises a support and a storage module, the support is connected with the rack; the storage module comprises a first storage part and a second storage part arranged on the support, a storage area for storing the plates is formed between the first storage part and the second storage part; at least one of the first storage part and the second storage part is movably connected with the support, so that the distance between the first storage part and the second storage part is adjustable.

[0047] By adopting the technical scheme of this embodiment, the distance between the first storage part and the second storage part is adjustable, that is, the size of the storage area is adjustable, so that the placement requirements of plates of different sizes can be met, thereby enabling the stockhouse mechanism to be compatible with plates of different sizes.

[0048] In one embodiment, on the basis of the movable connection between the first storage part and the support, the support is provided with a plurality of second mounting positions, the first storage part is connected with different second mounting positions, so that the distance between the first storage part and the second storage part is different.

[0049] By adopting the technical scheme of this embodiment, when the first storage part is mounted on the second mounting position, the distance between the first storage part and the second storage part is relatively fixed, so that one second mounting position can correspond to one size of plates, and then in the process of feeding the stockhouse mechanism, the first storage part can be quickly connected to the second mounting position corresponding to the plates to be fed, so that the feeding operation is convenient; in addition, in the process of grabbing the plates, the second mounting position can also quickly find the storage area of the target plates.

[0050] In one embodiment, the storage module further comprises a second locking part, the second locking part is used for locking the first storage part on different second mounting positions.

[0051] By adopting the technical scheme of this embodiment, by operating the second locking part, the first storage part can be connected with different second mounting positions, the distance between the first storage part and the second storage part is changed, and the adjustment operation is simple and convenient.

[0052] In one embodiment, the storage module further comprises a second detection module, the second mounting position in the connected state with the first storage part is a second detection position; the second detection module is used for acquiring the position information of the second detection position and sending the position information of the second detection position.

[0053] By adopting the technical scheme of this embodiment, whether the target is stored in the storage module can be detected, so that the subsequent grabbing mechanism can accurately grab the target plates, and the error rate of plate processing and transformation is reduced.

[0054] In one embodiment, the second detection module comprises a second trigger and a plurality of second detection pieces, the plurality of second detection pieces are arranged one-to-one corresponding to the plurality of second mounting positions, the second trigger is connected with the first storage piece, and the second trigger is used to trigger the second detection piece corresponding to the second detection position to send the position information of the second detection position.

[0055] By adopting the technical scheme of the embodiment, whether the first storage piece is connected to the second mounting position corresponding to the target plate piece can be detected by triggering the second detection piece corresponding to the second detection position by the second trigger. The first detection module has a simple structure and is convenient to process and manufacture.

[0056] In one embodiment, when the second storage piece is movably connected with the support, the movable connection structure of the second storage piece and the support is the same as the movable connection structure of the first storage piece and the support.

[0057] By adopting the technical scheme of the embodiment, the movable connection structure of the second storage piece and the support is the same as the movable connection structure of the first storage piece and the support, and the structure is simpler and convenient to process and manufacture.

[0058] In one embodiment, the stockhouse mechanism comprises a plurality of storage assemblies, the plurality of storage assemblies are located in an accommodating space formed by the rack, the top of the rack is provided with a first opening for the grabbing mechanism to enter the accommodating space, and the plurality of storage assemblies are stacked along the height of the rack;

[0059] Each storage assembly is connected with a sliding piece, and each sliding piece is slidably connected with the rack, so that the sliding piece can drive the corresponding storage assembly to slide along the first direction between below the first opening and the side of the first opening.

[0060] By adopting the technical scheme of the embodiment, the plurality of storage assemblies can meet the storage demand of more plate pieces, and the stockhouse assembly can simultaneously store plate pieces of multiple specifications and sizes, so as to facilitate the change of the plate pieces. In addition, the storage assembly can be moved from below the first opening to the side of the first opening, so that the storage assembly located in the lower layer of the storage assembly is exposed, thereby facilitating the grabbing assembly to grab the plate pieces on the lower storage assembly.

[0061] In one embodiment, the rack is provided with a second opening communicating with the accommodating space, and the storage assembly is slidably connected with the sliding piece, so that the storage assembly can enter and exit the accommodating space along the second direction through the second opening.

[0062] By adopting the technical scheme of the embodiment, the storage assembly can be moved out of the accommodating space through the second opening, and the storage assembly is exposed outside the rack, so that the plate pieces of the storage assembly can be conveniently fed.

[0063] In one embodiment, the first direction is parallel to the second direction.

[0064] 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 component relative to the sliding member. With this design, the sliding direction is singular, the structure of the hopper mechanism can be designed to be simpler, and the risk of sliding interference can be reduced.

[0065] In one embodiment, the hopper mechanism further includes a third locking element for locking the connecting slider and the storage assembly.

[0066] By adopting the technical solution of this embodiment, during the sliding process of the sliding member relative to the frame, the third locking member can fix the sliding member and the storage component in place, so that the sliding member can drive the storage component to slide relative to the frame, so as to facilitate the gripping component to grip the plate stored on the lower storage component.

[0067] In one embodiment, one of the slider and the storage assembly is provided with a locking hole, and the other is connected to a third locking member, the end of which is used to insert into the locking hole to lock the slider and the storage assembly together.

[0068] By adopting the technical solution of this embodiment, a locking method that uses a third locking element and a locking hole in combination is adopted, which has a simple structure and is easy to process and manufacture.

[0069] Thirdly, a feeding control method is provided, which includes:

[0070] Receive the first specification information of the sheet metal that the gripping mechanism can grip;

[0071] The second specification information of the plates stored in the storage module to be retrieved in the receiving silo mechanism;

[0072] When the first specification information, the second specification information, and the specification information of the target board are consistent, the gripping mechanism is controlled to grip the board stored in the storage module to be retrieved.

[0073] By adopting the technical solution of this embodiment, it is possible to accurately determine whether the gripping mechanism is capable of gripping the target board and whether the material stored in the storage module to be retrieved is the target board. If the first specification information, the second specification information and the specification information of the target board are consistent, that is, the gripping mechanism can grip the target board and the material stored in the storage module to be retrieved is the target board, the gripping mechanism can stably grip the target board in the storage module and accurately transport it to the subsequent equipment, thereby reducing the error rate of board changeover.

[0074] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 This is a schematic diagram of the gripping mechanism provided in an embodiment of this application.

[0077] Figure 2 for Figure 1 The diagram shows a view of the gripping mechanism hiding the moving component.

[0078] Figure 3 for Figure 1 The diagram shown is a structural schematic of the gripping mechanism hiding the moving component from another perspective.

[0079] Figure 4 for Figure 1 The diagram shown is an exploded view of the gripping mechanism with its hidden moving components.

[0080] Figure 5 This is a schematic diagram of the feeding mechanism provided in an embodiment of this application from one perspective.

[0081] Figure 6 for Figure 5 The diagram shows the structure of the storage assembly.

[0082] Figure 7 for Figure 6 The diagram shows the structure of the storage module.

[0083] Figure 8 for Figure 7 The diagram shown is an exploded view of the material storage module.

[0084] Figure 9 for Figure 5 A schematic diagram of the feeding mechanism from another perspective.

[0085] Figure 10 for Figure 9 A magnified view of a portion of point A in the middle.

[0086] The following are the labeling elements in the figure:

[0087] 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. Gripping area; 120. First gripping assembly; 121. First gripper; 122. Second gripper; 123. First adjusting component; 1231. Second connecting hole; 124. First detection module; 1241. First trigger; 1242. First detection component; 125. First driving component; 126. Second adjusting component; 1261. Fourth connecting hole; 127. Third detection module; 1271. Third trigger Components: 1272, Third detection component; 128, First protective component; 1281, First inclined surface; 129, Second protective component; 1291, Second inclined surface; 130, Second gripping assembly; 131, Third gripper; 132, Fourth gripper; 133, Second driving component; 134, Third protective component; 1341, Third inclined surface; 135, Fourth protective component; 1351, Fourth inclined surface; 140, Moving assembly; 150, Adsorption component; 151, Connecting part; 152, Elastic part; 1521, Vacuum adsorption hole; 160, Limiting component; 170, Distance detection component; 180, Sensing component;

[0088] 200. Hopper mechanism; 210. Frame; 211. Accommodation space; 212. First opening; 213. Second opening; 220. Storage assembly; 2201. Storage area; 221. Support component; 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 component; 22211. First insertion slot; 22212. Sixth connecting hole; 2222. Second... Storage component; 22221, Second insertion slot; 2223, Second locking component; 2224, Second detection module; 22241, Second trigger component; 22242, Second detection component; 2225, Intermediate component; 22251, Support slot; 2226, First slide rail; 230, Sliding component; 240, Third locking component; 250, Alarm device; 260, Door opening / closing assembly; 270, Fourth driving component; 281, Second slide rail; 2811, Guide rail; 2812, Slider; 282, Third slide rail;

[0089] 300. Plates. Detailed Implementation

[0090] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0091] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0092] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0093] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments in any suitable manner.

[0094] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0095] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces). "Several" means one or more, unless otherwise explicitly specified.

[0096] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0097] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0098] In the description of the embodiments of this application, unless otherwise expressly specified and limited, when an element is referred to as "fixed to" or "set on" another element, it may be directly on or indirectly on the other element. When an element is referred to as "connected to" another element, it may be directly connected to or indirectly connected to the other element.

[0099] Products are typically available in multiple sizes, and the corresponding panels within those products also come in various sizes and specifications. During the product manufacturing process, a gripping mechanism is usually used to pick up the panels. When manufacturing products of different sizes and specifications, the gripping mechanism needs to pick up panels of different sizes. However, the gripping mechanism can only pick up panels of a single size and cannot simultaneously meet the needs of picking up multiple sizes.

[0100] To clearly illustrate the above problems, this application takes the adhesive coating process of the battery side panel as an example. Before the side panel is coated with adhesive, the gripping mechanism holds the side panel against its two opposite edges to clamp the panel, thereby gripping the battery side panel. Finally, the gripped battery side panel is placed into the adhesive coating device for adhesive coating. The adhesive coating device can usually meet the adhesive coating needs of side panels of various sizes. When faced with adhesive coating needs of different sizes, the gripping mechanism needs to grip side panels of different sizes into the adhesive coating device. However, the gripping mechanism in the related technology can only meet the gripping needs of side panels of a single size and cannot meet the gripping needs of multiple sizes.

[0101] Based on the above considerations, this application provides a gripping mechanism, which includes a base and a first gripping component. A clamping area is formed on one side of the base. The first gripping component includes a first gripper and a second gripper located on opposite sides of the clamping area. At least one of the first and second grippers is movably connected to the base, allowing the distance between the first and second grippers to be adjustable. When a plate is located within the clamping area, the first and second grippers can respectively abut against opposite sides of the plate, clamping it and thus gripping it. The adjustable distance between the first and second grippers allows them to grip plates of different sizes, meeting the gripping requirements for plates of different dimensions. In other words, the gripping mechanism of this application is compatible with plates of different sizes. This gripping mechanism can be applied to the coating process of battery side plates, the electrolyte injection and heating of battery cells, and other battery production processes requiring the gripping of plates.

