Grabbing mechanism

Abstract

The utility model provides a grabbing mechanism. The grabbing mechanism comprises a fixed seat and a grabbing mechanism, the connecting base slides in the first direction and is connected to the fixing base, and an included angle is formed between the first direction and the vertical direction; the grabbing assembly is arranged on the connecting base and synchronously moves with the connecting base, and the grabbing assembly is used for grabbing materials; and the translation driving assembly is arranged on the fixing seat and connected to the connecting seat, and the translation driving assembly is used for driving the connecting seat to move relative to the fixing seat in the first direction. After the grabbing assembly grabs the material in the carrier, the translation driving assembly can drive the grabbing assembly to move in the first direction, so that fine adjustment of the position of the material in the first direction is achieved, it is guaranteed that the side face of the material is away from the inner side of the carrier, a gap is generated, and the risk that the material rubs the inner wall of the carrier when the material is pulled upwards away from the carrier is reduced; and the damage rate of materials 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. 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 carries the sheet material in the following manner: the gripping mechanism extends into a carrier loaded with the sheet material and grips the sheet material, and then the gripping mechanism moves upward and drives the sheet material upward and away from the carrier. However, this method has the problem of easily damaging the sheet material. Utility Model Content

[0004] In view of the above, it is necessary to provide a gripping mechanism that can reduce the damage rate of materials.

[0005] A grabbing mechanism comprises: a fixed seat; a connecting seat, which slides along a first direction and is connected to the fixed seat, and an angle is formed between the first direction and the vertical direction; a grabbing assembly, which is arranged on the connecting seat and moves synchronously with the connecting seat, and the grabbing assembly is used to grab materials; a translation drive assembly, which is arranged on the fixed seat and connected to the connecting seat, and the translation drive assembly is used to drive the connecting seat to move along the first direction relative to the fixed seat.

[0006] In some embodiments, the gripping mechanism also includes a limiting component, which moves synchronously with the connecting seat, one end of the limiting component is connected to the connecting seat, and the other end of the limiting component is arranged close to the fixed seat along the first direction; the limiting component is used to limit the movement range of the connecting seat relative to the fixed seat by abutting against the fixed seat.

[0007] In some embodiments, the limiting assembly includes a blocking member and a mounting block, the mounting block is connected to the connecting seat, the blocking member is mounted on the mounting block, and at least a portion of the blocking member is arranged close to the fixing seat along the first direction to limit the movement range of the connecting seat relative to the fixing seat by abutting against the fixing seat.

[0008] In some embodiments, the gripping mechanism also includes: an adjusting platform, which is slidably connected to the fixed seat along the second direction, the adjusting platform is used to connect to an external driving mechanism, and there is an angle between the second direction and the first direction; an adjusting member, which is arranged between the fixed seat and the adjusting platform, and the adjusting member is used to adjust the position of the fixed seat relative to the adjusting platform in the second direction.

[0009] In some embodiments, the connecting seat is provided with a first slide rail, and the first slide rail is extended along a first direction; the fixing seat is provided with a first slider, and the first slider is slidably connected to the first slide rail.

[0010] In some embodiments, the connecting seat is provided with a connecting block and a first limit block, and the connecting block is connected to the translation drive assembly; the first slide rail is located on a side of the connecting seat close to the translation drive assembly, and the connecting block and the first limit block are respectively located at both ends of the first slide rail.

[0011] In some embodiments, the connecting seat is also provided with a second slide rail, which is parallel to the first slide rail and spaced apart in the second direction, and there is an angle between the second direction and the first direction; the fixed seat is also provided with a second slider, which is slidably connected to the second slide rail.

[0012] In some embodiments, the grabbing assembly includes a first clamping member, a second clamping member and a clamping drive member, the clamping drive member is arranged on a connecting seat; the first clamping member is extended in a vertical direction and connected to the clamping drive member; the second clamping member is parallel to the first clamping member, and the second clamping member and the first clamping member are spaced apart in a third direction, and there is an angle between the third direction and the vertical direction; the first clamping member is used to approach or move away from the second clamping member along the third direction under the drive of the clamping drive member, so that the first clamping member and the second clamping member cooperate to clamp or release the material.

