Grabbing mechanism, automatic equipment and automatic production line

Abstract

The utility model provides a grabbing mechanism, automatic equipment and an automatic production line. The grabbing mechanism comprises a fixing base, a clamping mechanism and a driving mechanism, the translation driving assembly is arranged on the fixed seat; the first connecting piece extends in the first direction, and the first connecting piece is connected to the translation driving assembly; the first connecting piece is driven by the translation driving assembly to move in the second direction so as to be close to or away from the materials, the first direction is the stacking direction of the materials, and an included angle is formed between the first direction and the second direction; the first bearing piece extends in the second direction, and the first bearing piece is arranged on the first connecting piece; the pressing assembly is arranged on the side, facing the first bearing piece, of the fixing base. When stacked materials are carried, the materials can be supported through the first supporting piece, the first supporting piece and the pressing assembly are matched to press the materials, so that a whole pile of sheet materials are grabbed to be carried, the carrying efficiency is improved, and meanwhile the risk that the materials fall in the carrying process is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of battery cell processing, and in particular to a gripping mechanism, automated equipment and automated production line. Background Art

[0002] In the production process of solar cells, it is usually necessary to cut the sheet material into multiple pieces, and then passivate the cross-section of the cut part of the sheet material. In this process, the cut sheet material needs to be transported to the carrier by a grabbing mechanism, and then the carrier is transported to the passivation process equipment through other automated equipment transportation mechanisms for passivation process.

[0003] In the related art, the gripping mechanism of the automated equipment usually absorbs the sheet material through an adsorption structure for transportation. This method has the problem of slow transportation efficiency and affects production efficiency. Utility Model Content

[0004] In view of the above, it is necessary to provide a gripping mechanism, automated equipment and automated production line that can improve handling efficiency.

[0005] The first aspect of the present application provides a grabbing mechanism for grabbing stacked materials, the grabbing mechanism comprising: a fixed seat; a translation drive assembly, arranged on the fixed seat; a first connecting member, extending along a first direction, the first connecting member is connected to the translation drive assembly; the first connecting member is used to move along a second direction under the drive of the translation drive assembly to approach or move away from the material, the first direction is the stacking direction of the material, and the first direction and the second direction have an angle; a first supporting member, extending along the second direction, the first supporting member is arranged on the first connecting member; a clamping assembly is arranged on a side of the fixed seat facing the first supporting member; wherein the first connecting member, the first supporting member and the first supporting member together form a accommodating space, the accommodating space is used to accommodate materials; the first supporting member is used to extend into the bottom of the material to support the material when the first connecting member is close to the material; the clamping assembly is used to cooperate with the first supporting member to press the material along the second direction.

[0006] In some embodiments, the clamping assembly includes a clamping member and a clamping driving member, the clamping driving member is disposed on a fixed seat, the clamping member is connected to the clamping driving member, and the clamping driving member is used to drive the clamping member to rise and fall along the second direction.

[0007] In some embodiments, a compression gasket is disposed at the bottom of the compression member, and the compression gasket is used to press the material.

[0008] In some embodiments, the fixed seat includes a first fixing member, a second fixing member and a fixed connecting member, the first fixing member and the second fixing member are respectively fixedly connected to the fixed connecting member, and an installation space is formed between the first fixing member and the second fixing member; the translation drive assembly is arranged in the installation space and connected to the first fixing member; the clamping assembly is fixed to the side of the second fixing member facing away from the first fixing member.

[0009] In some embodiments, a second connecting member is also included, which extends along the first direction; the second connecting member is connected to the translation drive assembly, and the second connecting member and the first connecting member are arranged at intervals along the second direction; at least one of the first connecting member and the second connecting member moves along the second direction so that the first connecting member and the second connecting member cooperate to clamp or release the material.

[0010] In some embodiments, a clamping gasket is disposed on one side of the first connecting member and the second connecting member facing each other, and the clamping gasket is used to press the material in the second direction.

[0011] In some embodiments, the first connecting member is provided with a first sliding member, the fixing seat is provided with a first sliding guide rail, and the first sliding member is slidably connected to the first sliding guide rail.

[0012] In some embodiments, the first connecting member is provided with a first fixing groove, and one end of the first supporting member is inserted into the first fixing groove and fixedly connected to the first connecting member.

[0013] The second aspect of the present application provides an automated device, comprising: a transfer mechanism; and a gripping mechanism as provided in the first aspect, connected to the transfer mechanism, the transfer mechanism being used to drive the gripping mechanism to move.

[0014] The third aspect of the present application provides an automated production line, comprising: a carrier for loading materials; a laser scribing device for scribing materials; a passivation device for passivating materials; and an automated device as provided in the second aspect, for moving materials into or out of the carrier; wherein the carrier is provided with a support block, the support block is used to support the material, and a side of the support block is provided with a avoidance groove; when the material is placed on the support block, the first supporting member extends into the bottom of the material through the avoidance groove.

[0015] The grabbing mechanism, automated equipment, and automated production line provided by the present application can support the stacked materials through the first supporting member, and use the first supporting member and the pressing assembly to press the materials, so as to grab a whole stack of sheet materials for transportation, improve transportation efficiency, and reduce the risk of materials falling during transportation. In addition, when the connecting member is close to the material, the connecting member can organize the stacked materials, so that the materials can be directly put into the next process without the organizing step, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of the automation equipment provided in the embodiment of the present application.