[0102] The gripping mechanism 100 is described below with reference to some embodiments:

[0103] like Figures 1-2 As shown, in one embodiment of this application, a gripping mechanism 100 is provided. The gripping mechanism 100 includes a base 110 and a first gripping component 120. A clamping area 113 is formed on one side of the base 110. The first gripping component 120 includes a first gripper 121 and a second gripper 122. On opposite sides of the clamping area 113, the first gripper 121 is provided on one side and the second gripper 122 is provided on the other side. At least one of the first gripper 121 and the second gripper 122 is movably connected to the base 110 so that the distance between the first gripper 121 and the second gripper 122 is adjustable.

[0104] The base 110 can refer to the mounting base 110 of the first gripping component 120, which mainly serves to support and fix the first gripping component 120. In order to improve the structural strength of the base 110, the material of the base 110 can be metal materials such as iron, alloy or stainless steel. The base 110 can be a plate 300, frame or other structural form. The shape of the base 110 can be various, such as square, circle, triangle or other shapes.

[0105] The clamping area 113 may refer to the area located between the first clamp 121 and the second clamp 122.

[0106] The first gripping component 120 refers to a component used to grip the plate 300. The first gripping component 120 includes a first gripper 121 and a second gripper 122. The first gripper 121 is the part of the first gripping component 120 located on one side of the gripping area 113, and the second gripper 122 is the part of the first gripping component 120 located on the side of the gripping area 113 opposite to the first gripper 121. Located on opposite sides of the gripping area 113, when the plate 300 is located within the gripping area 113, the first gripper 121 and the second gripper 122 respectively grip the opposite sides of the plate 300, thus achieving the gripping of the plate 300. To improve the stability of the gripping, the first gripper 121 and the second gripper 122 are usually made of metal materials (e.g., stainless steel, iron, etc.).

[0107] At least one of the first gripper 121 and the second gripper 122 is movably connected to the base 110, such that the distance between the first gripper 121 and the second gripper 122 is adjustable. It can be understood that the first gripper 121 may be movably connected to the base 110, and the distance between the first gripper 121 and the second gripper 122 may be changed by adjusting the first gripper 121; the second gripper 122 may be movably connected to the base 110, and the distance between the first gripper 121 and the second gripper 122 may be changed by adjusting the second gripper 122; or both the first gripper 121 and the second gripper 122 may be movably connected to the base 110, and the distance between the first gripper 121 and the second gripper 122 may be changed by adjusting the first gripper 121 and the second gripper 122. Here, "movable connection" can refer to the two connected components being able to move relative to each other: for example, it can be that one component is driven to move relative to the other component by a driving component, or it can refer to the two components being connected by a sliding connection or other movable connection method.

[0108] The working process of the gripping mechanism 100 in this embodiment is as follows:

[0109] When it is necessary to grip the board 300 or to grip a board 300 of a new specification, first adjust the distance between the first gripper 121 and the second gripper 122 to the gripping size range of the target board 300. Then, when the board 300 is located in the gripping area 113, the first gripper 121 and the second gripper 122 clamp the board 300 in the gripping area 113, thus realizing the gripping of the board 300.

[0110] In the gripping mechanism 100 of this application embodiment, the plate 300 is located in the clamping area 113. The first gripper 121 and the second gripper 122 respectively abut against the opposite sides of the plate 300 to clamp the plate 300, thereby realizing the gripping of the plate 300. The distance between the first gripper 121 and the second gripper 122 is adjustable, so that the first gripper 121 and the second gripper 122 can clamp plates 300 of different sizes, thereby meeting the gripping needs of plates 300 of different sizes. That is, the gripping mechanism 100 of this application embodiment can be compatible with plates 300 of different sizes.

[0111] In another embodiment of this application, combined with Figures 2-4 As shown, when the first gripper 121 is movably connected to the base 110, the first gripping assembly 120 further includes a first adjusting member 123 connected to the first gripper 121. The base 110 is constructed with a plurality of 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 gripper 121 and the second gripper 122 is different.

[0112] The first adjusting member 123 may refer to a component used to connect the first gripper 121 and the base 110. The first adjusting member 123 is movably connected to the base 110, so that the distance between the first gripper 121 and the second gripper 122 can be adjusted by changing the connection position of the first adjusting member 123 on the base 110.

[0113] The first mounting position 111 can refer to a location on the base 110 for connecting with the first adjusting member 123; multiple first mounting positions 111 can refer to two, three, or four or more locations formed on the base 110 for mounting the first adjusting member 123. For example, the first mounting position 111 (see reference...) Figure 2 The number of positions (as shown in the dashed box) is three, with three first mounting positions 111 along a third direction (see reference). Figure 2 The arrangement (as indicated by arrow M) is such that the third direction is from the second gripper 122 to the first gripper 121. The first adjusting member 123 is connected to different first mounting positions 111, and the spacing between the first gripper 121 and the second gripper 122 is different.

[0114] 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 gripper 121 and the second gripper 122 is relatively determined, so that one first mounting position 111 can correspond to one specification size of the plate 300. In the actual gripping process, the first mounting position 111 corresponding to the specification size of the target plate 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 plate 300. The adjustment operation is highly accurate and simple, convenient and quick.

[0115] In another embodiment of this application, combined with Figures 2-4 As shown, the first gripping component 120 of the provided gripping mechanism 100 also includes a first locking member for locking the first adjusting member 123 in different first mounting positions 111.

[0116] The first locking member can refer to a component that can lock the first adjusting member 123 to different first mounting positions 111. The first adjusting member 123 is fixed to the first mounting position 111 of the base 110 by the first locking member. At the same time, the first locking member can also release the locking between the first adjusting member 123 and the first mounting position 111, and then fix it to another first mounting position 111 by the first locking member. In this way, the distance between the first gripper 121 and the second gripper 122 is adjusted, so as to be suitable for gripping plates 300 of different specifications and sizes.

[0117] 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 gripper 121 and the second gripper 122. The adjustment operation is simple and convenient.

[0118] In another embodiment of this application, combined with Figures 2-4 As shown, the first locking member of the 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. The first fastener passes through the first connecting hole 1111 and the second connecting hole 1231 to lock the first adjusting member 123 in the first mounting position 111.

[0119] The first fastener can refer to a component used to fasten the connection between the first adjusting member 123 and the base 110, wherein the first fastener can be a bolt, screw, pin, or other component.

[0120] The first connecting hole 1111 can refer to the hole structure opened in the first mounting position 111; the second connecting hole 1231 can refer to the hole structure opened in the first adjusting member 123. The first fastener passes 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. After the screw passes through the second connecting hole 1231, it engages with the threaded connection of the first connecting hole 1111, thereby fixing the first adjusting member 123 and the first mounting position 111 together. 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 in other positions. The hole 1111 is threaded to adjust the distance between the first gripper 121 and the second gripper 122, making the adjustment operation simple, convenient and quick. The first adjusting member 123 may be provided with multiple second connecting holes 1231, and each first mounting position 111 may also be provided with multiple corresponding first connecting holes 1111. The number of first fasteners may also be multiple, with each first fastener correspondingly inserted into the first connecting hole 1111 and the second connecting hole 1231. The first adjusting member 123 and the first mounting position 111 of the base 110 have multiple connection points, and the connection strength between the first adjusting member 123 and the base 110 is good, which is conducive to improving the stability and reliability of gripping the plate 300. For example, the first adjusting member 123 is provided with four second connecting holes 1231, and each first mounting position 111 is provided with four first connecting holes 1111. The four second connecting holes 1231 and the four first connecting holes 1111 correspond one-to-one, and two adjacent first mounting positions 111 share two second connecting holes 1231, so that there is an intersection between two adjacent first mounting positions 111. This arrangement results in a compact structure, which is beneficial to reducing the size of the gripping mechanism 100.

[0121] By adopting the technical solution of this embodiment, the first adjusting member 123 and the first mounting position 111 are locked by the first fastener, which has a simple structure and convenient and quick adjustment operation.

[0122] In another embodiment of this application, combined with Figures 2-4 As shown, the first gripping component 120 of the gripping mechanism 100 also includes a first detection module 124, and the first mounting position 111 connected to the first adjusting member 123 is the first detection position; the first detection module 124 is used to obtain the position information of the first detection position and send the position information of the first detection position.

[0123] The first detection position may refer to the first mounting position 111, which is connected to the first adjusting member 123.

[0124] The first detection module 124 can refer to the module that can acquire and send the position information of the first detection position. It can be understood that the first detection module 124 can acquire the position information of the first mounting position 111 that is connected to the first adjusting member 123, i.e., the position information of the first detection position, and send the position information. Then, through the position information, the specification information of the plate 300 corresponding to the first detection position can be known. In practical applications, the position information sent by the first detection module 124 can be compared with the position information of the first mounting position 111 corresponding to the target board 300 to determine whether the first adjusting member 123 has been adjusted to the first mounting position 111 corresponding to the target board 300. If the position information sent by the first detection module 124 is inconsistent with the position information of the first mounting position 111 corresponding to the target board 300, the first detection position is not the first mounting position 111 corresponding to the target board 300, that is, the installation position of the first adjusting member 123 is incorrect. If the position information sent by the first detection module 124 is consistent with the position information of the first mounting position 111 corresponding to the target board 300, the first detection position is the first mounting position 111 corresponding to the target board 300, and the installation position of the first adjusting member 123 is correct.

[0125] By adopting the technical solution of this embodiment, it is possible to detect whether the first adjusting member 123 is connected to the first mounting position 111 corresponding to the target plate 300, so that the subsequent gripping mechanism 100 can grip the target plate 300 stably and reliably, reducing the error rate of plate 300 processing and transformation.

[0126] In another embodiment of this application, combined with Figures 2-4 As shown, the first detection module 124 of the gripping mechanism 100 includes a first trigger 1241 and a plurality of first detection elements 1242. The plurality of first detection elements 1242 are configured to correspond one-to-one with a plurality of first mounting positions 111. The first trigger 1241 is connected to the first adjustment element 123. The first trigger 1241 is used to trigger the first detection element 1242 corresponding to the first detection position to send the position information of the first detection position.

[0127] The first detection element 1242 can refer to a component capable of sending signals. For example, the signal sent by the first detection element 1242 can be a current signal, a voltage signal, or a similar signal.

[0128] The first trigger 1241 can refer to a component that can trigger the first detection 1242 to send a signal.

[0129] Multiple first detection elements 1242 correspond one-to-one with multiple first mounting positions 111. It can be understood that the number of first detection elements 1242 is the same as the number of first mounting positions 111, and each first mounting position 111 has one first detection element 1242 corresponding to it.