[0013] In some embodiments, a first positioning screw is provided on the side of the first clamping member facing the second clamping member, and the first positioning screw is threadedly connected to the first clamping member along a third direction; a first stopper is provided on the connecting seat, and the first stopper is located between the first positioning screw and the second clamping member, and the first stopper is provided close to the first positioning screw along the third direction; the first stopper is used to limit the movement range of the first clamping member by abutting against the first positioning screw.

[0014] In some embodiments, the gripping assembly further includes a first supporting member and a second supporting member, which are respectively connected to the first clamping member and the second clamping member, and the first supporting member and the second supporting member are used to support the bottom of the material; the gripping mechanism further includes a clamping assembly, which is connected to the connecting seat and is located above the first supporting member and the second supporting member, and the clamping assembly is used to cooperate with the first supporting member and the second supporting member to clamp the material.

[0015] In some embodiments, the clamping assembly includes: a base connected to a connecting seat; a mounting plate connected to the base, the mounting plate being provided with an adjustment hole, the adjustment hole being used to cooperate with the mounting member to adjust the position of the mounting plate relative to the base in a vertical direction; a clamping drive member being provided on the mounting plate; a clamping member connected to the clamping drive member, the clamping member being used to move in a vertical direction under the drive of the clamping drive member.

[0016] Through the grabbing assembly provided by the present application, after the grabbing assembly grabs the material in the carrier, the translation drive assembly can drive the grabbing assembly to move in the first direction to achieve fine-tuning of the position of the material in the first direction, ensuring that the side of the material is away from the inner side of the carrier and a gap is created, reducing the risk of the material scratching against the inner wall of the carrier when being pulled upward from the carrier, thereby reducing the damage rate of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the working status of the grabbing mechanism provided in this application when grabbing materials.

[0018] Figure 2 A schematic diagram of the state of the grabbing mechanism provided in this application grabbing materials from a carrier and moving them out of the carrier.

[0019] Figure 3 A top view of a carrier loaded with materials provided for this application.

[0020] Figure 4 This is a schematic diagram of the structure of the gripping mechanism provided in this application.

[0021] Figure 5 This is a schematic diagram of the distribution of the fixing seat, the connecting seat, the limiting assembly, the first slide rail and the second slide rail in this application.

[0022] Figure 6 This is a structural schematic diagram of the gripping mechanism provided in this application from another perspective.

[0023] Figure 7 Bottom view of the gripping assembly provided for this application.

[0024] Figure 8 This is a schematic diagram of the structure of the base and the clamping drive member provided in this application.

[0025] Main component symbols

[0026] 100, grabbing mechanism; 200, driving mechanism; 300, material; 400, carrier; 401, receiving groove; 402, supporting block; 403, avoiding groove; 10, fixing seat; 11, connecting hole; 12, rotating block; 13, first sliding block; 14, second sliding block; 20, connecting seat; 21, connecting block; 22, first slide rail; 23, first limiting block; 24, second slide rail; 25, second limiting block; 28, first stop block; 29, second stop block; 30, grabbing assembly; 31, clamping drive member; 311, first Clamping cylinder; 312, second clamping cylinder; 32, first clamping member; 33, second clamping member; 321, first positioning screw; 331, second positioning screw; 34, first supporting member; 35, second supporting member; 40, translation drive assembly; 50, adjustment table; 51, adjustment member; 52, adjustment block; 60, limit assembly; 61, blocking member; 62, mounting block; 80, clamping assembly; 81, base; 811, connecting plate; 82, clamping drive member; 83, clamping member; 84, mounting plate; 841, adjustment hole. 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 one of the carriers (such as a clip-type fixture box), and the automated equipment moves the sheet materials in the fixture to another carrier (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] During the handling process, the grabbing mechanism needs to extend into the carrier loaded with the sheet material and grab the sheet material, and then move upward to drive the sheet material to be pulled upward from the carrier. However, during the process of pulling the sheet material upward from the carrier, the side edges of the sheet material stacked in the jig may be attached to the inner wall of the carrier, so the sheet material may scratch the inner wall of the carrier, resulting in decrystalline and edge collapse, which is easy to damage the sheet material.

