Guide plate and manipulator

Abstract

The guide plate is provided with a plurality of guide rails arranged in the first direction, at least one of the guide rails is in a broken line shape and comprises a linear section, and the linear section is parallel to the second direction and / or approaches to the linear section. Wherein one of the first direction and the second direction is the length direction of the guide plate, and the other one is the width direction of the guide plate. According to the embodiment, the guide rail is in a broken line shape and comprises a straight line section and / or an approaching straight line section. In this way, the clamping jaw assembly can be stably located on the straight line section or close to the straight line section, and the clamping jaw assembly can accurately clamp a workpiece.

Description

Technical Field

[0001] The utility model relates to the field of automated machinery, in particular to a guide plate and a manipulator. Background Art

[0002] In the new energy vehicle battery cell module assembly production line, in order to grab the battery cells at different workstations, a variable-distance manipulator is used to grab the battery cells at different workstations.

[0003] In the related art, the manipulator includes a clamping jaw assembly and a pitch-changing plate. The pitch-changing plate is provided with a guide groove, and the guide groove guides the movement of the clamping jaw assembly.

[0004] However, the above structure has a problem of poor stability, that is, when the guide groove guides the clamping jaw assembly to move to a preset position, the clamping jaw assembly has a shaking problem, which further affects the accuracy of grasping the workpiece. Utility Model Content

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a guide plate and a manipulator, which can make the clamping jaw assembly stably in the guide groove, and help the clamping jaw assembly to accurately clamp the workpiece.

[0006] According to the guide plate of the embodiment of the first aspect of the utility model, a plurality of guide rails arranged along a first direction are provided on the guide plate.

[0007] At least one of the plurality of guide rails is in a broken line shape, including a straight line segment, the straight line segment is parallel to the second direction, and / or approaches a straight line segment. Wherein, one of the first direction and the second direction is the length direction of the guide plate, and the other is the width direction of the guide plate.

[0008] In this embodiment, the guide track is in a broken line shape, and the guide track includes a straight line segment and / or a nearly straight line segment. In this way, the clamping jaw assembly can be stably located in the straight line segment or the nearly straight line segment, which helps the clamping jaw assembly to accurately clamp the workpiece.

[0009] According to some embodiments of the present invention, the straight line segment is located at an end or a middle portion of the guide track.

[0010] According to some embodiments of the present utility model, when one of the straight segments is located in the middle of the guide track to divide the guide track, the guide track includes a first segment, the straight segment and a second segment in sequence, and the first segment and the second segment are arranged in parallel;

[0011] When N straight line segments, N≥2, N is a positive integer, are located in the middle of the guide track, and each straight line segment is arranged in sequence along the extension direction of the guide track to divide the guide track, and the guide track includes the first segment, the first straight line segment,..., the Nth segment, the Nth straight line segment, and the N+1th segment in sequence, and any two of the first segment to the N+1th segment are arranged in parallel.

[0012] According to some embodiments of the present invention, when one of the straight line segments is located in the middle of the guide track to divide the guide track, the guide track sequentially includes a first segment, the straight line segment and a second segment, and an angle between the first segment and the straight line segment is smaller than an angle between the second segment and the straight line segment;

[0013] When N straight line segments, N≥2, N is a positive integer, are located in the middle of the guide track, and each straight line segment is sequentially arranged at intervals along the extension direction of the guide track to divide the guide track, the guide track sequentially includes the first segment, the first straight line segment, ..., the Nth segment, the Nth straight line segment, and the N+1th segment,

[0014] The angle between the first segment and the first straight line segment gradually increases to the angle between the Nth segment and the Nth straight line segment.

[0015] According to some embodiments of the present invention, when one of the straight line segments is located in the middle of the guide track, the straight line segment is connected to the first segment and the second segment in a smooth transition;

[0016] When N straight line segments are located in the middle of the guide track, the i-th straight line segment is smoothly connected with the i-th segment and the i+1-th segment respectively, 1≤i≤N, and i is a positive integer.

[0017] According to some embodiments of the present invention, the approaching straight line segment is located in the middle of the guide track.

[0018] According to some embodiments of the present invention, each of the guide rails is in a broken line shape, and each of the guide rails has a first end and a second end.

[0019] The first end of each of the guide rails is located on a straight line in the first direction, and the spacing between any two adjacent first ends of the guide rails is equal and is the first spacing L1; the second end of each of the guide rails is located on another straight line in the first direction, and the spacing between any two adjacent second ends of the guide rails is equal and is the second spacing L2, L2≠L1.