[0130] The first trigger 1241 is connected to the first adjusting member 123. The first trigger 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. It can be understood that the first trigger 1241 is installed on the first adjusting member 123. While the first adjusting member 123 is connected to the first detection position, the first trigger 1241 corresponds to the first detection member 1242 corresponding to that first detection position, thereby triggering the first detection member 1242 to send a signal. Then, the position information of the first detection position can be accurately determined through the signal sent by the first detection member 1242. For example, there are three first detection members 1242, which are sequentially set and numbered along a third direction, and the three first mounting positions 111 are sequentially numbered along a third direction. The first adjusting member 123 is connected to... When the first mounting position 111 is reached, the first trigger 1241 is positioned opposite to the first detection 1242, thereby triggering the first detection 1242 to send a signal. By sending a signal from the first detection 1242, it can be known that the first adjustment 123 is connected to the first mounting position 111. When the first mounting position 111 corresponding to the target plate 300 is the first mounting position 111, that is, the installation position of the first adjustment 123 is correct, the first gripper 121 and the second gripper 122 can grasp the target plate 300, reducing the error rate of the gripping mechanism 100. When the first mounting position 111 corresponding to the target plate 300 is not the first mounting position, the installation position of the first adjustment 123 is incorrect. The operator can be reminded to connect the first adjustment 123 to the correct first mounting position 111 through alarms or other means.

[0131] By adopting the technical solution of this embodiment, the first detection element 1242 corresponding to the first detection position can be triggered by the first trigger element 1241, and it can be detected whether the first adjustment element 123 is connected to the first mounting position 111 corresponding to the target plate 300. The structure of the first detection module 124 is simple and easy to process and manufacture.

[0132] In another embodiment of this application, combined with Figures 2-4 As shown, the first detection element 1242 of the provided gripping mechanism 100 includes a proximity switch, and the first trigger element 1241 includes a metal trigger element for triggering the proximity switch.

[0133] A proximity switch can be a position switch that can be operated without direct mechanical contact with moving parts, and a metal trigger can be a metal part that can trigger the proximity switch. In use, when the first adjusting member 123 is connected to the first detection position, the metal trigger is located in the sensing area of ​​the proximity switch corresponding to the first detection position. 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.

[0134] By adopting the technical solution of this embodiment, the proximity switch is triggered by a metal trigger, which has high triggering accuracy, resulting in good accuracy in detecting the position information of the first detection position. The structure is also simple, which helps to reduce the cost of the gripping mechanism 100.

[0135] In another embodiment of this application, combined with Figures 2-4 As shown, when the second gripper 122 is movably connected to the base 110, the movable connection structure between the second gripper 122 and the base 110 is the same as the movable connection structure between the first gripper 121 and the base 110.

[0136] The movable connection structure between the second gripper 122 and the base 110 is the same as the movable connection structure between the first gripper 121 and the base 110. It can be understood that the movable connection method between the first gripper 121 and the base 110 is the same as the movable connection method between the second gripper 122 and the base 110.

[0137] By adopting the technical solution of this embodiment, the movable connection structure between the second gripper 122 and the base 110 is the same as the movable connection structure between the first gripper 121 and the base 110, making the processing and manufacturing of the gripping mechanism 100 more convenient.

[0138] In one embodiment, the second gripper 122 is connected to a second adjusting member 126, and 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 distance between the first gripper 121 and the second gripper 122 is different, thereby enabling the gripping of plates 300 of different sizes. The first gripping assembly 120 further includes a fourth locking member, which is used to lock the second adjusting member 126 to different first mounting positions 111. The fourth locking member includes a third fastener, each third mounting position 112 is provided with a third connecting hole 1121, and the second adjusting member 126 is provided with a fourth connecting hole 1261. The third fastener passes through the third connecting hole 1121 and the fourth connecting hole 1261 to secure the second adjusting member 126. The second adjusting member 126 is locked in the third mounting position 112. The third fastener can be a screw, bolt, pin, or other fastener. When the third fastener is a screw, the screw passes through the third connecting hole 1121 and is threaded into the fourth connecting hole 1261 to fix the second adjusting member 126 onto the base 110. There are two third mounting positions 112, which are arranged sequentially along the third direction. Each third mounting position 112 has four third connecting holes 1121. The second adjusting member 126 has 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 one by one by screws, thereby fixing the second adjusting member 126 onto the base 110.

[0139] In one embodiment, the first grasping component 120 further includes a third detection module 127, wherein the third mounting position 112 connected to the second adjusting member 126 is a third detection position; the third detection module 127 is used to acquire and send the position information of the third detection position; the third detection module 127 includes a third trigger 1271 and a plurality of third detection members 1272, wherein the plurality of third detection members 1272 are configured one-to-one with the plurality of third mounting positions 112, the third trigger 1271 is connected to the second adjusting member 126, and the third trigger 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 three detection elements 1272 include a proximity switch, and the third trigger element 1271 is a metal trigger element used to trigger the proximity switch. Thus, when the second adjustment element 126 is connected to the third detection position, the third trigger element 1271 is located within the sensing area of ​​the third detection element 1272 corresponding to the third detection position, thereby triggering the third detection element 1272 corresponding to the third detection position to send an electrical signal. The position information of the third detection element 1272 can be determined by the electrical signal. By comparing the position signal of the third detection element 1272 with the position information of the third mounting position 112 corresponding to the target plate 300, it can be determined whether the connection position between the second adjustment element 126 and the base 110 is correct. For example, there are two third detection elements 1272, which are sequentially arranged and numbered along a third direction, and the two third mounting positions 112 are sequentially numbered along a third direction. When the second adjusting member 126 is connected to the second third mounting position 112, the third trigger member 1271 is positioned opposite to the second third detection element 1272, thereby triggering the second third detection element 1272 to send a signal. By sending a signal from the second third detection element 1272, 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 plate 300 is the second third mounting position 112, that is, the installation position of the second adjusting member 126 is correct, the first gripper 121 and the second gripper 122 can grasp the target plate 300, reducing the error rate of the gripping mechanism 100; when the third mounting position 112 corresponding to the target plate 300 is not the second mounting position, the installation position of the second adjusting member 126 is incorrect, and the operator can be reminded to connect the second adjusting member 126 to the correct third mounting position 112 by means of alarm, etc.

[0140] In another embodiment of this application, combined with Figures 2-4 As shown, the first gripping component 120 of the gripping mechanism 100 also includes a first driving member 125. The first driving member 125 is connected to the first adjusting member 123 and the first gripper 121. The first driving member 125 is used to drive the first gripper 121 to move toward the second gripper 122 to clamp the plate 300 located in the clamping area 113.

[0141] The first driving component 125 can refer to a component connected between the first adjusting component 123 and the first gripper 121, and this component can drive the first gripper 121 to move toward the second gripper 122 to clamp the plate 300 located in the clamping area 113. The first driving component 125 can be a driving component such as a cylinder or a linear module.

[0142] By adopting the technical solution of this embodiment, the plate 300 is located in the clamping area 113. The first gripper 121 can be driven by the first driving member 125 to move toward the second gripper 122 to clamp the plate 300 and realize the gripping of the plate 300.

[0143] In some cases, the first gripper 121 can also be directly driven by the first driving member 125 to approach the second gripper 122, thereby achieving adjustable spacing between the first gripper 121 and the second gripper 122. This adjustment method has a simple structure and is easy to process; however, in actual use, this method needs to take into account the gripping requirements of plates 300 of different sizes. On the one hand, the stroke of the first driving member 125 driving the first gripper 121 may need to be designed to be relatively long, resulting in low gripping efficiency; on the other hand, the long-distance movement of the first gripper 121 driven by the first driving member 125 may result in a large displacement error, making it difficult to adjust the spacing between the first gripper 121 and the second gripper 122, making it difficult to clamp the target plate 300 or causing damage to the target plate 300; while another embodiment of this application provides Based on the first driving member 125 driving the first gripper 121 to move toward the second gripper 122, and in conjunction with the first adjusting member 123 and different first mounting positions 111, the first adjusting member 123 can be connected to the first mounting position 111 corresponding to the target plate 300 during clamping. This makes the distance between the first gripper 121 and the second gripper 122 close to the clamping size of the target plate 300. The first driving member 125 drives the first gripper 121 to move to achieve the function of clamping the plate 300. That is, the stroke of the first driving member 125 driving the first gripper 121 to move can be designed to be small, which is beneficial to improving clamping efficiency and gripping accuracy. In addition, it is also convenient to accurately detect the position of the first gripper 121 in conjunction with the first detection module 124, further improving the clamping accuracy.

[0144] In one embodiment, the connection structure between the second gripper 122 and the second adjusting member 126 can also be the same as the connection structure between the first gripper 121 and the first adjusting member 123. That is, the second gripper 122 can be connected to the second adjusting member 126 by the first driving member 125. In this way, the first gripper 121 and the second gripper 122 can move relative to each other at the same time, which is beneficial to improving the gripping efficiency.

[0145] In one embodiment, the connection structure between the second gripper 122 and the second adjusting member 126 may differ from the connection structure between the first gripper 121 and the first adjusting member 123. For example, the second gripper 122 and the second adjusting member 126 are fixedly connected. During the clamping process of the plate 300, the first gripper 121 pushes the edge of the plate 300 against the second gripper 122 under the drive of the first driving member 125, while the second gripper 122 is fixed in position relative to the base 110. The second gripper 122 serves as the positioning reference for clamping the plate 300, resulting in good positioning accuracy of the plate 300, which is beneficial for subsequent processing and manufacturing.

[0146] In one embodiment, the first gripper 121 is provided with a first protective member 128 on the side facing the gripping area 113 for abutting against one side of the plate 300; and / or, the second gripper 122 is provided with a second protective member 129 on the side facing the gripping area 113 for abutting against the other side of the plate 300.

[0147] It is understood that the first gripper 121 has a first protective member 128 on its side facing the gripping area 113 for abutting against one side of the plate 300; or, the second gripper 122 has a second protective member 129 on its side facing the gripping area 113 for abutting against the other side of the plate 300; or, the first gripper 121 has a first protective member 128 on its side facing the gripping area 113 for abutting against one side of the plate 300, and the second gripper 122 has a second protective member 129 on its side facing the gripping area 113 for abutting against the other side of the plate 300.

[0148] The first protective component 128 can be a part with a hardness range of 20HD-100HD. The first protective component 128 is located on the side of the first gripper 121 facing the clamping area 113. The first protective component 128 can be a part made of hard plastic. During the clamping process of the plate 300, the first protective component 128 abuts against the edge of the plate 300. By limiting the hardness of the first protective component 128 to between 20HD and 100HD, it provides a certain degree of hardness, ensuring stable and reliable contact with the plate 300. This ensures good positioning accuracy for the plate 300 without being too hard and damaging it. The material of the first protective component 128 can be a hard plastic material such as plastic steel.