[0017] Figure 2 Schematic diagram of the action of the grabbing mechanism grabbing materials provided in an embodiment of the present application.

[0018] Figure 3 A schematic diagram of the working principle of the automated production line provided in an embodiment of the present application.

[0019] Figure 4 A schematic diagram of the structure of the gripping mechanism provided in the first embodiment of the present application.

[0020] Figure 5 A front view of the gripping mechanism provided in the first embodiment of the present application.

[0021] Figure 6 for Figure 4 A partial enlarged view of point VI in the middle.

[0022] Figure 7 for Figure 4 A partial enlarged view of point VII in the middle.

[0023] Figure 8 This is a schematic diagram of the structure of the grabbing mechanism provided in the second embodiment of the present application when grabbing materials.

[0024] Fig. 9 This is a schematic diagram of the structure of the grabbing mechanism provided in the third embodiment of the present application when grabbing materials.

[0025] Main component symbols

[0026] 100, automation equipment; 200, grabbing mechanism; 300, transfer mechanism; 400, material; 401, sheet material; 402, pad; 500, carrier; 501, support block; 502, avoidance groove; 600, laser scribing equipment; 700, passivation equipment; 10, fixed seat; 11, first fixing member; 12, second fixing member; 13, fixed connecting member; 14, installation space; 15, accommodation space; 16, first sliding guide rail; 17, The second sliding guide rail; 20, the first connecting member; 21, the first fixed groove; 22, the first sliding member; 30, the translation drive assembly; 31, the first telescopic cylinder; 32, the second telescopic cylinder; 40, the first supporting member; 50, the clamping assembly; 51, the clamping member; 52, the clamping driving member; 53, the clamping gasket; 60, the second connecting member; 61, the second fixed groove; 62, the second sliding member; 70, the clamping gasket; 80, the second supporting member; 90, the detection assembly. DETAILED DESCRIPTION

[0027] In the description of the embodiments of the present application, when an element is considered to be "connected" to another element, it may be directly connected to another element or there may be a centrally arranged element at the same time. When an element is considered to be "set" to another element, it may be directly set on another element or there may be a centrally arranged element at the same time. In the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or it may be indirectly connected through an intermediate medium, or it may be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. The directional descriptions in this embodiment, such as "upper", "lower", "top", "bottom", etc., are all referenced to the direction of the product in the actual use scenario.

[0028] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] At present, in the production process of solar cells, it is usually necessary to slice the sheet material into multiple pieces. During this process, the cut sheet material needs to be transported to a carrier using a gripping mechanism, and then the carrier is transported to a passivation process equipment through other automated equipment transportation mechanisms for passivation process.

[0030] Among them, the sheet materials after dicing are usually stacked on a jig (such as a clip-type jig box), and the automated equipment moves the sheet materials in the jig to a material box (such as a drawer-type material box), and then other transportation mechanisms of the automated equipment transport the material box to the passivation device.

[0031] In the related art, automated equipment usually uses an adsorption structure to absorb sheet materials for transportation. However, the number of sheet materials that can be absorbed in a single suction and transportation is small. After the sheet materials are stacked, they need to be sucked and transported multiple times in batches, and the transportation efficiency is slow, which affects production efficiency.

[0032] To this end, the embodiments of the present application provide an automated device and automated equipment that can achieve the technical effect of improving handling efficiency and production efficiency.

[0033] Figure 1 A schematic diagram of the structure of the automation equipment provided in the embodiment of the present application. Figure 2 This is a schematic diagram of the action of the grabbing mechanism grabbing materials provided in an embodiment of the present application, wherein the Y-axis direction in the diagram is the first direction, and the X-axis direction is the second direction.

[0034] like Figure 1 and Figure 2 As shown, the automation device 100 includes a gripping mechanism 200 and a transfer mechanism 300 , wherein the gripping mechanism 200 is used to grip the stacked materials 400 , and the transfer mechanism 300 is used to drive the gripping mechanism 200 to move.

[0035] Exemplarily, the transfer mechanism 300 may be a gantry type manipulator having a horizontal lateral movement component and a vertical lateral movement component, which can drive the grasping mechanism 200 to move in a horizontal direction or a vertical direction. In other embodiments, the transfer mechanism 300 may also be a multi-axis manipulator, which may be configured according to actual needs, and this application does not limit this.

[0036] Exemplarily, the material 400 includes a plurality of sheet materials 401, which are stacked in a vertical direction, and a pad 402 is disposed at the bottom of the bottom sheet material 401. The sheet material 401 is a raw material of a solar cell, including but not limited to a silicon wafer, a silicon carbide wafer, and the like.

[0037] Figure 3 A schematic diagram of the working principle of the automated production line provided in an embodiment of the present application.

[0038] like Figure 2 and Figure 3 As shown, the automation equipment 100 provided in the embodiment of the present application can be applied to an automated production line.

[0039] The automated production line includes an automated device 100, a processing device, and a carrier 500. The processing device is used to process, handle, or transfer a material 400, and different processing devices need to use different carriers 500 accordingly. The carrier 500 is used to load the material 400 for the corresponding processing device. The automated device 100 is used to move the material 400 into or out of the carrier 500 to transfer the material 400 between different carriers 500.