[0020] According to some embodiments of the utility model, a plurality of the guide rails form a guide rail unit, and the guide plate (20) is provided with two guide rail units arranged along the first direction, and the two guide rail units are symmetrically arranged about the center line of the second direction.

[0021] According to some embodiments of the present invention, the length of the straight line segment is d1, 0mm<d1≤20mm, and the length of the approaching straight line segment is d2, 0mm<d2≤20mm.

[0022] According to the second aspect of the present invention, the robot comprises a clamping jaw assembly and the guide plate of the first aspect. The clamping jaw assembly is provided with a plurality of guide rails on the guide plate corresponding to the clamping jaw assembly one by one, each of the clamping jaw assemblies is provided with a sliding part, and the sliding part of the clamping jaw assembly is slidably matched with the guide rail.

[0023] According to some embodiments of the present invention, a transmission mechanism and a guide mechanism are also included.

[0024] The power output end of the transmission mechanism performs linear reciprocating motion along the second direction, and the power output end of the transmission mechanism is connected to the guide plate; the guide mechanism cooperates with the guide of the clamping jaw assembly to enable the clamping jaw assembly to move along the first direction.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 is a structural schematic diagram of a first guide plate according to an embodiment of the utility model;

[0028] Figure 2 is a structural schematic diagram of a second guide plate according to an embodiment of the utility model;

[0029] Figure 3 is a structural schematic diagram of a first chute according to an embodiment of the utility model;

[0030] Figure 4 is a structural schematic diagram of a second first chute according to an embodiment of the utility model;

[0031] Figure 5 is a structural schematic diagram of a third first chute according to an embodiment of the utility model;

[0032] Figure 6 is a structural schematic diagram of a fourth first chute according to an embodiment of the utility model;

[0033] Figure 7 is a structural schematic diagram of a fifth first chute according to an embodiment of the utility model;

[0034] Figure 8 is a structural schematic diagram of a sixth first chute according to an embodiment of the utility model;

[0035] Fig. 9 is a structural schematic diagram of a seventh first chute according to an embodiment of the utility model;

[0036] Fig.10 is a schematic structural diagram of an eighth first chute according to an embodiment of the utility model;

[0037] Fig.11 It is a structural schematic diagram of a transmission mechanism according to an embodiment of the utility model;

[0038] Fig.12 It is a structural schematic diagram of the connection between the clamping jaw assembly and the guide plate according to an embodiment of the utility model;

[0039] Fig.13 yes Fig.12 An enlarged schematic diagram of a local A;

[0040] Fig.14 is a structural schematic diagram of a clamping jaw assembly according to an embodiment of the utility model;

[0041] Fig.15 is a front view of a manipulator according to an embodiment of the utility model;

[0042] Fig.16 The axonometric view of the manipulator according to the embodiment of the utility model Figure 1 ;

[0043] Fig.17 The axonometric view of the manipulator according to the embodiment of the utility model Figure 2 ;

[0044] Fig.18 yes Fig.17 An enlarged schematic diagram of a local B;

[0045] Reference numerals:

[0046] Transmission mechanism 10;

[0047] Guide plate 20, first slide groove 21, first slide groove 21a, first slide groove 21b, first slide groove 21c, first slide groove 21d, first slide groove 21e, first slide groove 21f, first slide groove 21g, first slide groove 21h;

[0048] The second chute 22, the second chute 22a, the third chute 23, the third chute 23a, the fourth chute 24, the fourth chute 24a;

[0049] The first paragraph was issued in 2011, the second paragraph in 2012, the third paragraph in 2013, and the fourth paragraph in 2014;

[0050] Straight line segment 202, first straight line segment 2021, second straight line segment 2022, third straight line segment 2023;

[0051] The approaching straight line segment 203, the first approaching straight line segment 2031, the second approaching straight line segment 2032, and the third approaching straight line segment 2033;

[0052] Jaw assembly 30, jaw assembly 30a, jaw assembly 30b, jaw assembly 30c, jaw assembly 30d, jaw assembly 30e, jaw assembly 30f, jaw assembly 30g, jaw assembly 30h;

[0053] The body 31, two sliders 32, a clamping jaw mounting plate 33, a clamping jaw 34, and a pulley 35;

[0054] Support frame 40 , first guide rail 51 , second guide rail 52 , third guide rail 53 , fourth guide rail 54 . DETAILED DESCRIPTION

[0055] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0056] The disclosure below provides many different embodiments or examples for realizing different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. Of course, they are merely examples, and the purpose is not to limit the utility model. In addition, the utility model can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the utility model provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the applicability of other processes and / or the use of other materials.