[0149] The second protective component 129 can be a part with a hardness range of 20HD-100HD. The second protective component 129 is located on the side of the second gripper 122 facing the clamping area 113. The second protective component 129 can be a part made of hard plastic. During the clamping process of the plate 300, the second protective component 129 abuts against the edge of the plate 300. By limiting the hardness of the second protective component 129 to between 20HD and 100HD, it provides a certain degree of hardness, ensuring stable and reliable contact with the plate 300. This ensures good positioning accuracy of the plate 300 without being too hard and damaging it. The material of the second protective component 129 can be a hard plastic material such as plastic steel.

[0150] The hardness values ​​mentioned above can be obtained by measuring a Shore D hardness tester.

[0151] By adopting the technical solution of this application embodiment, during the clamping process of the plate 300, the protective member (first protective member 128 and / or second protective member 129) abuts against the edge of the plate 300, ensuring stable and reliable contact with the plate 300. The positioning accuracy of the plate 300 is good, but it is not so hard as to damage the plate 300. The hardness of the protective member (first protective member 128 and / or second protective member 129) is set within the aforementioned range, ensuring that it is neither damaged nor too hard during contact with the plate 300.

[0152] Furthermore, in specific applications, the hardness of the first protective component 128 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected according to specific needs and is not limited here. Similarly, the hardness of the second protective component 129 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected according to specific needs.

[0153] In one embodiment, the distance between the first protective member 128 and the second protective member 129 increases gradually along the direction opposite to the substrate 110 to facilitate the entry of the plate 300 into the clamping area 113 for clamping. For example, the first protective member 128 has a first inclined surface 1281 on its side facing the clamping area 113, extending obliquely away from the second gripper 122 in the direction opposite to the substrate 110. The second protective member 129 has a second inclined surface 1291 on its side facing the clamping area 113, extending obliquely away from the first gripper 121 in the direction opposite to the substrate 110. During the process of the plate 300 entering the clamping area 113, guided by the first inclined surface 1281 and the second inclined surface 1291 on its two opposite sides, the plate 300 is more easily clamped into the clamping area 113, achieving gripping.

[0154] In another embodiment of this application, combined with Figures 2-4 As shown, the gripping mechanism 100 provided further includes a second gripping component 130, which includes a third gripper 131 and a fourth gripper 132. On the other opposite sides of the gripping area 113, a third gripper 131 is provided on one side and a fourth gripper 132 is provided on the other side. At least one of the third gripper 131 and the fourth gripper 132 is movably connected to the base 110 to adjust the distance between the third gripper 131 and the fourth gripper 132.

[0155] The second gripping component 130 may refer to a component for clamping the plate 300 from the other opposite sides of the gripping area 113, for example, in conjunction with Figure 2 As shown, the first gripping component 120 grips from the left and right sides of the gripping area 113, and the second gripping component grips from the front and rear sides of the gripping area 113.

[0156] The third gripper 131 may refer to a component in the first gripping assembly 120 located on one of the other two opposite sides of the gripping area 113, and the fourth gripper 132 may refer to a component in the first gripping assembly 120 that is disposed opposite to the third gripper 131.

[0157] At least one of the third gripper 131 and the fourth gripper 132 is movably connected to the substrate 110 to adjust the distance between the third gripper 131 and the fourth gripper 132. It is understood that the third gripper 131 may be movably connected to the substrate 110, and adjusting the third gripper 131 changes the distance between the third gripper 131 and the fourth gripper 132. Alternatively, the fourth gripper 132 may be movably connected to the substrate 110, and adjusting the fourth gripper 132 changes the distance between the third gripper 131 and the fourth gripper 132. Furthermore, both the third gripper 131 and the fourth gripper 132 may be movably connected to the substrate 110, and adjusting the third gripper 131 and the fourth gripper 132 changes the distance between the third gripper 131 and the fourth gripper 132.

[0158] By adopting the technical solution of this embodiment, the first gripper 121 and the second gripper 122 clamp the plate 300 from opposite sides, while the third gripper 131 and the fourth gripper 132 clamp the plate 300 from the other opposite side. This provides multiple gripping points for the plate 300 and improves the stability of gripping. In addition, the distance between the third gripper 131 and the fourth gripper 132 is adjustable. On the one hand, the third gripper 131 and the fourth gripper 132 can be relatively close to each other to achieve gripping of the plate 300. On the other hand, it can also meet the gripping needs of plates 300 with more specifications and sizes.

[0159] In another embodiment of this application, combined with Figures 2-4As shown, the second gripping component 130 of the gripping mechanism 100 also includes a second drive member 133. The second drive member 133 is connected to the third gripper 131 and the base 110. The second drive member 133 is used to drive the third gripper 131 to move so as to adjust the distance between the third gripper 131 and the fourth gripper 132.

[0160] The second driving member 133 can refer to a component used to drive the third gripper 131 to move. The second driving member 133 is connected between the third gripper 131 and the base 110. The second driving member 133 drives the third gripper 131 to move closer to or away from the fourth gripper 132, thereby changing the distance between the third gripper 131 and the fourth gripper 132. For example, the second driving member 133 can be a driving component such as a cylinder or a linear module.

[0161] By adopting the technical solution of this embodiment, the structure of the second driving member 133 driving the third gripper 131 to move is simple and easy to process and manufacture.

[0162] In another embodiment of this application, combined with Figures 2-4 As shown, when the fourth gripper 132 is movably connected to the base 110, the second gripping assembly 130 further includes a third driving member. The third driving member connects the fourth gripper 132 and the base 110. The third driving member is used to drive the fourth gripper 132 to move in order to adjust the distance between the third gripper 131 and the fourth gripper 132.

[0163] The third driving component can refer to a component used to drive the fourth gripper 132 to move. The third driving component is connected between the fourth gripper 132 and the base 110. The third driving component drives the fourth gripper 132 to move closer to or away from the third gripper 131, thereby changing the distance between the third gripper 131 and the fourth gripper 132. For example, the third driving component can be a cylinder, a linear module, or other driving component.

[0164] By adopting the technical solution of this embodiment, the structure of the third driving component driving the fourth gripper 132 to move is simple and easy to process and manufacture.

[0165] In another embodiment, the fourth gripper 132 can also be fixedly connected to the base 110. With this design, the fourth gripper 132 is fixed in position relative to the base 110 during the clamping process. The fourth gripper 132 serves as the positioning reference for clamping the plate 300, which improves the positioning accuracy of the plate 300 and is beneficial for subsequent processing and manufacturing.

[0166] In one embodiment, the third gripper 131 is provided with a third protective member 134 on the side facing the gripping area 113 for abutting against one side of the plate 300; and / or, the fourth gripper 132 is provided with a fourth protective member 135 on the side facing the gripping area 113 for abutting against the other side of the plate 300.

[0167] It is understood that the third gripper 131 has a third protective member 134 on its side facing the clamping area 113 for abutting against one side of the plate 300; or, the fourth gripper 132 has a fourth protective member 135 on its side facing the clamping area 113 for abutting against the other side of the plate 300; or, the third gripper 131 has a third protective member 134 on its side facing the clamping area 113 for abutting against one side of the plate 300, and the fourth gripper 132 has a fourth protective member 135 on its side facing the clamping area 113 for abutting against the other side of the plate 300.

[0168] The third protective component 134 can be a part with a hardness range of 20HD-100HD. The third protective component 134 is located on the side of the third gripper 131 facing the clamping area 113. The third protective component 134 can be a part made of hard plastic. During the clamping process of the plate 300, the third protective component 134 abuts against the edge of the plate 300. By limiting the hardness of the third protective component 128 to between 20HD and 100HD, the third protective component 134 has a certain degree of hardness, enabling stable and reliable contact with the plate 300. This ensures good positioning accuracy for the plate 300, but avoids excessive hardness that could damage it. The material of the third protective component 134 can be a hard plastic material such as plastic steel.

[0169] The fourth protective component 135 can be a part with a hardness range of 20HD-100HD. The fourth protective component 135 is located on the side of the fourth gripper 132 facing the clamping area 113. The fourth protective component 135 can be a part made of hard plastic. During the clamping process of the plate 300, the fourth protective component 135 abuts against the edge of the plate 300. By limiting the hardness of the fourth protective component 135 to between 20HD and 100HD, it provides a certain degree of hardness, ensuring stable and reliable contact with the plate 300. This ensures good positioning accuracy for the plate 300 without being too hard and damaging it. The material of the fourth protective component 135 can be a hard plastic material such as plastic steel.

[0170] The hardness values ​​mentioned above can be obtained by measuring a Shore D hardness tester.

[0171] By adopting the technical solution of this application embodiment, during the clamping process of the plate 300, the protective member (third protective member 134 and / or fourth protective member 135) abuts against the edge of the plate 300, ensuring stable and reliable contact with the plate 300. The positioning accuracy of the plate 300 is good, but it is not so hard as to damage the plate 300. Setting the hardness of the protective member (third protective member 134 and / or fourth protective member 135) within the aforementioned range ensures that it is neither damaged nor so hard as to damage the plate 300 during contact.

[0172] Furthermore, in specific applications, the hardness of the third protective component 134 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected according to specific needs and is not limited here. Similarly, the hardness of the fourth protective component 135 can be 20HD, 30HD, 40HD, 50HD, 60HD, 70HD, 80HD, 90HD, or 100HD, which can be selected according to specific needs.

[0173] In one embodiment, the distance between the third protective member 134 and the fourth protective member 135 increases gradually along the direction opposite to the base 110 to facilitate the entry of the plate 300 into the clamping area 113 for clamping. For example, the third protective member 134 has a third inclined surface 1341 on its side facing the clamping area 113, and this third inclined surface 1341 extends obliquely away from the fourth gripper 132 in the direction opposite to the base 110. The fourth protective member 135 has a fourth inclined surface 1351 on its side facing the clamping area 113, and this fourth inclined surface 1351 extends obliquely away from the third gripper 131 in the direction opposite to the base 110. During the process of the plate 300 entering the clamping area 113, guided by the third inclined surface 1341 and the fourth inclined surface 1351 respectively, the plate 300 is more easily clamped into the clamping area 113, achieving gripping.

[0174] In another embodiment, the movable connection between the third gripper 131 and the base 110 can also be the same as the movable connection between the first gripper 121 and the base 110. That is, the third gripper 131 is connected to the base 110 at different positions to adjust the distance between the third gripper 131 and the fourth gripper 132. A detection module can also be used to detect the position information of the connection between the third gripper 131 and the base 110, thereby obtaining the distance between the third gripper 131 and the fourth gripper 132. And / or, the movable connection between the fourth gripper 132 and the base 110 can also be the same as the movable connection between the first gripper 121 and the base 110. That is, the fourth gripper 132 is connected to the base 110 at different positions to adjust the distance between the third gripper 131 and the fourth gripper 132. Furthermore, a detection module can also be used to detect the position information of the connection between the third gripper 131 and the base 110 to obtain the distance between the third gripper 131 and the fourth gripper 132. The detection module detects the position information of the connection between the fourth gripper 132 and the base 110, thereby obtaining the distance between the third gripper 131 and the fourth gripper 132. These methods can be applied to plates 300 of different specifications and sizes, where the plates 300 have large dimensions in both directions. However, between different specifications and sizes of battery side plates, the length of the battery side plates varies greatly, while the width varies less. Thus, by using the first gripper 121 and the second gripper 122 to clamp the battery side plate along its length, and the third gripper 131 and the fourth gripper 132 to clamp the battery side plate along its length, and by using the first detection module 124 and the second detection module 2224 to obtain the distance between the first gripper 121 and the second gripper 122, the specification information of the battery side plates that the gripping mechanism 100 can clamp can be obtained.