[0040] In this embodiment, the carrier 500 is provided with a support block 501 for supporting the material 400, and a side of the support block 501 is provided with a relief groove 502. When the material 400 is loaded on the carrier 500, the material 400 is placed on the support block 501, and the relief groove 502 leaves a certain amount of suspended space below the bottom of the material 400. The automation equipment 100 is provided with a structure adapted to the relief groove 502, so as to extend into the bottom of the material 400 through the relief groove 502 and support the material 400.

[0041] The automated production line can be applied to various scenarios of battery cell processing. In the example of this embodiment, the automated production line is applied to the process scenario of battery cell passivation. Among them, the processing equipment includes a laser scribing device 600 and a passivation device 700. There are two types of carriers 500, which are suitable for the laser scribing device 600 and the passivation device 700. For example, the carrier 500 applicable to the laser scribing device 600 can be a clip-type fixture box 500A, and the carrier 500 applicable to the passivation device 700 can be a drawer-type material box 500B.

[0042] The working mode of the automated production line can be:

[0043] First, the laser scribing equipment 600 scribes the material 400, and the material 400 after scribing is loaded into the clip-type jig box 500A; then, the automation equipment 100 can transport the material 400 in the clip-type jig box 500A to the drawer-type material box 500B; then, the drawer-type material box 500B is transported to the passivation equipment 700 by other transportation devices, and the passivation equipment 700 passivates the material 400.

[0044] It is understandable that the processing equipment may also include other equipment besides the laser scribing equipment 600 and the passivation equipment 700, and may be specifically configured according to the processing technology, and this application does not impose any restrictions on this.

[0045] Figure 4 This is a schematic diagram of the structure of the gripping mechanism provided in the first embodiment of the present application, in which the Y-axis direction is the first direction and the X-axis direction is the second direction.

[0046] like Figure 2 and Figure 4 As shown, the gripping mechanism 200 includes a fixed seat 10, a first connecting member 20, a translation drive assembly 30, a first supporting member 40 and a clamping assembly 50, wherein the fixed seat 10 is used to support the first connecting member 20 and the translation drive assembly 30, the first connecting member 20 and the translation drive assembly 30 are both installed and fixed on the lower part of the fixed seat 10, and the fixed seat 10 is fixedly connected to the transfer mechanism 300.

[0047] The first connecting member 20 is extended along the first direction (ie, the Y-axis direction shown in the figure), and is connected to the translation driving assembly 30. The first direction is the stacking direction of the material 400, that is, the stacking direction of the plurality of sheet materials 401.

[0048] The first connecting member 20 is used to move along the second direction (i.e., the X-axis direction shown in the figure) under the drive of the translation drive assembly 30, and the first direction and the second direction have an angle. In this embodiment, the first direction is the vertical direction, and the second direction is the horizontal direction. When the first connecting member 20 moves along the second direction, the first connecting member 20 can approach or move away from the material 400.

[0049] The first supporting member 40 is extended along the second direction, and the first supporting member 40 is matched with the avoiding groove 502 . The first supporting member 40 is disposed on the first connecting member 20 .

[0050] When the first connecting member 20 moves along the second direction, the first supporting member 40 moves synchronously with the first connecting member 20. In this embodiment, when the first connecting member 20 approaches the material 400 along the second direction, the first supporting member 40 can extend into the bottom of the material 400 through the avoidance groove 502, thereby supporting the bottom of the material 400.

[0051] The clamping assembly 50 is disposed on a side of the fixing seat 10 facing the first supporting member 40. The first connecting member 20, the first supporting member 40 and the first supporting member 40 together form a receiving space 15, and the receiving space 15 is used to receive the material 400. In this embodiment, the receiving space 15 is located below the fixing seat 10, and the clamping assembly 50 and the first supporting member 40 are distributed up and down.

[0052] When the first supporting member 40 supports the material 400 , the pressing assembly 50 can cooperate with the first supporting member 40 to press the material 400 along the first direction.

[0053] When it is necessary to grab the material 400, the fixed seat 10 can first be moved to the top of the material 400, so that the first connecting member 20 is located on the side of the material 400, and the first supporting member 40 is aligned with the bottom space on the side of the material 400, that is, aligned with the avoidance groove 502; then, the first connecting member 20 is driven to approach the material 400 through the translation drive assembly 30, so that the first supporting member 40 extends into the bottom of the bottom of the material 400 through the avoidance groove 502; then, the fixed seat 10 can be raised, and the clamping assembly 50 can be pressed against the material 400 along the second direction, so that the first supporting member 40 can support the material 400 while cooperating with the clamping assembly 50 to clamp the material 400.

[0054] After the material 400 is grabbed, the fixing base 10 can be moved to a designated work station to release the material 400 .

[0055] When it is necessary to release the material 400, the fixed seat 10 can be moved to the designated workstation first; then, the material 400 can be placed stably in the carrier 500; then, the clamping assembly 50 releases the clamping of the material 400, and the first connecting member 20 is driven away from the material 400 by the translation driving assembly 30, so that the first supporting member 40 is withdrawn from the avoidance groove 502 at the bottom of the material 400.