[0057] like Figure 1-Figure 18 As shown, a guide plate 20 according to an embodiment of the first aspect of the utility model is provided with a plurality of guide rails arranged along a first direction.

[0058] At least one of the plurality of guide tracks is in a broken line shape, including a straight line segment 202 , the straight line segment 202 is parallel to the second direction, and / or approaches a straight line segment 203 .

[0059] Among them, one of the first direction and the second direction is the length direction of the guide plate 20 , and the other is the width direction of the guide plate 20 .

[0060] It should be noted that in the new energy vehicle battery cell module assembly production line, in order to transfer multiple battery cells from the first station to the second station at the same time, the distance between two adjacent battery cells located at the first station is the first distance, and the distance between two adjacent battery cells located at the second station is the second distance.

[0061] Therefore, a manipulator is used to transport the battery cells. In practical applications, the manipulator includes a guide plate 20, a transmission mechanism 10, a guide mechanism and a plurality of clamping jaw assemblies 30. A plurality of guide tracks are provided on the guide plate 20, and the plurality of guide tracks can be arranged in sequence along the length direction of the guide plate 20, and the plurality of guide tracks can be arranged in sequence along the width direction of the guide plate 20. The guide tracks are neither parallel nor intersecting, that is, the spacing between two adjacent guide tracks gradually increases or decreases along the second direction. In this way, the manipulator can grab a plurality of battery cells under the first station, and can also grab a plurality of battery cells under the second station.

[0062] The guide rails on the guide plate 20 correspond to the clamping jaw assemblies 30 one by one. Each clamping jaw assembly 30 is provided with a sliding portion, and the sliding portion of the clamping jaw assembly 30 is slidably matched with the guide rails.

[0063] In detail, Figure 1 As shown, a plurality of guide rails can be arranged in sequence along the C1 direction, and the C1 direction is the length direction of the guide plate 20. Each guide rail is a long strip-shaped slide. The plurality of guide rails include a first slide 21, a second slide 22, a third slide 23 and a fourth slide 24, and any two of the first slide 21, the second slide 22, the third slide 23 and the fourth slide 24 are not parallel or intersecting, that is, the spacing between any two of the first slide 21, the second slide 22, the third slide 23 and the fourth slide 24 gradually increases along the second direction. It should be noted that, in addition to the long strip-shaped slide, the guide rail can also be other suitable structures, such as an I-shaped track, a T-shaped track, etc.

[0064] like Fig.12 As shown, the clamping jaw assembly 30 corresponds to the sliding groove one by one, that is, the first sliding groove 21 corresponds to the clamping jaw assembly 30a, the second sliding groove 22 corresponds to the clamping jaw assembly 30b, the third sliding groove 23 corresponds to the clamping jaw assembly 30c, and the fourth sliding groove 24 corresponds to the clamping jaw assembly 30d.

[0065] like Figure 12-18As shown, each clamping jaw assembly 30 includes a body 31, two sliders 32, a pulley 35, a clamping jaw mounting plate 33 and a clamping jaw 34. A slider 32 is mounted on each end of the body 31, the pulley 35 is connected to one surface of the body 31, the pulley 35 is inserted into the slide groove, and the pulley 35 and the slide groove are slidably matched; the clamping jaw mounting plate 33 is connected to the other surface of the body 31, and the clamping jaw 34 is connected to the clamping jaw mounting plate 33. The above-mentioned pulley 35 is the sliding part of the clamping jaw assembly 30.

[0066] like Fig.15 and 16 As shown, the guide mechanism includes a first guide rail 51, a second guide rail 52, a third guide rail 53 and a fourth guide rail 54 arranged in sequence along the vertical direction. The first guide rail 51, the second guide rail 52, the guide plate 20, the third guide rail 53, and the fourth guide rail 54 are installed on the same side of the support frame 40 in sequence.

[0067] The clamping jaw assembly 30a and the clamping jaw assembly 30c are located at the same height. The upper slider 32 of the clamping jaw assembly 30a and c is installed on the second guide rail 52, and the slider 32 and the second guide rail 52 are slidably matched; the lower slider 32 is installed on the fourth guide rail 54, and the slider 32 and the fourth guide rail 54 are slidably matched, so that the clamping jaw assembly 30a and c can move along the extension direction of the second and fourth guide rails as much as possible. In this way, the second and fourth guide rails guide the clamping jaw assembly 30a and c, so that the clamping jaw assembly 30a and c can slide freely in the horizontal direction to avoid the problem of jamming.

