Grabbing device

Abstract

The invention relates to a gripping device which comprises a main body part (1), two ends of which are installed and fixed through connecting parts (2); the driving part (4) is mounted at the bottom of the main body part (1) and comprises a plurality of rotors, and the driving part (4) can move along a guide piece (5) mounted on the main body part (1); the mounting surfaces of the grabbing parts (3) are fixedly mounted on the rotor of the driving part (4) respectively; the multiple grabbing parts (3) can move in a reciprocating mode along the driving part (4) and the guiding piece (5) in an asynchronous mode. The grabbing parts can do different actions at the same time, and the takt time can be effectively shortened.

Description

Technical Field

[0001] The present disclosure relates to the technical field of photovoltaic module production, and in particular provides a grasping device. Background Art

[0002] As a gripping device, the gantry truss structure is mainly used for gantry lifting equipment or gantry mechanical automation module structure, and is widely used in automated production lines. The connection and installation method between the manipulator on the span beam of the gantry truss structure and the drive module plays a decisive role in the main load-bearing capacity of the entire machine and the long-term stable operation of the equipment. Therefore, factors such as the rationality of its installation method and connection structure become key issues for the equipment. In the past, the connection between the manipulator on the span beam of the gantry truss and the drive module usually adopted a working method driven by a screw module, a belt module, etc. These structures have poor stability and low precision compared to situations with large loads and high speeds. In addition, these structures are difficult to take into account for multiple grippers that need to perform different actions (different directions and speeds, etc.) at the same time.

[0003] That is, the existing working methods of connecting screw modules and belt modules, etc., are difficult to balance large effective loads and high operating speeds; in addition, when there are multiple grippers on the same module, it is difficult for these grippers to perform different actions (different directions and speeds, etc.) at the same time. This makes it difficult to meet the functional requirements of automation equipment and the beat needs of production lines. Summary of the invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a grasping device, which is driven by a linear motor. This type of motor has a strong load capacity and a fast speed. Multiple movers are configured on the same linear motor, which are respectively connected to corresponding manipulators. Different manipulators on the same linear motor can grasp various light or heavy loads respectively, and quickly reach their respective different working positions, meeting the functional requirements and beat requirements of the equipment.

[0005] In a first aspect, some embodiments of the present invention provide a grasping device, comprising: a main body portion, both ends of which are mounted and fixed by connecting portions; a driving portion, which is mounted on the bottom of the main body portion and comprises a plurality of movers, and the driving portion can move along a guide member mounted on the main body portion; a plurality of grasping portions, whose mounting surfaces are respectively fixedly mounted on the movers of the driving portion; and the plurality of grasping portions can reciprocate along the driving portion and along the guide member in an asynchronous manner.

[0006] The embodiment of the present invention adopts a working mode in which multiple movers drive the grasping parts respectively, which can perform different actions at the same time and effectively reduce the cycle time.

[0007] In some embodiments, the main body has a notch in its longitudinal direction; the gripping portion further includes a main body power part module, and the main body power part module is placed in the notch of the main body.

[0008] In some embodiments, the connecting part is fixed to the ground; and the driving part is multiple and is a linear motor.

[0009] In some embodiments, the connecting portion is mounted on a base module.

[0010] The present invention provides a grabbing device. The main advantages are as follows: (1) The present invention adopts a multi-moving substructure, which can act separately and reach its ideal working position, saving cycle time; (2) The present invention can operate stably at high speed while bearing a large load; (3) The structure of the present invention is more balanced in force, simpler in structure, and more convenient to install and debug; (4) The number of structural parts of the present invention is greatly reduced, and the cost is lower; (5) The equipment structure of the present invention is simpler and more convenient to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the description of the embodiments or the prior art are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 It is an overall front view of the grabbing device involved in the present invention;

[0014] Figure 2 It is an overall side view of the grabbing device involved in the present invention;

[0015] Figure 3 It is an overall top view of the grabbing device involved in the present invention.

[0016] In the figure: 1-main body, 2-connecting part, 3-grasping part, 4-driving part, 5-guide member, 11-notch. DETAILED DESCRIPTION

[0017] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the embodiments of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0018] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0019] At least in order to realize a structure that drives multiple gripping parts separately so that they can act separately and reach an ideal working position to meet the above-mentioned technical problem of saving cycle time, the first embodiment of the present application provides a gripping device, including: a main body, both ends of which are installed and fixed through a connecting part; a driving part, which is installed at the bottom of the main body and includes multiple movers, and the driving part can move along a guide member installed on the main body; multiple gripping parts, whose mounting surfaces are respectively fixed on the movers of the driving part; and the multiple gripping parts can reciprocate along the driving part and along the guide member in an asynchronous manner.

[0020] It can be understood that the gripping device provided by the embodiment of the present application can effectively improve the technical defects of the gripping device using related technologies.