[0056] The grabbing mechanism 200 provided in the embodiment of the present application can support the material 400 through the first supporting member 40 when transporting the stacked material 400, and use the first supporting member 40 and the clamping assembly 50 to compact the material 400, so as to grab a whole stack of sheet materials 401 for transportation, thereby improving the transportation efficiency and reducing the risk of the material 400 falling during the transportation process.

[0057] On the other hand, since the length direction of the first connecting member 20 is parallel to the stacking direction of the material 400, when the first connecting member 20 is close to the material 400, the first connecting member 20 can organize the stacked material 400, so that the material 400 can reduce the organizing steps and be directly put into the next process, thereby improving work efficiency.

[0058] like Figure 2 and Figure 3 As shown, in this embodiment, the first supporting member 40 of the grabbing mechanism 200 is disposed correspondingly to the avoidance groove 502 of the carrier 500 , so that the first supporting member 40 can cooperate with the avoidance groove 502 to work.

[0059] For example, when the carrier 500 is already loaded with the material 400, the automation device 100 may carry the material 400 out of the fully loaded carrier 500 in the following manner:

[0060] First, the fixed seat 10 can be moved to the top of the carrier 500, so that the first connecting member 20 is located on one side of the carrier 500, and the first connecting member 20 and the first supporting member 40 are aligned with the avoidance groove 502; then, the first connecting member 20 is driven to approach the material 400 through the translation drive assembly 30, and the first connecting member 20 contacts the material 400 through the avoidance groove 502, and at the same time, the first supporting member 40 extends under the bottom of the material 400 through the avoidance groove 502; then, the fixed seat 10 can be raised, and the clamping assembly 50 can be pressed against the material 400 along the second direction, so that the first supporting member 40 can support the material 400 while cooperating with the clamping assembly 50 to clamp the material 400; as the fixed seat 10 continues to rise, the first connecting member 20 and the first supporting member 40 rise and leave the avoidance groove 502, and grab the material 400 and leave the carrier 500.

[0061] When the automation device 100 has already grabbed the material 400, the automation device 100 may move the material 400 to the idle carrier 500 in the following manner:

[0062] First, the fixed seat 10 can be moved to the top of the carrier 500; then, the fixed seat 10 is lowered, the first connecting member 20 and the first supporting member 40 are lowered into the avoidance groove 502, and the material 400 is placed on the support block 501 of the carrier 500; then, the clamping assembly 50 releases the clamping of the material 400, and drives the first connecting member 20 away from the material 400 through the translation drive assembly 30, so that the first supporting member 40 is pulled away from the bottom of the material 400; until the first supporting member 40 and the first connecting member 20 are completely separated from the carrier 500, the fixed seat 10 can rise and move away from the current carrier 500 to transport the next group of materials 400.

[0063] Figure 5 This is a front view of the gripping mechanism provided in the first embodiment of the present application, in which the Y-axis direction is the first direction and the X-axis direction is the second direction.

[0064] like Figure 4 and Figure 5 As shown, in this embodiment, the fixing seat 10 includes a first fixing member 11, a second fixing member 12 and a fixing connecting member 13, wherein the first fixing member 11 and the second fixing member 12 are arranged at intervals along the first direction, the first fixing member 11 and the second fixing member 12 are respectively fixedly connected to the fixing connecting member 13, and an installation space 14 is formed between the first fixing member 11 and the second fixing member 12. The translation drive assembly 30 is disposed in the installation space 14 and connected to the first fixing member 11, and the clamping assembly 50 is fixed to the side of the second fixing member 12 away from the first fixing member 11. Exemplarily, the translation drive assembly 30 is located above the second fixing member 12, and the clamping assembly 50 is fixed to the bottom of the second fixing member 12.

[0065] It can be understood that the fixed connecting member 13 fixes the first fixing member 11 and the second fixing member 12, so that a space for the installation of the translation drive assembly 30 is reserved between the first fixing member 11 and the second fixing member 12, and at the same time, the translation drive assembly 30 and the clamping assembly 50 are staggered to improve space utilization and avoid spatial interference between the translation drive assembly 30 and the clamping assembly 50.

[0066] In this embodiment, the fixed connector 13 is located between the first fixing member 11 and the second fixing member 12 , the bottom of the fixed connector 13 is welded to the second fixing member 12 , and the top of the fixed connector 13 is bolted to the first fixing member 11 .

[0067] In this embodiment, the first fixing member 11 and the second fixing member 12 are both extended along the second direction, and the length of the second fixing member 12 in the second direction is smaller than the length of the first fixing member 11 in the second direction, so that space is left at both ends of the second fixing member 12 for other structures such as the first connecting member 20 to be arranged.

[0068] In this embodiment, the gripping mechanism 200 further includes a second connecting member 60, which is extended along the first direction, connected to the translation driving assembly 30, and the first connecting member 20 and the second connecting member 60 are arranged at intervals along the second direction. The pressing assembly 50 is located between the first connecting member 20 and the second connecting member 60, and the pressing assembly 50, the first connecting member 20, the second connecting member 60 and the first supporting member 40 together form an accommodating space 15.