[0068] The clamping jaw assembly 30b and the clamping jaw assembly 30d are located at the same height. The upper slider 32 of the clamping jaw assembly 30b and d is installed on the first guide rail 51, and the slider 32 and the first guide rail 51 are slidably matched; the lower slider 32 is installed on the third guide rail 53, and the slider 32 and the third guide rail 53 are slidably matched, so that the clamping jaw assembly 30b and d can move along the extension direction of the first and third guide rails. In this way, the first and third guide rails guide the clamping jaw assembly 30b and d, so that the clamping jaw assembly 30b and d can slide freely in the horizontal direction to avoid the problem of jamming.

[0069] Working principle of the robot: Fig.11As shown, the power output end of the transmission mechanism 10 reciprocates in the vertical direction, and then the guide plate 20 reciprocates in the vertical direction. When the guide plate 20 moves upward in the vertical direction, the first slide groove 21 on the guide plate 20 slides with the pulley 35 of the clamping jaw assembly 30a, the second slide groove 22 slides with the pulley 35 of the clamping jaw assembly 30b, the third slide groove 23 slides with the pulley 35 of the clamping jaw assembly 30c, and the fourth slide groove 24 slides with the pulley 35 of the clamping jaw assembly 30d; at the same time, the second and fourth guide rails guide the clamping jaw assemblies 30a and c, and the first and third guide rails guide the clamping jaw assemblies 30b and d. Therefore, the indirect connection between the clamping jaw assembly 30a and the clamping jaw assembly 30b increases, the indirect connection between the clamping jaw assembly 30b and the clamping jaw assembly 30c increases, and the indirect connection between the clamping jaw assembly 30c and the clamping jaw assembly 30d increases. On the contrary, when the guide plate 20 moves downward in the vertical direction, the distance between the clamping jaw assembly 30a and the clamping jaw assembly 30b is reduced, the distance between the clamping jaw assembly 30b and the clamping jaw assembly 30c is reduced, and the distance between the clamping jaw assembly 30c and the clamping jaw assembly 30d is reduced. In this way, the distance between two adjacent clamping jaw assemblies 30 can be adjusted so that each clamping jaw assembly 30 can clamp the workpiece. For example, the workpiece can be a battery cell in a new energy vehicle, or other parts.

[0070] In the related art, the slide groove is in the shape of an inclined straight line. When the inclination of the slide groove approaches the extension direction of the first, second, third and fourth guide rails, that is, the horizontal direction, the pulley 35 of the clamping jaw assembly 30 slides to the preset position of the slide groove. Since the extension direction of the first, second, third and fourth guide rails is the horizontal direction, the clamping jaw assembly 30 has the problem of shaking in the horizontal direction at the preset position.

[0071] Based on the above problems, at least one of the first slide groove 21, the second slide groove 22, the third slide groove 23 and the fourth slide groove 24 is in a broken line shape, including a straight line segment 202 and / or an approaching straight line segment 203, the straight line segment 202 is parallel to the second direction, and the angle α between the approaching straight line segment 203 and the second direction is 0°<α≤30°.

[0072] like Figure 2 As shown, the first slide groove 21 is the first slide groove 21a, the second slide groove 22 is the second slide groove 22a, the third slide groove 23 is the third slide groove 23a, and the fourth slide groove 24 is the fourth slide groove 24a. The first slide groove 21a to the fourth slide groove 24a are all in a broken line shape, and the first slide groove 21a to the fourth slide groove 24a all include a straight line segment 202.

[0073] Take the first slide groove 21a as an example: the first slide groove 21a can be as follows Figure 3As shown, the first slide 21a includes a first end (upper end) and a second end (lower end), and the first slide 21a includes three straight segments 202, one straight segment 202 is located at the first end of the first slide 21a, another straight segment 202 is located at the second end of the first slide 21a, and another straight segment 202 is located in the middle of the first slide 21a. When the pulley 35 of the clamping jaw assembly 30a slides to the upper straight segment 202, the pulley 35 of the clamping jaw assembly 30a is restricted by the straight segment 202, limiting the horizontal degree of freedom of the clamping jaw assembly 30a, so that the clamping jaw assembly 30a can be stably in the current position. Similarly, the clamping jaw assembly 30a can be stably in the middle or lower straight segment 202.

[0074] Furthermore, if Figure 2 As shown, the first end of the first slide groove 21a, the first end of the second slide groove 22a, the first end of the third slide groove 23a, and the first end of the fourth slide groove 24a are all located on a first direction straight line ( Figure 2 (as shown by the middle dotted line), the spacing between the first ends of any two adjacent ones of the first sliding groove 21a to the fourth sliding groove 24a is equal and is the first spacing L1.