[0032] To this end, an embodiment of the present application provides a gripping mechanism that can achieve the technical effect of reducing material damage.

[0033] Figure 1 This is a schematic diagram of the working status of the grabbing mechanism provided in this application when grabbing materials.

[0034] like Figure 1 As shown, the grabbing mechanism 100 can be applied to an automated device, which includes a grabbing mechanism 100 and a driving mechanism 200, wherein the grabbing mechanism 100 is connected to the driving mechanism 200. The grabbing mechanism 100 is used to grab a material 300, and the driving mechanism 200 is used to drive the grabbing mechanism 100 to move. In this way, the unloaded grabbing mechanism 100 can be driven by the driving mechanism 200 to move to a designated position to grab the material 300, and the fully loaded grabbing mechanism 100 can be driven by the driving mechanism 200 to move to a designated position to release the material 300, so as to complete the handling and transfer of the material 300.

[0035] Exemplarily, the transfer mechanism can be a gantry manipulator, which has a horizontal lateral movement component and a vertical lateral movement component, and can drive the grasping mechanism 100 to move horizontally or vertically. In other embodiments, the transfer mechanism can also be a multi-axis robot arm, which can be configured according to actual needs, and this application does not limit this.

[0036] Figure 2 A schematic diagram of the state of the grabbing mechanism provided in this application grabbing materials from a carrier and moving them out of the carrier. Figure 3 A top view of a carrier loaded with materials provided for this application.

[0037] like Figure 2 and Figure 3 As shown, in this embodiment, the material 300 includes a plurality of stacked sheet materials, the plurality of sheet materials are stacked in a vertical direction, and a pad is provided at the bottom of the sheet material at the bottom layer. The sheet material is the raw material of the solar cell, including but not limited to silicon wafers, silicon carbide wafers, etc.

[0038] In this embodiment, the material 300 can be loaded into the carrier 400. The carrier 400 is used to load the material 300 for the corresponding processing equipment. The processing equipment is used to process, treat or transfer the material 300, and different processing equipment needs to use different carriers 400 accordingly. The processing equipment includes but is not limited to laser scribing equipment, passivation equipment, etc. The automation equipment is used to move the material 300 into or out of the carrier 400 to transfer the material 300 between different carriers 400.

[0039] The carrier 400 is provided with a receiving groove 401 for receiving the material 300 . The receiving groove 401 is connected to the top surface of the carrier 400 to form a notch, and the material 300 can enter and exit the receiving groove 401 through the notch.

[0040] The carrier 400 is provided with a support block 402 for supporting the material 300, and the support block 402 is formed by protruding upward from the bottom wall of the receiving groove 401. The carrier 400 has avoidance grooves 403 on both sides, which are connected to the receiving groove 401 and the top surface of the carrier 400.

[0041] When the material 300 is received in the receiving groove 401, the material 300 is stacked on the supporting block 402, and the avoidance groove 403 leaves a certain amount of suspended space below the bottom of the material 300. The grabbing mechanism 100 is provided with a structure adapted to the avoidance groove 403, so as to extend into the bottom of the material 300 through the avoidance groove 403 and support the material 300.

[0042] Figure 4 This is a schematic diagram of the structure of the gripping mechanism provided in the present application, in which the X-axis direction is the first direction, the Y-axis direction is the second direction, and the Z-axis direction is the vertical direction.

[0043] like Figure 2 and Figure 4 As shown, the gripping mechanism 100 includes a fixed seat 10, a connecting seat 20, a gripping assembly 30 and a translation driving assembly 40. The fixed seat 10 is used to connect with the driving mechanism 200 outside the gripping mechanism 100. The connecting seat 20 slides along a first direction (i.e., the X-axis direction shown in the figure), and the connecting seat 20 is connected to the fixed seat 10, and an angle is formed between the first direction and the vertical direction (i.e., the Z-axis direction shown in the figure).