[0175] In another embodiment of this application, combined with Figure 1 As shown, the gripping mechanism 100 provided also includes a moving component 140, which is connected to the base 110 and is used to drive the base 110 to move.

[0176] The moving component 140 can refer to a part that can drive the base 110 to move. The moving component 140 can be a cylinder, a linear module, a robot, or other components.

[0177] By adopting the technical solution of this embodiment, the moving component 140 drives the base 110 and the first gripping component 120 connected to the base 110 to move. The moving component 140 can move the base 110 and the first gripping component 120 to the hopper mechanism 200 of the storage plate 300 for gripping. After the gripping is completed, the moving component 140 moves the plate 300 to the subsequent processing equipment for processing, thereby realizing the gripping and conveying of the plate 300.

[0178] In another embodiment of this application, the base 110 of the gripping mechanism 100 is provided with an adsorption member 150 for adsorbing the plate 300 on the side facing the clamping area 113.

[0179] The adsorption component 150 can refer to a component that can adsorb the plate 300. The adsorption component 150 and the plate 300 can be adsorbed by vacuum adsorption, adhesive adsorption or other methods. For example, the adsorption component 150 can be a suction cup or a component with an adhesive layer on its surface.

[0180] By adopting the technical solution of this embodiment, after the adsorption member 150 first adsorbs and fixes the plate 300 in the clamping area 113, the clamping of the plate 300 by the first claw 121 and the second claw 122 is more convenient, faster, and more stable and reliable. In addition, after the first claw 121 and the second claw 122 clamp the plate 300, the adsorption effect of the adsorption member 150 can reduce the risk of the plate 300 falling from the first claw 121 and the second claw 122, which is conducive to improving the yield.

[0181] In one embodiment, there are multiple adsorption elements 150, which are evenly distributed at intervals between the first gripper 121 and the second gripper 122 along a third direction, resulting in better stability and reliability of the clamping and adsorption of the plate 300.

[0182] In another embodiment of this application, combined with Figures 2-4 As shown, the adsorption component 150 of the gripping mechanism 100 includes a connecting portion 151 and an elastic portion 152. The connecting portion 151 connects the base 110 and the elastic portion 152. The elastic portion 152 is located on the side of the connecting portion 151 facing the clamping area 113. The surface of the elastic portion 152 facing the clamping area 113 is provided with a vacuum adsorption hole 1521 for adsorbing the plate 300.

[0183] The elastic part 152 can refer to the part of the adsorption member 150 made of an elastic material. The elastic material can be silicone, rubber, etc.

[0184] The connecting part 151 can refer to the part of the adsorption member 150 that connects the base 110 and the elastic part 152. It should be noted that the connecting part 151 is made of a rigid material, such as metal or plastic steel, so as to provide good support for the elastic part 152 and the plate 300.

[0185] The elastic part 152 is located on the side of the connecting part 151 facing the clamping area 113. It can be understood that the elastic part 152 is closer to the clamping area 113 than the connecting part 151. When the plate 300 enters the clamping area 113, the plate 300 first contacts the elastic part 152, so that the plate 300 and the adsorption member 150 have elastic contact, which helps to reduce damage to the plate 300.

[0186] The elastic part 152 has a vacuum adsorption hole 1521 on the surface facing the clamping area 113 for adsorbing the plate 300. It can be understood that the elastic part 152 has a vacuum adsorption hole 1521 on the surface facing away from the connecting part 151. In this way, 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.

[0187] By adopting the technical solution of this embodiment, on the one hand, the design of the elastic part 152 makes the plate 300 and the adsorption member 150 in elastic contact, which helps to reduce damage to the plate 300; on the other hand, the plate 300 is adsorbed by using the vacuum adsorption hole 1521, which has a simple structure and is easy to manufacture.

[0188] In one embodiment, the vacuum adsorption hole 1521 can be connected to a vacuum generator via a pipe. By drawing a vacuum through the vacuum generator, a negative pressure is formed within the vacuum adsorption hole 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, etc.

[0189] In actual use, because the elastic part 152 is elastic, the plate 300 will be squeezed and deformed by the elastic part 152 during the process of vacuum adsorption hole 1521 adsorbing the plate 300. This results in the plate 300 being in a different position after each gripping, that is, the positioning accuracy of the plate 300 is not high.

[0190] In another embodiment of this application, combined with Figures 2-4 As shown, the base 110 of the gripping mechanism 100 is provided with a limiting member 160 on the side facing the clamping area 113. The side of the limiting member 160 facing the clamping area 113 is used to abut against the plate 300.

[0191] The limiting member 160 can refer to a component installed on the base 110 facing the clamping area 113. The side of the limiting member 160 facing the clamping area 113 can abut against the plate 300, thereby preventing the plate 300 from continuing to move towards the base 110 and realizing the positioning of the plate 300.

[0192] By employing the technical means of this embodiment, during the process of the plate 300 being adsorbed onto the elastic part 152 through the vacuum adsorption hole 1521, the plate 300 can abut against the side of the limiting member 160 facing 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-squeezed. At the same time, it can also achieve accurate positioning of the plate 300 and improve the accuracy of subsequent operations.

[0193] In one embodiment, the adsorption member 150 and the limiting member 160 are alternately arranged along a third direction to improve the limiting effect of the plate 300, which is beneficial to improving the positioning accuracy of the plate 300.

[0194] In another embodiment of this application, combined with Figures 2-4 As shown, the provided gripping mechanism 100 also includes a distance detection element 170, which is used to detect the distance value between the plate 300 and the distance detection element 170; when the distance value is within a preset range, the plate 300 is located in the clamping area 113, and the distance detection element 170 is also used to send a gripping signal to grip the plate 300.

[0195] The distance detection element 170 can refer to a sensor capable of measuring distance. When the distance value detected by the distance detection element 170 is within a preset range, the plate 300 is located within the clamping area 113. At this time, the distance detection element 170 sends a gripping signal. After receiving the gripping signal, the gripping mechanism 100 can grip the plate 300. The distance detection element 170 can be a distance sensor, such as a laser distance sensor, an ultrasonic distance sensor, an infrared distance sensor, etc.

[0196] By adopting the technical solution of this embodiment, the presence of plate 300 in the clamping area 113 is determined by the distance detection component 170, reducing the risk of the gripping mechanism 100 missing the grip, and also enabling the gripping mechanism 100 to grip the plate 300 stably and reliably.

[0197] In another embodiment of this application, combined with Figures 2-4 As shown, the provided gripping mechanism 100 also includes a sensor 180, which is used to sense the plate 300 in the gripping area 113.

[0198] The sensor 180 can refer to a component capable of sensing whether the board 300 exists in the clamping area 113. The sensor 180 can be a photoelectric sensor, an ultrasonic sensor, or other components. After the gripping mechanism 100 grips the board 300, the sensor 180 senses whether the board 300 exists in the clamping area 113. If the board 300 exists in the clamping area 113, the gripping mechanism 100 successfully grips the board 300; if the board 300 does not exist in the clamping area 113, the gripping mechanism 100 fails to grip the board 300, or the board 300 falls from the gripping mechanism 100, and the gripping mechanism 100 needs to grip the board 300 again.

[0199] By adopting the technical solution of this embodiment, the sensor 180 can determine whether the gripping mechanism 100 has successfully gripped the plate 300, and can also detect whether the plate 300 has fallen during the movement of the plate 300.

[0200] In another embodiment of this application, combined with Figure 5 As shown, a feeding device 10 is provided, including a gripping mechanism 100 as described in the above embodiment.

[0201] In another embodiment of this application, combined with Figure 5 and Figure 6 As shown, the provided feeding device 10 also includes a hopper mechanism 200 for storing the plate 300. The hopper mechanism 200 includes a frame 210 and a storage component 220. The storage component 220 is connected to the frame 210 and can store plates 300 of different specifications and sizes.

[0202] The hopper mechanism 200 can refer to the mechanism for storing the plate 300. The hopper mechanism 200 includes a frame 210 and a storage component 220. The frame 210 can refer to the mounting base 110 of the storage component 220, which plays the role of supporting the storage component 220. The storage component 220 can store plates 300 of different specifications and sizes.

[0203] Through the technical solution of this embodiment, the storage component 220 can store plates 300 of different specifications and sizes, which can increase the versatility of the silo mechanism 200. At the same time, it can also be more compatible with the gripping mechanism 100 that can grip plates 300 of different specifications and sizes, which is conducive to improving production efficiency.

[0204] In another embodiment of this application, combined with Figure 5 and Figure 6 As shown, the material storage assembly 220 of the provided feeding device 10 includes a support member 221 and a material storage module 222. The support member 221 is connected to the frame 210. The material storage module 222 includes a first material storage member 2221 and a second material storage member 2222 disposed on the support member 221. A material storage area 2201 for storing the plate 300 is formed between the first material storage member 2221 and the second material storage member 2222. At least one of the first material storage member 2221 and the second material storage member 2222 is movably connected to the support member 221 so that the distance between the first material storage member 2221 and the second material storage member 2222 is adjustable.

[0205] The support component 221 can refer to the mounting base 110 of the storage module 222, which serves to support the storage component 220; at the same time, the support component 221 can also connect the frame 210 and the storage module 222; the support component 221 can be a plate-shaped, frame-shaped or other structure.

[0206] The storage module 222 can refer to a component used for storing materials in the plate 300. The storage module 222 includes a first storage component 2221 and a second storage component 2222. The first storage component 2221 and the second storage component 2222 can refer to two components used to enclose and form a storage area 2201. The storage area 2201 can refer to the storage area of ​​the plate 300. For example, the first storage component 2221 and the second storage component 2222 are spaced apart on the support member 221, and the area between the first storage component 2221 and the second storage component 2222 forms the storage area 2201.

[0207] At least one of the first storage component 2221 and the second storage component 2222 is movably connected to the support component 221, such that the distance between the first storage component 2221 and the second storage component 2222 is adjustable. It can be understood that the first storage component 2221 is movably connected to the support component 221, meaning the first storage component 2221 can move relative to the support component 221, thereby changing the distance between the first storage component 2221 and the second storage component 2222; or, the second storage component 2222 is movably connected to the support component 221, meaning the second storage component 2222 can move relative to the support component 221, thereby changing the distance between the first storage component 2221 and the second storage component 2222; or, both the first storage component 2221 and the second storage component 2222 are movably connected to the support component 221, meaning both the first storage component 2221 and the second storage component 2222 can move relative to the support component 221, thereby changing the distance between the first storage component 2221 and the second storage component 2222.