[0069] like Figure 2 and Figure 4 As shown, at least one of the first connecting member 20 and the second connecting member 60 moves along the second direction, so that the first connecting member 20 and the second connecting member 60 cooperate to clamp or release the material 400 .

[0070] By moving at least one of the first connecting member 20 and the second connecting member 60 along the second direction, the distance between the first connecting member 20 and the second connecting member 60 can be changed. When the distance between the first connecting member 20 and the second connecting member 60 becomes smaller, the first connecting member 20 and the second connecting member 60 can cooperate to clamp the material 400. When the distance between the first connecting member 20 and the second connecting member 60 becomes larger, the first connecting member 20 and the second connecting member 60 can release the clamped material 400.

[0071] It can be understood that when the stacked materials 400 are transported, the first connecting member 20 and the second connecting member 60 can be used to clamp and fix both sides of the materials 400, thereby further reducing the risk of the materials 400 falling during transportation and further improving the regularization effect.

[0072] In this embodiment, the first connecting member 20 and the second connecting member 60 can move simultaneously, so that the first connecting member 20 and the second connecting member 60 are relatively close to or far away from each other; in other embodiments, only one of the first connecting member 20 and the second connecting member 60 can move, and the other can be fixed, as long as the purpose of the first connecting member 20 and the second connecting member 60 cooperating to clamp the material 400 can be achieved.

[0073] In this embodiment, a clamping gasket 70 is provided on one side of the first connecting member 20 and the second connecting member 60 facing each other, and the clamping gasket 70 is bolted and fixed to the first connecting member 20 and the second connecting member 60. The hardness of the clamping gasket 70 is lower than the hardness of the first connecting member 20 or the second connecting member 60, and the clamping gasket 70 is used to press the material 400 in the second direction to prevent the material 400 from being damaged during the clamping process.

[0074] Exemplarily, the first connecting member 20 and the second connecting member 60 may both be made of metal such as aluminum alloy, and the clamping gasket 70 may be made of PEEK (polyetheretherketone) material.

[0075] Figure 6 for Figure 4 A partial enlarged view of point VI in the middle.

[0076] like Figure 4 and Figure 6 As shown, in this embodiment, a first fixing groove 21 is provided at the lower end of the first connecting member 20, and the first fixing groove 21 penetrates the first connecting member 20 toward the side of the accommodating space 15 to form a notch, and the first supporting member 40 is adapted to the notch of the first fixing groove 21. One end of the first supporting member 40 is inserted into the notch of the first fixing groove 21 and is fixedly connected to the first connecting member 20. The first fixing groove 21 can cooperate with one end of the first supporting member 40 to form a snap-fit ​​fit, and at the same time increase the contact area between the first supporting member 40 and the first connecting member 20, so as to improve the installation stability of the first supporting member 40, and further improve the supporting capacity of the first supporting member 40.

[0077] Exemplarily, the first connecting member 20 is provided with a first fixing bolt (not shown in the figure), and a bolt hole is provided at one end of the first supporting member 40 entering the first fixing groove 21. The first fixing bolt is passed through the first connecting member 20 from the side of the first connecting member 20 away from the accommodating space 15, enters the first fixing groove 21, and is threadedly connected with the first supporting member 40 to achieve the fixation of the first supporting member 40. It can be understood that the first supporting member 40 forms a detachable connection with the first connecting member 20, so that the user can replace the first supporting member 40 according to needs.

[0078] Figure 7 for Figure 4 A partial enlarged view of point VII in the middle.

[0079] like Figure 4 and Figure 7 As shown, in this embodiment, the gripping mechanism 200 further includes a second supporting member 80, which is extended along the second direction and disposed at the bottom of the second connecting member 60. The clamping assembly 50, the first connecting member 20, the second connecting member 60, the first supporting member 40 and the second supporting member 80 together form an accommodating space 15.

[0080] When the first connecting member 20 and the second connecting member 60 move closer to or farther from each other, the first supporting member 40 and the second supporting member 80 can move closer to or farther from each other synchronously. The first supporting member 40 and the second supporting member 80 can support the material 400 together to improve the supporting stability. On the other hand, the first supporting member 40 and the second supporting member 80 can reduce the total moving stroke of the first connecting member 20 and the second connecting member 60 to improve the grabbing efficiency.

[0081] In this embodiment, a second fixing groove 61 is provided at the lower end of the second connecting member 60, and the second fixing groove 61 penetrates the second connecting member 60 to form a notch on one side of the accommodating space 15, and the second supporting member 80 is adapted to the notch of the second fixing groove 61. One end of the second supporting member 80 is inserted into the notch of the second fixing groove 61 and is fixedly connected to the second connecting member 60.

[0082] Exemplarily, the second connecting member 60 is configured with a second fixing bolt (not shown in the figure), and a bolt hole is provided at one end of the second supporting member 80 entering the second fixing groove 61. The second fixing bolt passes through the second connecting member 60 from the side of the second connecting member 60 away from the accommodating space 15 and enters the second fixing groove 61, and is threadedly connected to the second supporting member 80 to fix the second supporting member 80.