[0044] The grabbing assembly 30 is disposed on the connecting seat 20 and moves synchronously with the connecting seat 20. The grabbing assembly 30 is used to grab the material 300. The translation driving assembly 40 is disposed on the fixing seat 10. The translation driving assembly 40 is connected to the connecting seat 20 and is used to drive the connecting seat 20 to move relative to the fixing seat 10 along the first direction.

[0045] like Figure 2 , Figure 3 and Figure 4 As shown, the way in which the grabbing mechanism 100 transports the material 300 can be: first, the fixed seat 10 moves under the drive of the driving mechanism 200 to drive the connecting seat 20, the grabbing assembly 30 and the translation driving assembly 40 to move, so that the grabbing assembly 30 moves and extends into the carrier 400; then, the grabbing mechanism 100 grabs the material 300; then, the translation driving assembly 40 drives the connecting seat 20 to move along the first direction, so that the grabbing assembly 30 drives the material 300 to move in the first direction, and the position of the material 300 is fine-tuned in the first direction, so that a gap is generated between the side of the material 300 and the inner wall of the carrier 400; then, the fixed seat 10 rises under the drive of the driving mechanism 200, drives the grabbing assembly 30 and the material 300 to rise, and pulls the material 300 upward from the carrier 400.

[0046] It can be understood that the translation drive assembly 40 can drive the connecting seat 20 to move back and forth in the first direction. Therefore, after the translation drive assembly 40 fine-tunes the position of the material 300 in the first direction, the translation drive assembly 40 can also drive the grabbing assembly 30 to reset, so as to re-fine-adjust the position of the material 300 when the grabbing assembly 30 grabs the next material 300.

[0047] It is worth noting that in this embodiment, the X-axis direction shown in the figure is used as an example for the first direction. In actual applications, the first direction can be configured according to the material 300 being attached to one side of the carrier 400. It can be specifically set according to the actual application scenario. As long as the effect of keeping the side of the material 300 away from the inner wall of the carrier 400 can be achieved, this application does not impose any restrictions on this.

[0048] Through the grabbing mechanism 100 provided in the embodiment of the present application, after the grabbing component 30 grabs the material 300 in the carrier 400, the translation drive component 40 can drive the grabbing component 30 to move in the first direction to achieve fine-tuning of the position of the material 300 in the first direction, ensuring that the side of the material 300 is away from the inner side of the carrier 400 and a gap is created, thereby reducing the risk of the material 300 scratching the inner wall of the carrier 400 when being pulled upward from the carrier 400, thereby reducing the damage rate of the material 300.

[0049] On the other hand, by adjusting the position of the connecting seat 20 relative to the fixed seat 10 in the first direction through the translation drive component 40, the position of the grasping component 30 in the first direction can be fine-tuned, which is convenient for users to adjust the grasping position according to actual needs and is suitable for a variety of grasping scenarios.

[0050] like Figure 1 and Figure 4 As shown, in some embodiments, the gripping mechanism 100 further includes an adjustment platform 50 and an adjustment member 51, wherein the adjustment platform 50 is slidably connected to the fixed seat 10 along the second direction (i.e., the Y-axis direction shown in the figure). The adjustment platform 50 is used to be connected to the external driving mechanism 200, and the second direction and the first direction have an angle. The adjustment member 51 is disposed between the fixed seat 10 and the adjustment platform 50, and the adjustment member 51 is used to adjust the position of the fixed seat 10 relative to the adjustment platform 50 in the second direction.

[0051] It can be understood that by adjusting the position of the fixing seat 10 relative to the adjustment platform 50 in the second direction by the adjustment member 51, the position of the grabbing assembly 30 in the second direction can be fine-tuned, which is convenient for users to adjust the grabbing position according to actual needs and is suitable for a variety of grabbing scenarios.