[0208] By adopting the technical solution of this embodiment, the distance between the first storage component 2221 and the second storage component 2222 is adjustable, that is, the size of the storage area 2201 is adjustable, so as to meet the placement requirements of plates 300 of different specifications and sizes, thereby enabling the silo mechanism 200 to be compatible with plates 300 of different specifications and sizes.

[0209] In one embodiment, the first storage component 2221 is movably connected to the support component 221, and the second storage component 2222 is fixedly connected to the support component 221. Thus, by adjusting the first storage component 2221, the distance between the first storage component 2221 and the second storage component 2222 can be adjusted. Alternatively, the second storage component 2222 is movably connected to the support component 221, and the first storage component 2221 is fixedly connected to the support component 221. Thus, by adjusting the second storage component 2222, the distance between the first storage component 2221 and the second storage component 2222 can be adjusted. This makes the component located on one side of the storage area 2201 adjustable, resulting in a simple structure and easy adjustment operation.

[0210] In one embodiment, both the first storage component 2221 and the second storage component 2222 are movably connected to the support component 221, so that the components located on opposite sides of the storage area 2201 are adjustable, and the adjustment operation is more flexible.

[0211] In one embodiment, the first storage component 2221 and the second storage component 2222 may be provided with a first insertion slot 22211 and a second insertion slot 22221, respectively. The plate 300 can be placed vertically, with both ends of the plate 300 inserted into the first insertion slot 22211 and the second insertion slot 22221, respectively, thereby positioning the plate 300 in the storage area 2201 to facilitate subsequent gripping by the gripping mechanism 100. In another embodiment, the first storage component 220 may not be provided with the first insertion slot 22211, and the second storage component may not be provided with the second insertion slot 22221. The plate 300 may be laid flat in the storage area 2201 or placed vertically in the storage area 2201, depending on the actual storage requirements of the plate 300, and is not limited here.

[0212] In one embodiment, the support member 221 is provided with an intermediate member 2225, which is located between the first storage member 2221 and the second storage member 2222. The intermediate member 2225 has a support groove 22251, and the plate 300 is placed vertically 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.

[0213] In one embodiment, a support member 221 is provided with multiple storage modules 222, so that such a storage assembly 220 can simultaneously meet the storage needs of plates 300 of various sizes and specifications, and also helps to increase the storage capacity of plates 300 of the silo mechanism 200. For example, the support member 221 includes a first support plate 2214 and multiple second support plates 2215 disposed on the first support plate 2214. The multiple storage modules 222 are disposed one-to-one on the multiple second support plates 2215, thus forming a modular installation structure for easy assembly.

[0214] In another embodiment of this application, please refer to... Figure 7 and Figure 8 As shown, the provided feeding device 10, based on the movable connection between the first storage component 2221 and the support component 221, the support component 221 is constructed with a plurality of second mounting positions 2211, and the first storage component 2221 is connected to different second mounting positions 2211 so that the distance between the first storage component 2221 and the second storage component 2222 is different.

[0215] The second mounting position 2211 can refer to a location on the support member 221 for connection with the first storage member 2221. Multiple second mounting positions 2211 can refer to two, three, or four or more locations formed on the base 110 for mounting the first adjusting member 123. For example, the second mounting position 2211 (see reference...) Figure 8 The number of positions (as shown in the dashed box) is three, with three second mounting positions 2211 along the fourth direction (see reference). Figure 8 The arrangement (as indicated by arrow N) is as follows: the fourth direction is from the first storage component 2221 to the second storage component 2222. The first storage component 2221 is connected to different second mounting positions 2211, and the spacing between the first storage component 2221 and the second storage component 2222 is different.

[0216] By adopting the technical solution of this embodiment, when the first storage component 2221 is installed at the second mounting position 2211, the distance between the first storage component 2221 and the second storage component 2222 is relatively determined, so that one second mounting position 2211 can correspond to one specification size of the plate 300. Therefore, during the feeding process of the hopper mechanism 200, the first storage component 2221 can be quickly connected to the second mounting position 2211 corresponding to the plate 300 to be fed, making the feeding operation convenient. In addition, during the gripping process of the plate 300, the storage area 2201 of the target plate 300 can also be quickly found through the second mounting position 2211.

[0217] In another embodiment of this application, please refer to... Figure 7 and Figure 8 As shown, the material storage module 222 of the provided feeding device 10 also includes a second locking member 2223, which is used to lock the first material storage member 2221 in different second mounting positions 2211.

[0218] The second locking member 2223 can refer to a component that can lock the first storage member 2221 to different second mounting positions 2211. The first storage member 2221 is fixed to the second mounting position 2211 of the support member 221 by the second locking member 2223. At the same time, the second locking member 2223 can also release the locking between the first storage member 2221 and the second mounting position 2211. Then, the first storage member 2221 is locked to another second mounting position 2211 by the second locking member 2223. In this way, the spacing between the first storage member 2221 and the second storage member 2222 is adjusted, thereby making it compatible with plates 300 of different specifications and sizes.

[0219] By adopting the technical solution of this embodiment, the first storage component 2221 can be connected to different second mounting positions 2211 by operating the second locking component 2223, and the distance between the first storage component 2221 and the second storage component 2222 can be changed. The adjustment operation is simple and convenient.

[0220] 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 passes through the fifth connecting hole 2213 and the sixth connecting hole 22212 to lock the first storage member 2221 in the second mounting position 2211.

[0221] The second fastener can refer to a component used to fasten the connection between the first storage component 2221 and the support component 221. The second fastener can be a bolt, screw, pin, or other component.

[0222] The fifth connecting hole 2213 can refer to the hole structure opened in the second mounting position 2211; the sixth connecting hole 22212 can refer to the hole structure opened in the first storage component 2221. The second fastener passes through the fifth connecting hole 2213 and the sixth connecting hole 22212 and locks the first storage component 2221 in the second mounting position 2211. For example, the second fastener is a pin, which passes through the sixth connecting hole 22212 and the fifth connecting hole 2213, thereby fixing the first storage component 2221 and the second mounting position 2211 together. During the adjustment process, the pin is pulled out from the fifth connecting hole 2213 and the sixth connecting hole 22212, and then the pin is inserted into the fifth connecting hole 2213 of the fifth connecting hole 2213 and the fifth connecting hole 2213 of the second mounting position 2211 in other positions, so that the distance between the first clamp 121 and the second clamp 122 can be adjusted. The adjustment operation is simple, convenient and quick.

[0223] By adopting the technical solution of this embodiment, the first storage component 2221 and the second mounting position 2211 are locked by a second fastener, which has a simple structure and is convenient and quick to adjust.

[0224] In one embodiment, the first storage component 2221 and the support component 221 are slidably connected by a first slide rail 2226. The first slide rail 2226 extends along the fourth direction, thereby providing guidance for the movement of the first storage component 2221 relative to the support component 221, facilitating the alignment of the fifth connecting hole 2213 and the sixth connecting hole 22212, and facilitating the installation of the second fastener. The adjustment of the distance between the first storage component 2221 and the second storage component 2222 is also simpler. The number of first slide rails 2226 can be multiple. For example, there can be two first slide rails 2226, which are located on opposite sides of the second mounting position 2211. This arrangement provides better guidance for the movement of the first storage component 2221.

[0225] In another embodiment of this application, please refer to... Figure 7 and Figure 8 As shown, the material storage module 222 of the provided feeding device 10 also includes a second detection module 2224. The second mounting position 2211, which is connected to the first material storage component 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.

[0226] The second detection position can refer to the second mounting position 2211 that is connected to the first storage component 2221.

[0227] The second detection module 2224 can refer to the ability to acquire and send the position information of the second detection position. It can be understood that the second detection module 2224 can acquire the position information of the second installation position 2211 that is connected to the first storage component 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 plate 300 corresponding to the second detection position can be known. In practical applications, the location information sent by the second detection module 2224 can be compared with the location information of the second mounting position 2211 corresponding to the target board 300 to determine whether the storage module 222 stores the target board 300. If the location information sent by the second detection module 2224 is inconsistent with the location information of the second mounting position 2211 corresponding to the target board 300, the storage module 222 does not store the target board 300. If the location information sent by the second detection module 2224 is consistent with the location information of the second mounting position 2211 corresponding to the target board 300, the storage module 222 stores the target board 300, which facilitates the accurate grabbing of the board 300 in the future.

[0228] 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 gripping mechanism 100 can accurately target the plate 300 and reduce the error rate of plate 300 processing and transformation.

[0229] In another embodiment of this application, please refer to... Figure 7 and Figure 8 As shown, the second detection module 2224 of the provided feeding device 10 includes a second trigger 22241 and a plurality of second detection elements 22242. The plurality of second detection elements 22242 are configured one-to-one with a plurality of second mounting positions 2211. The second trigger 22241 is connected to the first storage element 2221. The second trigger 22241 is used to trigger the second detection element 22242 corresponding to the second detection position to send the position information of the second detection position.

[0230] The second detection element 22242 can refer to a component capable of sending signals. For example, the signal sent by the second detection element 22242 can be a current signal, a voltage signal, or a similar signal.

[0231] The second trigger 22241 can refer to a component that can trigger the second detection 22242 to send a signal.

[0232] Multiple second detection elements 22242 correspond one-to-one with multiple second mounting positions 2211. It can be understood that the number of second detection elements 22242 is the same as the number of second mounting positions 2211, and each second mounting position 2211 has one second detection element 22242 corresponding to it.

[0233] The second trigger 22241 is connected to the first storage unit 2221. The second trigger 22241 is used to trigger the second detection unit 22242 corresponding to the second detection position to send the position information of the second detection position. It can be understood that the second trigger 22241 is installed on the first storage unit 2221. While the first storage unit 2221 is connected to the second detection position, the second trigger 22241 corresponds to the second detection unit 22242 corresponding to that second detection position, thereby triggering the second detection unit 22242 to send a signal. Then, the position information of the second detection position can be accurately determined through the signal sent by the second detection unit 22242. For example, there are three second detection units 22242, which are sequentially arranged and numbered along the fourth direction, and the three second installation positions 2211 are sequentially numbered along the fourth direction. The first storage unit 2221 is connected to... When connected to the first second mounting position 2211, the second trigger 22241 is positioned opposite to the first second detection 22242, thereby triggering the first second detection 22242 to send a signal. By sending a signal through the first second detection 22242, it can be known that the first storage component 2221 is connected to the first second mounting position 2211. When the second mounting position 2211 corresponding to the target plate 300 is the first second mounting position 2211, the storage module 222 stores the target plate 300, and the first gripper 121 and the second gripper 122 can grasp the target plate 300, reducing the error rate of the gripping mechanism 100. When the second mounting position 2211 corresponding to the target plate 300 is not the first mounting position, the storage module 222 does not store the target plate 300, and an alarm can be triggered by the alarm device 250 set on the frame 210 to remind the operator to replace the plate 300.