[0083] It is worth noting that in this embodiment, the first connecting member 20 and the second connecting member 60 adopt a multi-unit moving structure, and the first connecting member 20 and the second connecting member 60 can move in opposite directions at the same time under the drive of the translation drive assembly 30. The number of the first connecting member 20 and the second connecting member 60 is 1, and the first connecting member 20 and the second connecting member 60 are respectively arranged at both ends of the fixing seat 10. The first supporting member 40 and the second supporting member 80 cooperate with the supporting material 400. The first connecting member 20 and the second connecting member 60 are mirror-symmetrical as a whole.

[0084] Figure 8 This is a schematic diagram of the structure of the grabbing mechanism provided in the second embodiment of the present application when grabbing materials.

[0085] like Figure 8 As shown, in another embodiment of the present application, the first connecting member 20 and the second connecting member 60 may also adopt a structure of single unit movement, that is, the first connecting member 20 is movably connected to the fixed seat 10, and the second connecting member 60 is fixedly connected to the fixed seat 10. When grabbing or releasing the material 400, the first connecting member 20 is driven by the translation drive assembly 30 to approach or move away from the second connecting member 60, so as to achieve the mutual movement or distance between the first connecting member 20 and the second connecting member 60. This embodiment can achieve the effect of simplifying the design of the drive mechanism.

[0086] Fig. 9 This is a schematic diagram of the structure of the grabbing mechanism provided in the third embodiment of the present application when grabbing materials.

[0087] like Fig. 9 As shown, in another embodiment of the present application, the second supporting member 80 can be removed, and the first connecting member 20 supports the material 400 through the first supporting member 40. At the same time, the first connecting member 20 and the second connecting member 60 cooperate to clamp the material 400. This embodiment can achieve the effect of simplifying the mechanical structure.

[0088] It is understandable that the above different embodiments are all multiple changes on the technical solution of the present application to be applicable to different use environments. In actual applications, users can adaptively adjust the parameters (such as length, width, thickness, travel, etc.) of the first connecting member 20, the second connecting member 60, the first supporting member 40, the second supporting member 80 and the like according to actual needs such as the shape of the material 400, the size of the material 400, etc. For example, the number of the first connecting member 20 and the second connecting member 60 can also be greater than 1, and multiple first connecting members 20 and multiple second connecting members 60 are distributed at intervals in a circle, and the present application does not limit this.

[0089] like Figure 4 and Figure 5 As shown, in this embodiment, the translation drive assembly 30 includes a first telescopic cylinder 31, and the first telescopic cylinder 31 is arranged corresponding to the first connecting member 20. The cylinder body of the first telescopic cylinder 31 is accommodated in the installation space 14 and bolted to the bottom of the first fixing member 11, and the piston rod of the first telescopic cylinder 31 extends out of the installation space 14 and is connected to the first connecting member 20. By controlling the extension and retraction of the piston rod of the first telescopic cylinder 31, the first connecting member 20 can be driven to move.

[0090] In this embodiment, the translation drive assembly 30 further includes a second telescopic cylinder 32, which is disposed corresponding to the second connecting member 60. The cylinder body of the second telescopic cylinder 32 is accommodated in the installation space 14 and bolted to the bottom of the first fixing member 11, and the piston rod of the second telescopic cylinder 32 extends out of the installation space 14 and is connected to the second connecting member 60. By controlling the extension and retraction of the piston rod of the second telescopic cylinder 32, the second connecting member 60 can be driven to move.

[0091] It can be understood that in this embodiment, a cylinder mechanism is used to drive the first connecting member 20 and the second connecting member 60 to move. In other embodiments, other translational mechanisms may also be used, such as a motor screw mechanism, a motor gear rack mechanism, etc., or the first telescopic cylinder 31 and the second telescopic cylinder 32 may be integrated into a double telescopic cylinder, etc. The present application does not impose any restrictions on this.

[0092] In this embodiment, a first sliding member 22 is disposed at the upper end of the first connecting member 20, the first sliding member 22 is bolted and fixed to the first connecting member 20, and the first sliding member 22 is bolted and fixed to the piston rod of the first telescopic cylinder 31. The first telescopic cylinder 31 drives the first sliding member 22 to move, thereby driving the first connecting member 20 to move.

[0093] The first fixing member 11 is provided with a first sliding guide rail 16 adapted to the first sliding member 22. The first sliding guide rail 16 is bolted and fixed to the bottom of the first fixing member 11. The first sliding guide rail 16 is extended along the second direction. The first connecting member 20 is slidably connected to the first sliding guide rail 16 through the first sliding member 22, so that the first connecting member 20 is slidably connected to the first fixing member 11 in the second direction. The first sliding guide rail 16 has a limiting effect on the sliding of the first sliding member 22, preventing the first connecting member 20 from deviating from its position during the sliding process.

[0094] In this embodiment, a second sliding member 62 is disposed at the upper end of the second connecting member 60, and the second sliding member 62 is bolted and fixed to the second connecting member 60, and the second sliding member 62 is bolted and fixed to the piston rod of the second telescopic cylinder 32. The second telescopic cylinder 32 drives the second sliding member 62 to move, thereby driving the second connecting member 60 to move.