[0052] Exemplarily, the adjustment platform 50 is disposed on the top of the fixing base 10, and the adjustment platform 50 is provided with a plurality of connection holes 11, which are waist-shaped as a whole and extend along the second direction, and the connection holes 11 penetrate the adjustment platform 50 in the vertical direction. The fixing base 10 is provided with a plurality of fixing screws (not shown in the figure), which are correspondingly penetrated through the plurality of connection holes 11 and threadedly connected to the top of the fixing base 10, so that the adjustment platform 50 and the fixing base 10 are relatively fixed in the vertical direction and the first direction, and the adjustment platform 50 and the fixing base 10 are slidably connected in the second direction.

[0053] The adjusting member 51 may be an adjusting screw, which has a head and a screw portion, and the screw portion of the adjusting screw is extended along the second direction. The fixing seat 10 is provided with a rotating block 12, and the rotating block 12 is bolted and fixed to the top of the fixing seat 10, and the rotating block 12 and the adjusting platform 50 are spaced apart in the second direction. The screw portion of the adjusting screw is passed through and rotatably connected to the rotating block 12, and the rotation axis of the adjusting screw is parallel to the second direction, and the adjusting screw and the rotating block 12 are relatively fixed in the second direction.

[0054] An adjusting block 52 is provided at one end of the adjusting platform 50 close to the rotating block 12, and the adjusting block 52 is bolted and fixed to the top of the adjusting platform 50. The height of the adjusting block 52 is set corresponding to the height of the rotating block 12, and a threaded hole is provided on one side of the adjusting block 52. The screw portion of the adjusting screw is threadedly connected to the adjusting block 52 along the second direction.

[0055] When the adjusting screw rotates forward or reversely, the rotating block 12 moves closer to or closer to the adjusting block 52 along the second direction by utilizing the threaded fit between the adjusting screw and the adjusting platform 50 , thereby achieving relative movement of the fixing seat 10 and the adjusting platform 50 .

[0056] like Figure 4 As shown, in some embodiments, the length of the adjustment platform 50 in the second direction is less than the length of the fixing base 10 in the second direction, and the adjustment platform 50 is located in the middle of the fixing base 10. The adjustment member 51 and the rotating block 12 are both disposed at one end of the adjustment platform 50 in the second direction, and the translation drive assembly 40 is disposed at the other end of the adjustment platform 50 in the second direction.

[0057] In this way, by utilizing the length difference between the fixed base 10 and the adjusting platform 50, both ends of the fixed base 10 are extended laterally in the second direction relative to the adjusting platform 50, so as to leave a certain installation space at both ends of the adjusting platform 50, so that the translation drive assembly 40 and the adjusting platform 50 do not interfere with each other and the space utilization rate is improved.

[0058] In some embodiments, the translation drive assembly 40 can be a translation drive cylinder having a cylinder body and a piston rod. The cylinder body of the translation drive cylinder is bolted and fixed to the top of the fixing seat 10, and the piston rod of the translation drive cylinder is extended along the first direction.

[0059] The connecting seat 20 is located below the fixing seat 10, and there is a gap between the connecting seat 20 and the fixing seat 10 in the vertical direction. A connecting block 21 is provided at one end of the connecting seat 20 close to the translation drive cylinder, and the connecting block 21 is extended in the vertical direction. The lower end of the connecting block 21 is bolted and fixed to the connecting seat 20, and the upper end of the connecting block 21 is provided close to the piston rod of the translation drive cylinder in the first direction. The piston rod of the translation drive cylinder is connected to the connecting block 21 through a floating joint.

[0060] When the piston cylinder of the translation driving cylinder is extended and retracted, the piston cylinder of the translation driving cylinder pushes the connecting block 21 to move in the first direction, thereby driving the connecting seat 20 to move in the first direction. At the same time, the floating joint between the translation driving cylinder and the connecting block 21 can eliminate the axis concentricity error, so that the movement of the connecting seat 20 is more stable.