[0234] By adopting the technical solution of this embodiment, the second detection element 22242 corresponding to the second detection position is triggered by the second trigger element 22241, and it can be detected whether the first storage element 2221 is connected to the second mounting position 2211 corresponding to the target plate 300. The structure of the first detection module 124 is simple and convenient to process and manufacture.

[0235] In another embodiment of this application, please refer to... Figure 7 and Figure 8 As shown, the second detection element 22242 of the provided feeding device 10 includes a proximity switch, and the second trigger element 22241 includes a metal trigger element for triggering the proximity switch.

[0236] A proximity switch can be a position switch that can be operated without direct mechanical contact with moving parts, and a metal trigger can be a metal part that can trigger the proximity switch. In use, when the first storage unit 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. 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.

[0237] By adopting the technical solution of this embodiment, the proximity switch is triggered by a metal trigger, which has high triggering accuracy and good accuracy in detecting the position information of the second detection position. The structure is also simple, which helps to reduce the cost of the hopper mechanism 200.

[0238] In another embodiment of this application, the feeding device 10 provided, when the second storage member 2222 is movably connected to the support member 221, has the same movable connection structure between the second storage member 2222 and the support member 221 as the movable connection structure between the first storage member 2221 and the support member 221.

[0239] The movable connection structure between the second storage component 2222 and the support component 221 is the same as that between the first storage component 2221 and the support component 221. It can be understood that the movable connection method between the second storage component 2222 and the support component 221 is the same as that between the first storage component 2221 and the support component 221. Specifically, the movable connection method between the second storage component 2222 and the support component 221 can be referred to the movable connection method between the first storage component 2221 and the support component 221 in the above embodiment, and will not be repeated here.

[0240] By adopting the technical solution of this embodiment, the movable connection structure between the second storage component 2222 and the support component 221 is the same as the movable connection structure between the first storage component 2221 and the support component 221, which makes the structure simpler and easier to process and manufacture.

[0241] In another embodiment of this application, combined with Figure 6 , Figure 9 and 10 As shown, the hopper mechanism 200 of the provided feeding device 10 includes multiple storage components 220, which are located within a receiving space 211 formed by the frame 210. The top of the frame 210 has a first opening 212 for the gripping mechanism 100 to enter the receiving space 211. The multiple 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 along a first direction (see reference). Figure 6(In the direction indicated by arrow X) slides between the bottom of the first opening 212 and the side of the first opening 212.

[0242] The accommodating space 211 may refer to the space enclosed by the frame 210, and the accommodating space 211 provides installation space for multiple storage components 220.

[0243] The first opening 212 may refer to an opening on the top of the frame 210, which allows the gripping mechanism 100 to enter the receiving space 211 to grip the plate 300 stored in the storage assembly 220.

[0244] For the height direction of rack 210, please refer to... Figure 5 The direction indicated by arrow Y in the diagram. Multiple storage components 220 are stacked along the height direction of the frame 210, which can make full use of the space inside the frame 210 and is conducive to the miniaturization design of the hopper mechanism 200.

[0245] The sliding member 230 can refer to a component connected between the storage assembly 220 and the frame 210, and this component is slidably connected to the frame 210. In this way, the sliding member 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 along the first direction below the first opening 212 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 gripping component can grip the plate 300 stored in the storage assembly 220. When the storage assembly 220 moves to the side of the first opening 212, the storage assembly 220 can move to the bottom of the lower storage assembly 220, thereby exposing the lower storage assembly 220, making it convenient for the gripping component to grip the plate 300 of the lower storage assembly 220.

[0246] By adopting the technical solution of this embodiment, the design of multiple storage components 220 can meet the storage needs of more plates 300, and also enable the silo component to store multiple plates 300 of different sizes at the same time, so as to facilitate the replacement of plates 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 lower storage component 220 located in the storage component 220 can be exposed, thereby facilitating the gripping component to grip the plates 300 on the lower storage component 220.

[0247] In one embodiment, a second slide rail 281 is connected between the frame 210 and the slider 230, and the second slide rail 281 is along a second direction (see reference). Figure 6As shown by the arrow X, the second slide rail 281 is distributed in the direction indicated by the arrow X. Under the sliding guidance of the second slide rail 281, the frame 210 and the slider 230 are slidably connected. There are multiple second slide rails 281, for example, two second slide rails 281 are located at opposite ends of the slider 230 to improve the sliding stability of the frame 210 and the slider 230.

[0248] In one embodiment, the frame 210 is further provided with a fourth driving member 270, which is connected to the slider 230 and drives the slider 230 to slide relative to the frame 210 in a second direction. The fourth driving member 270 can be a cylinder, linear module, or other components. Automated sliding of the slider 230 can be achieved by driving it with the fourth driving member 270. There can be multiple fourth driving members 270, for example, two fourth driving members 270. Two second slide rails 281 are located at opposite ends of the slider 230 to improve the stability of the sliding of the frame 210 and the slider 230.

[0249] In another embodiment of this application, combined with Figure 6 , Figure 9 and 10 As shown, the frame 210 of the provided feeding device 10 is constructed with a second opening 213 communicating with the receiving space 211. The storage component 220 is slidably connected to the sliding member 230 so that the storage component 220 can enter and exit the receiving space 211 through the second opening 213 in the second direction.

[0250] The second opening 213 can refer to the opening formed by the frame 210, and the storage component 220 and the sliding member 230 can slide relative to each other, so that the storage component 220 can enter and exit the receiving space 211 through the second opening 213 in the second direction. When the storage component 220 moves out of the receiving space 211 through the second opening 213, that is, when the storage component 220 moves out of the frame 210, the storage component 220 is exposed outside the frame 210, which facilitates the loading of the plate 300 of the storage component 220. After the loading is completed, the storage component 220 can be pushed into the receiving space 211 through the second opening 213 for the gripping mechanism 100 to grip.

[0251] By adopting the technical solution of this embodiment, the storage component 220 can be moved out of the accommodating space 211 through the second opening 213, and the storage component 220 is exposed outside the frame 210, which facilitates the loading of the plate 300 of the storage component 220.

[0252] In one embodiment, a door opening assembly 260 is provided at the second opening 213 to facilitate the loading of the plate 300.

[0253] In another embodiment of this application, the first direction of the feeding device 10 is parallel to the second direction.

[0254] 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 component 220 relative to the sliding member 230. With this design, the sliding direction is singular, the structure of the hopper mechanism 200 can be designed to be simpler, and the risk of sliding interference can also be reduced.

[0255] In one embodiment, a second slide rail 281 connects the storage assembly 220 and the slider 230. The second slide rail 281 is distributed along a second direction, and under the sliding guidance of the second slide rail 281, a sliding connection between the storage assembly 220 and the slider 230 is achieved. For example, the second slide rail 281 is connected between the first support plate 2214 and the slider 230, and the side of the first support plate 2214 facing away from the slider 230 is slidably connected to the guide rail 2811 in the second slide rail 281 through a slider 2812 to increase the sliding stability of the storage assembly 220. There may be multiple second slide rails 281, for example, two second slide rails 281 located at opposite ends of the slider 230 to improve the sliding stability of the storage assembly 220 and the slider 230.

[0256] In another embodiment of this application, combined with Figure 6 , Figure 9 and 10 As shown, the hopper mechanism 200 of the provided feeding device 10 also includes a third locking member 240, which is used to lock the connecting sliding member 230 and the storage assembly 220.

[0257] The third locking member 240 can refer to a component that can lock the sliding member 230 and the storage component 220 together. When the third locking member 240 locks the sliding member 230 and the storage component 220, the storage component 220 is fixedly connected to the sliding member 230. In this way, the sliding member 230 slides relative to the frame 210, which can drive the storage component 220 to slide relative to the frame 210, so that the storage component 220 can move back and forth below and to the side of the first opening 212. When the third locking member 240 unlocks the sliding member 230 and the storage component 220, the storage component 220 and the sliding member 230 can slide relative to each other, so that the storage component 220 can slide out of the frame 210 from the second opening 213 for feeding.

[0258] By adopting the technical solution of this embodiment, during the sliding process of the sliding member 230 relative to the frame 210, the third locking member 240 can fix the sliding member 230 and the storage component 220, so that the sliding member 230 can drive the storage component 220 to slide relative to the frame 210, so as to facilitate the gripping component to grip the plate 300 stored on the lower storage component 220.

[0259] In another embodiment of this application, combined with Figure 6 , Figure 9 and 10 As shown, one of the sliding member 230 and the storage component 220 of the provided feeding device 10 is provided with a locking hole 2212, and the other is connected to a third locking member 240. The end of the third locking member 240 is used to insert into the locking hole 2212 to lock the sliding member 230 and the storage component 220.

[0260] It is understood that the sliding member 230 is connected to a third locking member 240, and the locking hole 2212 is provided in the storage assembly 220; or, the storage assembly 220 is connected to a third locking member 240, and the locking hole 2212 is provided in 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. The third locking member 240 can be a cylinder, screw, pin, or other components. For example, the third locking element 240 is a cylinder, which is installed on the sliding element 230. The locking hole 2212 is provided in the support element 221. The piston rod of the cylinder extends out and inserts into the locking hole 2212, thereby locking the sliding element 230 and the support element 221 together. When the piston rod of the cylinder retracts and moves out of the locking hole 2212, the locking of the sliding element 230 and the support element 221 is released. At this time, the support element 221 can be pulled, thereby driving the material storage module 222 to move out of the frame 210 for feeding.

[0261] By adopting the technical solution of this embodiment, the locking method using the third locking member 240 and the locking hole 2212 is simple in structure and easy to process and manufacture.

[0262] In another embodiment of this application, combined with Figures 5-10 As shown, a feeding control method is provided, which includes:

[0263] Receive the first specification information of the plate 300 that the gripping mechanism 100 can grip;

[0264] The second specification information of the plate 300 stored in the storage module 222 of the receiving hopper mechanism 200 is received.

[0265] When the first specification information, the second specification information and the specification information of the target board 300 are consistent, the gripping mechanism 100 is controlled to grip the board 300 stored in the storage module 222 to be retrieved.

[0266] Receiving the first specification information of the plate 300 that the gripping mechanism 100 can grip, it is understood that the gripping mechanism 100 can be the gripping mechanism 100 as described in the above embodiment. By detecting the installation position of the first gripper 121 and the second gripper 122 in the gripping mechanism 100 with the base 110, the distance between the first gripper 121 and the second gripper 122 can be determined. The distance can correspond one-to-one with the specification size information of the plate 300. That is, the specification size information of the plate 300 that the gripping mechanism 100 can grip can be determined by the distance. Therefore, detecting the installation position of the first gripper 121 and the second gripper 122 with the base 110 can... The first specification information of the plate 300 that the gripping mechanism 100 can grip is obtained by conversion. For example, when the first gripper 121 is connected to different first mounting positions 111 on the base 110 through the first adjusting member 123, and the second gripper 122 is connected to different third mounting positions 112 on the base 110 through the second adjusting member 126, so as to change the distance between the first gripper 121 and the second gripper 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 plate 300 that the gripping mechanism 100 can grip can be obtained by conversion.