[0095] The second fixing member 12 is provided with a second sliding guide rail 17 adapted to the second sliding member 62. The second sliding guide rail 17 is bolted and fixed to the bottom of the second fixing member 12. The second sliding guide rail 17 is extended along the second direction. The second connecting member 60 is slidably connected to the second sliding guide rail 17 through the second sliding member 62, so that the second connecting member 60 is slidably connected to the second fixing member 12 in the second direction. The second sliding guide rail 17 has a limiting effect on the sliding of the second sliding member 62, preventing the second connecting member 60 from deviating from its position during the sliding process.

[0096] Exemplarily, the first sliding member 22 and the second sliding member 62 can both be sliding fitting structures such as sliders and pulleys that can be embedded in the first sliding guide rail 16 or the second sliding guide rail 17, so that the first sliding guide rail 16 and the second sliding guide rail 17 respectively support the first sliding member 22 and the first sliding member 22 in the vertical direction, thereby improving the installation stability of the first connecting member 20 and the second connecting member 60, and thereby improving the supporting capacity of the grasping mechanism 200.

[0097] like Figure 2 and Figure 5 As shown, in this embodiment, the clamping assembly 50 includes a clamping member 51 and a clamping driving member 52 , wherein the clamping member 51 is located above the first supporting member 40 , and the clamping driving member 52 is disposed on the fixing seat 10 and connected to the clamping member 51 .

[0098] The pressing driving member 52 is used to drive the pressing member 51 to rise and fall. When the pressing driving member 52 drives the pressing member 51 to rise, the pressing member 51 is away from the first supporting member 40 and the second supporting member 80, so that the pressing of the material 400 can be released. When the pressing driving member 52 drives the pressing member 51 to fall, the pressing member 51 is close to the first supporting member 40 and the second supporting member 80, so that the material 400 can be pressed.

[0099] Exemplarily, the clamping drive member 52 includes a clamping telescopic cylinder, the cylinder body of which is bolted to the bottom of the second fixing member 12, and the piston rod of which faces downward and is bolted to the clamping member 51. By controlling the expansion and contraction of the piston rod of the clamping telescopic cylinder, the clamping member 51 can be driven to rise and fall.

[0100] It is worth noting that in this embodiment, a cylinder mechanism is used as the clamping drive member 52. In other embodiments, other translational mechanisms can also be used to drive the clamping member 51 to move to compress the material 400, such as a motor screw mechanism, a motor gear rack mechanism, etc.; or, an elastic reset structure can also be used, such as a compression spring as the clamping drive member 52, and the clamping member 51 is driven by elastic force to cooperate with the first supporting member 40 and the second supporting member 80 to compress the material 400. As long as the effect of compressing the material 400 can be achieved, the present application does not impose any restrictions on this.

[0101] In this embodiment, the pressing member 51 is located in the middle of the fixing seat 10, so that the projection of the pressing member 51 in the first direction is between the projections of the first supporting member 40 and the second supporting member 80 in the first direction. When the pressing member 51 cooperates with the first supporting members 40 to press the material 400, the contact points of the pressing member 51, the first supporting member 40, and the second supporting member 80 in contact with the material 400 can form a trapezoid as a whole, thereby improving the grasping stability of the material 400.

[0102] In this embodiment, a pressing gasket 53 is disposed at the bottom of the pressing member 51 , and the pressing gasket 53 is used to press the material 400 to prevent the material 400 from being damaged during the pressing process.

[0103] Exemplarily, the pressing member 51 may be made of metal such as aluminum alloy, and the pressing gasket 53 may be made of PEEK (polyetheretherketone) material.

[0104] like Figure 2 and Figure 4 As shown, in this embodiment, the gripping mechanism 200 further includes a detection component 90, which is disposed on the fixing seat 10, and is used to detect the material 400 in the accommodating space 15. Exemplarily, the detection component 90 can be a photoelectric detection module, which is bolted and fixed to the bottom of the second fixing member 12, and the relative position between the photoelectric detection module and the pressing component 50 can be adaptively adjusted so that the pressing component 50 does not block the light of the photoelectric detection module.

[0105] like Figure 2 , Figure 3 and Figure 4As shown, the working mode of the grabbing mechanism 200 is configured as follows: in the scenario where the grabbing mechanism 200 grabs the material 400 from the carrier 500, if the fixing seat 10 needs to be moved to a specified position, it is analyzed whether the detection component 90 detects the material 400 to determine whether the material 400 enters the accommodation space 15. Only when the detection component 90 detects the material 400, it is considered that the material 400 has entered the accommodation space 15, and the grabbing mechanism 200 is allowed to further perform the action of grabbing the material 400.

[0106] The following describes the specific working process of the automation device 100 by taking the gripping mechanism 200 in the first embodiment as an example.

[0107] When the carrier 500 is already loaded with the material 400, the automation device 100 may grab the material 400 from the fully loaded carrier 500 in the following manners:

[0108] First, the fixing seat 10 is moved to the top of the carrier 500, and the translation drive assembly 30 drives the first connecting member 20 and the second connecting member 60 to move away from each other, so that the minimum distance between the first supporting member 40 and the second supporting member 80 is greater than the width of the material 400 in the second direction; and the clamping assembly 50 rises, and the minimum distance between the clamping member 51 and the first supporting member 40 is greater than the height of the material 400 in the first direction.