[0061] It is worth noting that in other embodiments, the translation drive assembly 40 may also be a translation drive structure such as a motor screw structure, a motor gear rack structure, etc., which can be configured according to actual needs and the present application does not impose any restrictions on this.

[0062] like Figure 4As shown, in some embodiments, the connecting seat 20 is provided with a first slide rail 22, and the first slide rail 22 is extended along the first direction. The fixing seat 10 is provided with a first slider 13, and the first slider 13 is slidably connected to the first slider 13.

[0063] The cooperation between the first sliding block 13 and the first sliding rail 22 can limit and guide the relative movement between the connecting seat 20 and the fixing seat 10 , thereby ensuring the movement stability of the connecting seat 20 .

[0064] Exemplarily, the first slide rail 22 is located on a side of the connecting seat 20 close to the translation drive assembly 40, and the first slide rail 22 is bolted and fixed to the top of the connecting seat 20. The position of the first slider 13 corresponds to the position of the first slide rail 22, and the first slider 13 is bolted and fixed to the bottom of the fixed seat 10. The first slider 13 is slidably connected to the upper part of the first slide rail 22.

[0065] In some embodiments, the connection seat 20 is provided with a first limit block 23 , the first limit block 23 is bolted and fixed to the connection seat 20 , and the first limit block 23 and the driving member are respectively located at two ends of the first slide rail 22 .

[0066] It can be understood that the first limit block 23 and the driving member can prevent the first slider 13 from being separated from the two ends of the first slide rail 22 during the sliding process, thereby improving the movement stability of the connecting seat 20. It can be understood that the upper end of the connecting block 21 is connected to the piston rod of the translation driving cylinder, and the lower end of the connecting block 21 blocks the first slider 13, thereby simplifying the mechanical structure layout on the connecting seat 20 and improving space utilization.

[0067] In some embodiments, the connecting seat 20 is provided with a second slide rail 24, which is parallel to the first slide rail 22 and spaced apart from the first slide rail 22 in the second direction. The fixing seat 10 is provided with a second slider 14, which is slidably connected to the second slider 14.

[0068] The cooperation between the second slider 14 and the second slide rail 24 can limit and guide the relative movement between the connecting seat 20 and the fixing seat 10. In addition, the first slide rail 22 and the second slide rail 24 can simultaneously limit and guide at multiple positions on the connecting seat 20, further improving the movement stability of the connecting seat 20.

[0069] Exemplarily, the second slide rail 24 is located on a side of the connecting seat 20 away from the translation drive assembly 40, and the second slide rail 24 is bolted and fixed to the top of the connecting seat 20. The position of the second slider 14 corresponds to the position of the second slide rail 24, and the second slider 14 is bolted and fixed to the bottom of the fixed seat 10. The second slider 14 is slidably connected to the upper part of the second slide rail 24. It can be understood that the first slide rail 22 and the second slide rail 24 play a limiting and guiding role at both ends of the connecting seat 20, eliminating the risk of movement being stuck due to the deviation of the force point of the connecting block 21 from the center point of the connecting seat 20.

[0070] In some embodiments, the connection base 20 is provided with a plurality of second limit blocks 25, the second limit blocks 25 are bolted and fixed to the connection base 20, and the plurality of second limit blocks 25 are respectively located at both ends of the second slide rail 24. The plurality of second limit blocks 25 can prevent the second slider 14 from being separated from the two ends of the second slide rail 24 during the sliding process, thereby improving the movement stability of the connection base 20.

[0071] Figure 5 This is a schematic diagram of the distribution of the fixing seat, the connecting seat, the limiting assembly, the first slide rail and the second slide rail in this application.

[0072] like Figure 4 and Figure 5 As shown, in some embodiments, the gripping mechanism 100 further includes a limit assembly 60, and the limit assembly 60 moves synchronously with the connecting seat 20. One end of the limit assembly 60 is connected to the connecting seat 20, and the other end of the limit assembly 60 is connected to the connecting seat 20 and arranged near the fixing seat 10 along the first direction. The limit assembly 60 is used to limit the movement range of the connecting seat 20 relative to the fixing seat 10 by abutting against the fixing seat 10.