[0075] The second end of the second slide groove 22a, the second end of the second slide groove 22a, the second end of the third slide groove 23a, and the second end of the fourth slide groove 24a are all located on another first direction straight line ( Figure 2 (as shown by the middle dotted line), the spacing between the second ends of any two adjacent ones of the first sliding groove 21a to the fourth sliding groove 24a is equal and is the second spacing L2, L2>L1.

[0076] The straight line segment 202 in the middle of the second slide groove 22a, the straight line segment 202 in the middle of the second slide groove 22a, the straight line segment 202 in the middle of the third slide groove 23a, and the straight line segment 202 in the middle of the fourth slide groove 24a are all located on another first direction straight line ( Figure 2 (shown by the middle dotted line), the spacing between the straight line segments 202 in the middle of any two adjacent ones of the first sliding groove 21a to the fourth sliding groove 24a is equal and is the third spacing L3, L1<L3<L2.

[0077] It should be noted that the guide plate 20 may be in a regular shape, for example, the guide plate 20 is a rectangular plate.

[0078] like Figure 2 As shown, the first slide groove 21a to the fourth slide groove 24a are defined to form a guide track unit ( Figure 2 The guide plate 20 is provided with two guide track units, the two guide track units are arranged along the first direction, and the two guide track units are symmetrically arranged about the center line D of the second direction, and the center line D of the second direction is the center line of the guide plate 20 in the width direction.

[0079] Correspondingly, if Figure 2 As shown, another fourth slide groove 24a corresponds to the clamping jaw assembly 30e, another third slide groove 23a corresponds to the clamping jaw assembly 30f, another second slide groove 22a corresponds to the clamping jaw assembly 30g, and another first slide groove 21a corresponds to the clamping jaw assembly 30h.

[0080] In some embodiments, the first chute 21, the second chute 22, the third chute 23 and the fourth chute 24 are all in a broken line shape, and the first chute 21 to the fourth chute 24 all include a straight line segment 203. The angle α between the straight line segment 203 and the second direction is 0°<α≤30°. α can be 1°, α can be 2°, α can be 4°, α can be 5°, α can be 6°, α can be 8°, α can be 10°, α can be 13°, α can be 15°, α can be 16°, α can be 17°, α can be 18°, α can be 20°, α can be 25°, α can be 30°. This embodiment is not listed one by one, and those skilled in the art can select a suitable angle according to actual conditions. Of course, it can be understood that the range of α can be between 0°<α≤-30°.

[0081] Preferably, 0°<α≤15°

[0082] The first chute 21 is the first chute 21b, as shown in FIG. Figure 4 As shown, an example is given:

[0083] like Figure 4 As shown, the first slide slot 21b includes two straight segments 202 and an approaching straight segment 203, one straight segment 202 is located at the upper end of the first slide slot 21b, the other straight segment 202 is located at the lower end of the first slide slot 21b, and the approaching straight segment 203 is located in the middle of the first slide slot 21b. When the pulley 35 of the clamping jaw assembly 30a slides to the approaching straight segment 203, the pulley 35 of the clamping jaw assembly 30a is restricted by the approaching straight segment 203, limiting the horizontal degree of freedom of the clamping jaw assembly 30a, so that the clamping jaw assembly 30a can be stably in the current position.

[0084] In summary, the guide track is in a broken line shape, including a straight line segment 202 and / or a straight line segment 203. In this way, the clamping jaw assembly 30 can be stably located in the straight line segment 202 or the straight line segment 203, which helps the clamping jaw assembly 30 to accurately clamp the workpiece.

[0085] In some embodiments of the present invention, the straight line segment 202 is located at the end or the middle of the guide track; the approaching straight line segment 203 is located in the middle of the guide track.

[0086] In a specific embodiment, Figure 4As shown, the first slide groove 21b includes two straight segments 202 and one approaching straight segment 203, one straight segment 202 is located at the upper end of the first slide groove 21b, the other straight segment 202 is located at the lower end of the first slide groove 21b, and the approaching straight segment 203 is located in the middle of the first slide groove 21b. The first slide groove 21b includes an upper straight segment 202, a first segment 2011, an approaching straight segment 203, a second segment 2012 and a lower straight segment 202 in sequence. The approaching straight segment 203 allows the first segment 2011 and the second segment 2012 to be connected together in a relatively smooth transition, and the upper straight segment 202 can be connected to the first segment 2011 in a relatively smooth transition, and the lower straight segment 202 can be connected to the second segment 2012 in a relatively smooth transition, which helps the first slide groove 21b in a broken line shape to slide with the pulley 35 of the clamping jaw assembly 30a, thereby avoiding the pulley 35 of the clamping jaw assembly 30a from getting stuck at the transition point of the first slide groove 21b.