[0109] Then, the fixing base 10 is lowered to a specified height so that the first connecting member 20 and the second connecting member 60 are located on both sides of the carrier 500. At this time, the detection assembly 90 detects the material 400, and the first connecting member 20 and the second connecting member 60 are respectively aligned with the avoidance grooves 502 on both sides of the carrier 500.

[0110] Then, in response to the detection component 90 detecting the material 400, the translation drive component 30 drives the first connecting member 20 and the second connecting member 60 to approach each other, so that the first connecting member 20 and the second connecting member 60 are respectively supported on both sides of the material 400, and at the same time, the first supporting member 40 and the second supporting member 80 are respectively extended under the bottom of the material 400 through the corresponding avoidance grooves 502.

[0111] Then, the fixing base 10 is raised, the pressing assembly 50 is pressed down, the first supporting member 40 and the second supporting member 80 are pressed against the pad 402 of the material 400 and support the material 400, and the pressing assembly 50 cooperates with the first supporting member 40 and the second supporting member 80 to press the material 400. As the fixing base 10 continues to rise, the grabbing mechanism 200 pulls the material 400 upward out of the carrier 500.

[0112] When the grabbing mechanism 200 has grabbed the material 400, the automation device 100 may move the material 400 to the idle carrier 500 in the following manner:

[0113] First, the fixing seat 10 is moved to the top of the carrier 500. Then, the fixing seat 10 is lowered to a specified height, so that the material 400 enters the carrier 500 and is placed on the support block 501, and the first connecting member 20 and the second connecting member 60 enter the avoidance grooves 502 on both sides of the carrier 500 respectively.

[0114] Then, the clamping assembly 50 rises, and the translation drive assembly 30 drives the first connecting member 20 and the second connecting member 60 to move away from each other, so that the minimum distance between the first supporting member 40 and the second supporting member 80 is greater than the width of the material 400 in the second direction, and then the fixed seat 10 rises away from the carrier 500, so that the material 400 remains in the carrier 500.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A gripping mechanism, characterized in that: Used to grab stacked materials, the grabbing mechanism includes: Fixed seat; A translation drive assembly, disposed on the fixing seat; A first connecting member is extended along a first direction, and is connected to the translation drive assembly; the first connecting member is used to move along a second direction under the drive of the translation drive assembly to approach or move away from the material, the first direction is the stacking direction of the material, and the first direction and the second direction have an angle; A first supporting member, extending along the second direction, wherein the first supporting member is disposed on the first connecting member; A clamping assembly, disposed on a side of the fixing seat facing the first supporting member; Among them, the first connecting member, the first supporting member and the first supporting member together form a accommodating space, and the accommodating space is used to accommodate the material; the first supporting member is used to extend into the bottom of the material to support the material when the first connecting member is close to the material; the clamping assembly is used to cooperate with the first supporting member to press the material along the second direction.

2. The gripping mechanism according to claim 1, characterized in that: The clamping assembly includes a clamping member and a clamping driving member. The clamping driving member is disposed on the fixing seat. The clamping member is connected to the clamping driving member. The clamping driving member is used to drive the clamping member to rise and fall along the second direction.

3. The gripping mechanism according to claim 2, characterized in that: A pressing gasket is arranged at the bottom of the pressing member, and the pressing gasket is used for pressing the material.

4. The gripping mechanism according to claim 1, characterized in that: The fixing seat includes a first fixing member, a second fixing member and a fixing connecting member, the first fixing member and the second fixing member are fixedly connected to the fixing connecting member respectively, and an installation space is formed between the first fixing member and the second fixing member; The translation drive assembly is disposed in the installation space and connected to the first fixing member; The pressing assembly is fixed to a side of the second fixing member that is away from the first fixing member.

5. The gripping mechanism according to claim 1, characterized in that: Also included is a second connecting member, the second connecting member extending along the first direction; The second connecting member is connected to the translation driving assembly, and the second connecting member and the first connecting member are arranged at intervals along the second direction; At least one of the first connecting member and the second connecting member moves along the second direction so that the first connecting member and the second connecting member cooperate to clamp or release the material.

6. The gripping mechanism according to claim 5, characterized in that: A clamping gasket is disposed on one side of the first connecting member and the second connecting member facing each other, and the clamping gasket is used to press the material in the second direction.

7. The gripping mechanism according to claim 1, characterized in that: The first connecting member is provided with a first sliding member, the fixing seat is provided with a first sliding guide rail, and the first sliding member is slidably connected to the first sliding guide rail.

8. The gripping mechanism according to claim 1, characterized in that: The first connecting member is provided with a first fixing groove, and one end of the first supporting member is inserted into the first fixing groove and fixedly connected to the first connecting member.

9. An automated device, characterized in that: include: Transfer mechanism; as well as The gripping mechanism according to any one of claims 1 to 8 is connected to the transfer mechanism, and the transfer mechanism is used to drive the gripping mechanism to move.

10. An automated production line, characterized in that: include: A carrier, used for loading the materials; Laser scribing equipment, used for scribing the material; Passivation equipment, used for passivating the material; as well as The automated apparatus of claim 9, for moving the material into or out of the carrier; Wherein, the carrier is provided with a support block, the support block is used to support the material, and the side of the support block is provided with an avoidance groove; when the material is placed on the support block, the first supporting member extends into the bottom of the material through the avoidance groove.

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