[0267] The receiving hopper mechanism 200 receives the second specification information of the plate 300 stored in the storage module 222 to be retrieved. It is understood that the hopper mechanism 200 can be the hopper mechanism 200 described in the above embodiment, and the storage module 222 to be retrieved can be the storage module 222 described in the above embodiment. By detecting the installation positions of the first storage component 2221 and the second storage component 2222 in the storage module 222 and the support component 221, the distance between the first storage component 2221 and the second storage component 2222 can be determined, and the distance can correspond to the specification information of the plate 300. One correspondence means that the size information of the plate 300 stored on the storage module 222 can be determined by the spacing. For example, when the second storage component 2222 is fixedly connected to the support component 221, and the first storage component 2221 is connected to the support component 221 at different second mounting positions 2211 to change the spacing between the first storage component 2221 and the second storage component 2222, the second detection module 2224 can obtain the position information of the second detection position, and the second size information of the plate 300 stored in the storage module 222 to be retrieved can be calculated.

[0268] When the first specification information, the second specification information, and the specification information of the target board 300 are consistent, the gripping mechanism 100 is controlled to grip the board 300 stored in the storage module 222. It can be understood that the first specification information of the board 300 that the gripping mechanism 100 can grip, the second specification information of the board 300 stored in the storage module 222 of the hopper mechanism 200, and the specification information of the target board 300 are matched. That is, the gripping mechanism 100 can grip the target board 300, and the storage module 222 stores the target board 300. In this way, the gripping mechanism 100 can stably grip the target board 300 in the storage module 222, thereby accurately transporting it to the subsequent equipment and reducing the error rate of board 300 changeover.

[0269] The specification information of the target board 300 can be manually input into the control device of the storage module 222 for controlling the gripping mechanism 100 to grip the board 300 to be picked up, or it can be read from the storage unit of the control device. This feeding control method can realize the combination of hardware and software. Among them, the control device controls the movement of the components and reads the information from the storage unit, which are relatively mature technologies and will not be described in detail here.

[0270] By adopting the technical solution of this embodiment, it is possible to accurately determine whether the gripping mechanism 100 is capable of gripping the target board 300 and whether the material stored in the storage module 222 is the target board 300. If the first specification information, the second specification information and the specification information of the target board 300 are consistent, that is, the gripping mechanism 100 is capable of gripping the target board 300 and the material stored in the storage module 222 is the target board 300, the gripping mechanism 100 can stably grip the target board 300 in the storage module 222 and accurately transport it to the subsequent equipment, thereby reducing the error rate of board 300 changeover.

[0271] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0272] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A gripping mechanism, characterized by: The utility model relates to a kind of plate clamping device, including, Base, one side of the base is configured with clamping area;And First grabbing component, including first clamp jaw and second clamp jaw, in opposite sides of the clamping area, wherein one side is equipped with the first clamp jaw, the other side is provided with the second clamp jaw; Wherein, at least one of the first clamp jaw and the second clamp jaw is movably connected with the base, so that the spacing between the first clamp jaw and the second clamp jaw is adjustable; In the case that the first clamp jaw is movably connected with the base, the first grabbing component further includes a first adjusting member connected with the first clamp jaw, and the base is configured with a plurality of first mounting positions, the first adjusting member is connected with different first mounting positions, so that the spacing between the first clamp jaw and the second clamp jaw is different; The first grabbing component further includes a first detection module, and the first mounting position connected with the first adjusting member is a first detection position;The first detection module is used to obtain the position information of the first detection position and send the position information of the first detection position; The first detection module includes a first trigger member and a plurality of first detection members, and a plurality of first detection members are arranged one by one corresponding to a plurality of first mounting positions, the first trigger member is connected with the first adjusting 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.

2. The grasping mechanism of claim 1, wherein: The first grabbing component further includes a first locking member, and the first locking member is used to lock the first adjusting member in different first mounting positions.

3. The grasping mechanism of claim 2, wherein: 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 arranged in the first connecting hole and the second connecting hole to lock the first adjusting member in the first mounting position.

4. The gripping mechanism according to any one of claims 1 to 3, 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.

5. The gripping mechanism according to any one of claims 1 to 3, wherein: In the case that the second clamp jaw is movably connected with the base, the movable connection structure of the second clamp jaw and the base is the same as the movable connection structure of the first clamp jaw and the base.

6. The grasping mechanism of any one of claims 1-3, wherein: The first grabbing component further includes a first driving member, and the first driving member connects the first adjusting member and the first clamp jaw, and the first driving member is used to drive the first clamp jaw to move towards the second clamp jaw to clamp the plate in the clamping area.

7. The grasping mechanism of any one of claims 1-3, wherein: The side of the first clamp jaw towards the clamping area is provided with a first protective member for abutting against one side of the plate, and the hardness range of the first protective member is 20HD-100HD;And / or, the side of the second clamp jaw towards the clamping area is provided with a second protective member for abutting against the other side of the plate, and the hardness range of the second protective member is 20HD-100HD.

8. The grasping mechanism of any one of claims 1-3, wherein: The grabbing mechanism further comprises a second grabbing component, the second grabbing component comprising a third gripper and a fourth gripper; in the other opposite side of the clamping area, one side is provided with the third gripper, and the other side is provided with the fourth gripper, at least one of the third gripper and the fourth gripper is movably connected with the base body, so as to adjust the distance between the third gripper and the fourth gripper.

9. The grasping mechanism of claim 8, wherein: In the case that the third gripper is movably connected with the base body, the second grabbing component further comprises a second driving member, the second driving member connecting the third gripper and the base body, and the second driving member is used to drive the third gripper to move, so as to adjust the distance between the third gripper and the fourth gripper. In the case that the fourth gripper is movably connected with the base body, the second grabbing component further comprises a third driving member, the third driving member connecting the fourth gripper and the base body, and the third driving member is used to drive the fourth gripper to move, so as to adjust the distance between the third gripper and the fourth gripper.

10. The grasping mechanism of any one of claims 1-3, wherein: The grabbing mechanism further comprises a moving component, the moving component being connected with the base body, and the moving component is used to drive the base body to move.

11. The grasping mechanism of any one of claims 1-3, wherein: The side of the base body towards the clamping area is provided with a suction member for suctioning a plate member.

12. The grasping mechanism of claim 11, wherein: The suction member comprises a connecting portion and an elastic portion, the connecting portion connecting the base body and the elastic portion, the elastic portion being located at the side of the connecting portion towards the clamping area, and the surface of the elastic portion towards the clamping area is provided with a vacuum suction hole for suctioning the plate member.

13. The grasping mechanism of claim 12, wherein: The side of the base body towards the clamping area is further provided with a limiting member, the limiting member being used to abut against the plate member on the side surface of the clamping area.

14. The grasping mechanism of any one of claims 1-3, wherein: The grabbing mechanism further comprises a distance detection member, the distance detection member being used to detect the distance value between the plate member and the distance detection member; in the case that the distance value is within a preset range, the plate member is located in the clamping area, and the distance detection member is further used to send a grabbing signal for grabbing the plate member.

15. The grasping mechanism of any one of claims 1-3, wherein: The grabbing mechanism further comprises a sensing member, the sensing member being used to sense the plate member in the clamping area.

16. A loading device, characterized by: The feeding device comprises the grabbing mechanism.

17. The loading device of claim 16, wherein: The feeding device further comprises a stockhouse mechanism for storing plate members, the stockhouse mechanism comprising a rack and a stock storage assembly, the stock storage assembly being connected with the rack, and the stock storage assembly is capable of storing plate members of different specifications and sizes.

18. The loading device of claim 17, wherein: The stock storage assembly comprises a support and a stock storage module, the support being connected with the rack; the stock storage module comprises a first stock storage member and a second stock storage member provided on the support, a stock storage area for storing the plate members being formed between the first stock storage member and the second stock storage member; at least one of the first stock storage member and the second stock storage member is movably connected with the support, so that the distance between the first stock storage member and the second stock storage member is adjustable.

19. The loading device of claim 18, wherein: On the basis that the first stock storage member is movably connected with the support, the support is configured with a plurality of second mounting positions, the first stock storage member being connected with different second mounting positions, so that the distance between the first stock storage member and the second stock storage member is different.

20. The loading device of claim 19, wherein: The storage module further comprises a second locking member, which is used to lock the first storage member in different second installation positions.

21. The loading device of claim 19, wherein: The storage module further comprises a second detection module, the second installation position connected with the first storage member is a second detection position; the second detection module is used to acquire position information of the second detection position and send the position information of the second detection position.

22. The loading device of claim 21, wherein: The second detection module comprises a second trigger member and a plurality of second detection members, the plurality of second detection members are arranged one by one corresponding to the plurality of second installation positions, the second trigger member is connected with 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.

23. The loading device of claim 19, wherein: In the case that the second storage member is movably connected with the support member, the movable connection structure of the second storage member and the support member is the same as the movable connection structure of the first storage member and the support member.

24. The loading device of claim 17, wherein: The stockhouse mechanism comprises a plurality of storage assemblies, the plurality of storage assemblies are located in an accommodating space formed by the rack, a first opening for the grabbing mechanism to enter the accommodating space is configured at the top of the rack, and the plurality of storage assemblies are arranged in a stacked manner along the height of the rack. Each storage assembly is connected with a sliding member, and each sliding member is slidably connected with the rack, so that the sliding member can drive the corresponding storage assembly to slide between below the first opening and the side of the first opening in a first direction.

25. The loading device of claim 24, wherein: The rack is configured with a second opening communicating with the accommodating space, and the storage assembly is slidably connected with the sliding member, so that the storage assembly can enter or exit the accommodating space through the second opening in a second direction.

26. The loading device of claim 25, wherein: The first direction is parallel to the second direction.

27. The loading device of claim 24, wherein: The stockhouse mechanism further comprises a third locking member, which is used to lock the sliding member and the storage assembly.

28. The loading device of claim 27, wherein: One of the sliding member and the storage assembly is provided with a locking hole, and the other is connected with the third locking member, an end of the third locking member is used to be inserted into the locking hole, so as to lock the sliding member and the storage assembly.

29. A method of feed control, the method comprising: The feeding control method comprises: receiving first specification information of a plate member capable of being grabbed by a grabbing mechanism; receiving second specification information of a plate member stored in a storage module of a stockhouse mechanism to be taken; in the case that the first specification information, the second specification information and specification information of a target plate member are consistent, controlling the grabbing mechanism to grab the plate member stored in the storage module to be taken.

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