[0087] The transition connection between the upper straight segment 202 and the first segment 2011 is rounded, the transition connection between the first segment 2011 and the approaching straight segment 203 is rounded, the transition connection between the approaching straight segment 203 and the second segment 2012 is rounded, and the transition connection between the second segment 2012 and the lower straight segment 202 is rounded. This further facilitates the sliding cooperation between the first zigzag slot 21b and the pulley 35 of the clamping jaw assembly 30a.

[0088] In some embodiments of the present invention, when a straight line segment 202 is located in the middle of the guide track to divide the guide track, the guide track includes a first segment 2011 and a second segment 2012, and the first segment 2011 and the second segment 2012 are arranged in parallel.

[0089] When N straight segments 202, N ≥ 2, N is a positive integer, are located in the middle of the guide track. Each straight segment 202 is arranged in sequence along the extension direction of the guide track to divide the guide track. The guide track includes a first segment 2011, a first straight segment 2021, ..., an Nth segment, an Nth straight segment and an N+1th segment, and any two of the first segment 2011 to the N+1th segment are arranged in parallel.

[0090] It should be noted that, taking N=3 as an example, the guide plate 20 is provided with a first slide groove 21, a second slide groove 22, a third slide groove 23 and a fourth slide groove 24, and the first slide groove 21, the second slide groove 22, the third slide groove 23 and the fourth slide groove 24 are sequentially arranged in a first direction. The first slide groove 21, the second slide groove 22, the third slide groove 23 and the fourth slide groove 24 are each provided with three straight line segments 202, and the first slide groove 21 is the first slide groove 21c, as shown in FIG. Figure 5 As shown, an example is given:

[0091] like Figure 5As shown, the first slide groove 21c includes the first segment 2011, the first straight segment 2021, the second segment 2012, the second straight segment 2022, the third segment 2013, the third straight segment 2023 and the fourth segment 2014 in sequence, the angle between the first segment 2011 and the first straight segment 2021, the angle between the second segment 2012 and the second straight segment 2022, and the angle between the third segment 2013 and the third straight segment 2023 are all equal, and any two of the first segment 2011 to the fourth segment 2014 are arranged in parallel.

[0092] Of course, it can be understood that, in some embodiments, the first slide groove 21 can be provided with three approaching straight line segments 203, and the first slide groove 21 is the first slide groove 21e, such as Figure 7 As shown. The first slide groove 21e includes the first section 2011, the first approaching straight line segment 2031, the second section 2012, the second approaching straight line segment 2032, the third section 2013, the third approaching straight line segment 2033 and the fourth section 2014 in sequence, and the angle α between any one of the first approaching straight line segment 2031, the second approaching straight line segment 2032 and the third approaching straight line segment 2033 and the second direction C2 is equal. The angle between the first section 2011 and the first approaching straight line segment 2031, the angle between the second section 2012 and the second approaching straight line segment 2032, and the angle between the third section 2013 and the third approaching straight line segment 2033 are all equal, and any two of the first section 2011 to the fourth section 2014 are arranged in parallel. With this arrangement, the various transition connections of the first slide groove 21e in the shape of a broken line can be smoothly connected. In other embodiments, the first slide groove 21 can be a first slide groove 21f, such as Figure 8 As shown, the angle between the first approaching straight line segment 2031 and the second direction C2 is less than the angle between the second approaching straight line segment 2032 and the second direction C2, and the angle between the third approaching straight line segment 2033 and the second direction C2. Any two of the first segment 2011 to the fourth segment 2014 are arranged in parallel.

[0093] In some embodiments of the utility model, when a straight segment 202 is located in the middle of the guide track to divide the guide track, the guide track sequentially includes a first segment 2011, a straight segment 202 and a second segment 2012, and the angle between the first segment 2011 and the straight segment 202 is smaller than the angle between the second segment 2012 and the straight segment 202.

[0094] When N straight line segments 202, N ≥ 2, N is a positive integer, are located in the middle of the guide track. The straight line segments 202 are arranged in sequence along the extension direction of the guide track to divide the guide track. The guide track includes the first segment 2011, the first straight line segment 2021, ..., the Nth segment, the Nth straight line segment and the N+1th segment, and the angle between the first segment 2011 and the first straight line segment 2021 gradually increases to the angle between the Nth segment and the Nth straight line segment.