[0021] Combine the following Figure 1-Figure 3 The above grabbing device is exemplified and the structure of the grabbing device is exemplified. It should be noted that those skilled in the art can design different grabbing devices based on the concept of the above grabbing device according to specific needs. Figure 1-Figure 3 device.

[0022] First, briefly introduce the Figure 1-Figure 3 corresponding components or units.

[0023] Reference numeral 1 is used to characterize the main body, which is a beam; reference numeral 2 is used to characterize the connecting portion, which is a connecting seat; reference numeral 3 is used to characterize the grasping portion, which is a manipulator; reference numeral 4 is used to characterize the driving portion, which is a linear motor; reference numeral 5 is used to characterize the guide member, which is a linear guide rail; reference numeral 11 is used to characterize the notch, which is the beam notch.

[0024] Next, the gripping devices of some embodiments of the present application are exemplarily described in combination with the above-mentioned figure marks.

[0025] like Figure 1 and Figure 2 As shown, the grasping device provided by the embodiment of the present invention includes: a main body 1, both ends of which are installed and fixed by a connecting part 2; a driving part 4, which is installed at the bottom of the main body 1 and includes a plurality of movers, and the driving part 4 can move along a guide member 5 installed on the main body 1; a plurality of grasping parts 3, whose mounting surfaces are respectively fixedly installed on the movers of the driving part 4; and the plurality of grasping parts 3 can reciprocate along the driving part 4 and along the guide member 5 in an asynchronous manner.

[0026] That is, the plurality of gripping parts 3 can move left and right along the driving part 4 and along the guide member 5 (eg Figure 1-Figure 3 As shown), the multiple gripping parts 3 can move asynchronously or separately.

[0027] Here, the driving unit 4 may be a linear motor, but other motors may also be used. The driving unit 4 may be one or more (eg, three).

[0028] Here, the guide member 5 may be a linear guide rail, but other guide components may also be used.

[0029] Furthermore, the main body 1 has a notch in its longitudinal direction; the gripping part 3 also includes a main body power part module, which is placed in the notch of the main body 1. That is, the main body power part module of the gripping part 3 is placed in the main body 1 ( Figure 3 The notch of the gripping portion 3 is provided to balance the force on the gripping portion 3.

[0030] In addition, the connection part 2 is fixed to the ground; the driving part 4 is multiple and is a linear motor, wherein the middle part of the linear motor is a movable mover, and the rest is an immovable part. The two connection parts 2 are completely fixed to the ground at both ends of the main body 1, and are completely fixed to the main body 1 at both ends.

[0031] Of course, the connecting portion 2 can also be installed on a base module (not shown) according to installation requirements.

[0032] The present invention adopts a linear motor drive, and a plurality of movable movers located in the middle part of the linear motor respectively drive the working mode of the grasping part (manipulator), which can perform different actions at the same time and effectively reduce the beat time.

[0033] The present invention adopts a linear motor driven structure, which can withstand large loads and run at high speeds, but is not limited to linear motor drives, nor is it limited to other similar drive modules that can drive multiple movers and achieve different actions at the same time.

[0034] The drive of the grabbing part of the present invention is placed in the middle frame of the beam, and the linear motor and the linear guide rail are placed on both sides respectively, which can effectively balance the mechanical stress and ensure the stability of the structure and function.

[0035] The present invention is used for gantry truss equipment of photovoltaic automation production lines, but this invention is not limited to use in photovoltaic automation production equipment, nor is it limited to use in the new energy industry or pan-semiconductor equipment, and is not limited to use in other automation equipment.

[0036] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0038] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0039] For those skilled in the art, any modifications and changes made according to the above-mentioned embodiments of the present invention should be included in the protection scope of the present invention without departing from the spirit of the present invention.

Claims

1. A gripping device, characterized in that: include: A main body (1) with two ends thereof being mounted and fixed via connecting parts (2); A driving part (4) is installed at the bottom of the main body (1) and comprises a plurality of movers, and the driving part (4) is capable of moving along a guide member (5) installed on the main body (1); A plurality of gripping parts (3), the mounting surfaces of which are respectively fixedly mounted on the movers of the driving part (4); The plurality of gripping parts (3) are capable of reciprocating along the driving part (4) and along the guide member (5) respectively in an asynchronous manner.

2. The gripping device according to claim 1, characterized in that: The main body (1) has a notch in its longitudinal direction; The gripping portion (3) further comprises a main body power part module, and the main body power part module is placed in the notch of the main body (1).

3. The gripping device according to claim 1, characterized in that: The connecting part (2) is fixed to the ground; The driving parts (4) are multiple and are linear motors.

4. The gripping device according to claim 1, characterized in that: The connecting portion (2) is mounted on the base module.

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