[0095] It should be noted that, taking N=3 as an example, the guide plate 20 is provided with a first slide groove 21, a second slide groove 22, a third slide groove 23 and a fourth slide groove 24, and the first slide groove 21, the second slide groove 22, the third slide groove 23 and the fourth slide groove 24 are sequentially arranged in a first direction. The first slide groove 21, the second slide groove 22, the third slide groove 23 and the fourth slide groove 24 are each provided with three straight line segments 202, with the first slide groove 21 being the first slide groove 21d, as shown in FIG. Figure 6 As shown, an example is given:

[0096] like Figure 6 As shown, the first slide groove 21d includes the first section 2011, the first straight section 2021, the second section 2012, the second straight section 2022, the third section 2013, the third straight section 2023 and the fourth section 2014 in sequence, and the angle between the first section 2011 and the first straight section 2021 is less than the angle between the second section 2012 and the second straight section 2022 and less than the angle between the third section 2013 and the third straight section 2023, so the angle between the first section 2011 and the first straight section 2021, the angle between the second section 2012 and the second straight section 2022, and the angle between the third section 2013 and the third straight section 2023 gradually increase. In this way, each transition connection of the first slide groove 21d in the shape of a broken line can be smoothly connected.

[0097] Of course, it can be understood that, in some embodiments, the first slide groove 21 can be provided with three approaching straight line segments 203, and the first slide groove 21 can be the first slide groove 21g, such as Fig. 9 As shown. The first slide groove 21g includes the first segment 2011, the first approaching straight segment 2031, the second segment 2012, the second approaching straight segment 2032, the third segment 2013, the third approaching straight segment 2033 and the fourth segment 2014 in sequence. The angle α between any one of the first approaching straight segment 2031, the second approaching straight segment 2032 and the third approaching straight segment 2033 and the second direction C2 is equal. The angle between the first segment 2011 and the first approaching straight segment 2031 is less than the angle between the second segment 2012 and the second approaching straight segment 2032 and less than the angle between the third segment 2013 and the third approaching straight segment 2033. Therefore, the angle between the first segment 2011 and the first approaching straight segment 2031, the angle between the second segment 2012 and the second approaching straight segment 2032, and the angle between the third segment 2013 and the third approaching straight segment 2033 gradually increase. In this way, each transition connection of the first chute 21g in a broken line shape can be smoothly connected. In other embodiments, the first chute 21 can be a first chute 21h, such as Fig.10As shown, the angle between the first approaching straight line segment 2031 and the second direction C2 is less than the angle between the second approaching straight line segment 2032 and the second direction C2, and less than the angle between the third approaching straight line segment 2033 and the second direction C2. The angle between the first segment 2011 and the first approaching straight line segment 2031 is less than the angle between the second segment 2012 and the second approaching straight line segment 2032, and less than the angle between the third segment 2013 and the third approaching straight line segment 2033. Therefore, the angle between the first segment 2011 and the first approaching straight line segment 2031, the angle between the second segment 2012 and the second approaching straight line segment 2032, and the angle between the third segment 2013 and the third approaching straight line segment 2033 gradually increase.

[0098] In some embodiments of the present invention, Figure 2 As shown, the length of the straight line segment 202 is d1, 0mm<d1≤20mm, wherein d1 can be 1mm, d1 can be 2mm, d1 can be 3mm, d1 can be 4mm, d1 can be 5mm, d1 can be 6mm, d1 can be 8mm, d1 can be 10mm, d1 can be 15mm, d1 can be 20mm. Preferably, 0<d1≤5mm.

[0099] The length of the approaching straight line segment 203 is d2, 0mm<d2≤20mm, wherein d2 can be 1mm, d2 can be 2mm, d2 can be 3mm, d2 can be 4mm, d2 can be 5mm, d2 can be 6mm, d2 can be 8mm, d2 can be 10mm, d2 can be 15mm, d2 can be 20mm. Preferably, 0<d2≤5mm.

[0100] Such arrangement, on the one hand, can make the jaw assembly 30 stably located in the straight line segment 202 or close to the straight line segment 203, which helps the jaw assembly 30 to accurately clamp the workpiece; on the other hand, it helps the various transition connections of the zigzag guide rail to be smoothly connected, avoiding the jaw assembly 30 from getting stuck on the guide rail.

[0101] In some embodiments of the present invention, the guide plate 20 can have an unfolded state and a folded state. Figure 1 , Figure 2 The guide plate 20 in the bent state may be processed by a roller press or a winding machine to form a cylindrical structure.

[0102] A robot according to an embodiment of the second aspect of the present invention comprises a gripper assembly 30 and the guide plate 20 of the first aspect. The robot has the advantages of the guide plate 20, so it will not be described in detail.

[0103] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0104] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0105] In the description of the present invention, "plurality" means two or more.

[0106] In the description of the present invention, a first feature being “above” or “below” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact but are in contact with each other via another feature therebetween.

[0107] In the description of the present invention, a first feature “above”, “over” and “above” a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0108] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", "some examples", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0109] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A guide plate, characterized in that: The guide plate is provided with a plurality of guide rails arranged along a first direction, At least one of the plurality of guide rails is in a broken line shape, including a straight line segment, the straight line segment is parallel to the second direction, and / or approaches the straight line segment, Among them, one of the first direction and the second direction is the length direction of the guide plate, and the other is the width direction of the guide plate.

2. The guide plate according to claim 1, characterized in that: The straight line segment is located at the end or the middle of the guide track.

3. The guide plate according to claim 2, characterized in that: When one of the straight segments is located in the middle of the guide track to divide the guide track, the guide track includes a first segment, the straight segment and a second segment in sequence, and the first segment and the second segment are arranged in parallel; When N straight line segments, N≥2, N is a positive integer, are located in the middle of the guide track, and each straight line segment is sequentially arranged at intervals along the extension direction of the guide track to divide the guide track, the guide track sequentially includes the first segment, the first straight line segment, ..., the Nth segment, the Nth straight line segment, and the N+1th segment, Any two of the first section to the N+1th section are arranged in parallel.

4. The guide plate according to claim 2, characterized in that: When one of the straight segments is located in the middle of the guide track to divide the guide track, the guide track includes a first segment, the straight segment and a second segment in sequence, and an angle between the first segment and the straight segment is smaller than an angle between the second segment and the straight segment; When N straight line segments, N≥2, N is a positive integer, are located in the middle of the guide track, and each straight line segment is sequentially arranged at intervals along the extension direction of the guide track to divide the guide track, the guide track sequentially includes the first segment, the first straight line segment, ..., the Nth segment, the Nth straight line segment, and the N+1th segment, The angle between the first segment and the first straight line segment gradually increases to the angle between the Nth segment and the Nth straight line segment.

5. The guide plate according to claim 3 or 4, characterized in that: When one of the straight line segments is located in the middle of the guide track, the straight line segment is connected to the first segment and the second segment in a smooth transition; When N straight line segments are located in the middle of the guide track, the i-th straight line segment is smoothly connected with the i-th segment and the i+1-th segment respectively, 1≤i≤N, and i is a positive integer.

6. The guide plate according to claim 1, characterized in that: The approaching straight line segment is located in the middle of the guide track.

7. The guide plate according to claim 1, characterized in that: Each of the guide rails is in a broken line shape, and each of the guide rails has a first end and a second end. The first ends of the guide rails are all located on a straight line in the first direction, and the distance between the first ends of any two adjacent guide rails is equal and is the first distance L1; The second end of each of the guide rails is located on another straight line in the first direction, and the distance between the second ends of any two adjacent guide rails is equal and is the second distance L2, where L2≠L1.

8. The guide plate according to claim 7, characterized in that: A plurality of the guide rails form a guide rail unit, and the guide plate is provided with two guide rail units arranged along the first direction, and the two guide rail units are symmetrically arranged about a center line of the second direction.

9. The guide plate according to claim 1, characterized in that: The length of the straight line segment is d1, 0mm<d1≤20mm, and the length of the approaching straight line segment is d2, 0mm<d2≤20mm.

10. A robot, characterized in that: include: The clamping jaw assembly and the guide plate described in any one of claims 1-9, wherein the clamping jaw assembly is provided with a plurality of them, the guide tracks on the guide plates correspond one-to-one to the clamping jaw assemblies, each of the clamping jaw assemblies is provided with a sliding portion, and the sliding portion of the clamping jaw assembly slidably cooperates with the guide tracks.

11. The robot according to claim 10, characterized in that: It also includes transmission mechanism and guide mechanism. The power output end of the transmission mechanism performs linear reciprocating motion along the second direction, and the power output end of the transmission mechanism is connected to the guide plate; The guide mechanism cooperates with the clamping jaw assembly to enable the clamping jaw assembly to move along the first direction.

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