[0073] When the distance moved by the connecting seat 20 relative to the fixing seat 10 has not reached the maximum value, a distance is left between the limiting assembly 60 and the fixing seat 10; when the distance moved by the connecting seat 20 relative to the fixing seat 10 has reached the maximum value, the limiting assembly 60 abuts against the fixing seat 10 to prevent the connecting seat 20 from continuing to move, thereby preventing the connecting seat 20 from moving excessively.

[0074] In this embodiment, there are multiple groups of limiter assemblies 60, which are distributed on both sides of the connecting seat 20 in the first direction, and the fixing seat 10 is located between the multiple groups of limiter assemblies 60. The multiple groups of limiter assemblies 60 jointly limit the movement range of the connecting seat 20 relative to the fixing seat 10 to prevent the connecting seat 20 from moving excessively.

[0075] In this embodiment, the limiting assembly 60 includes a blocking member 61 and a mounting block 62. The mounting block 62 is connected to the connecting seat 20, and the blocking member 61 is mounted on the mounting block 62. At least a portion of the blocking member 61 is disposed close to the fixing seat 10 along the first direction, so that the blocking member 61 can limit the movement range of the connecting seat 20 relative to the fixing seat 10 by abutting against the fixing seat 10.

[0076] Exemplarily, the blocking member 61 is a blocking screw. The blocking member 61 has a head and a screw portion, and the screw portion of the blocking member 61 is extended along the first direction. The head of the blocking member 61 is used to abut against the fixing seat 10, that is, when the distance moved by the connecting seat 20 relative to the fixing seat 10 reaches a maximum value, the head of the blocking member 61 abuts against the fixing seat 10 to prevent the connecting seat 20 from moving further.

[0077] The width of the connecting seat 20 in the first direction is greater than the width of the fixing seat 10 in the first direction. The connecting seat 20 is provided with a mounting block 62, which is extended in the vertical direction, the lower end of the mounting block 62 is bolted and fixed to the side of the connecting seat 20, and the upper end of the mounting block 62 is arranged near the fixing seat 10 in the first direction and is provided with a threaded hole. The screw portion of the blocking member 61 is threadedly connected to the mounting block 62 in the first direction.

[0078] It can be understood that by utilizing the threaded cooperation between the blocking member 61 and the mounting block 62, the distance between the head of the blocking member 61 and the mounting block 62 can be adjusted by screwing the blocking member 61, thereby adjusting the contact position of the head of the blocking member 61 relative to the fixing seat 10, and adjusting the moving range of the connecting seat 20 to be suitable for various application scenarios with different requirements for fine-tuning distances.

[0079] In the embodiment of the present application, a threaded blocking member 61 is used as an example. In other examples, the blocking member 61 may also be other detachable structures. By replacing the blocking member 61 with different lengths installed in the first direction, the function of adjusting the moving range of the connecting seat 20 is achieved. The present application does not impose any restrictions on this.

[0080] In this embodiment, a wear-resistant block for contacting the blocking member 61 is further provided on the side of the fixing seat 10 to reduce damage caused when the blocking member 61 collides with the fixing seat 10 .

[0081] Figure 6 This is a structural schematic diagram of the gripping mechanism provided in this application from another perspective.

[0082] like Figure 2 and Figure 6As shown, in some embodiments, the grabbing assembly 30 includes a clamping drive member 31, a first clamping member 32, and a second clamping member 33, wherein the clamping drive member 31 is disposed on the connecting seat 20. The first clamping member 32 is extended in the vertical direction, and the first clamping member 32 is connected to the clamping drive member 31. The second clamping member 33 is parallel to the first clamping member 32, and the second clamping member 33 and the first clamping member 32 are spaced apart in a third direction (i.e., the X-axis direction shown in the figure), and an angle is formed between the third direction and the vertical direction.

[0083] The first clamping member 32 and the second clamping member 33 are used to cooperate to clamp the two sides of the material 300. Under the drive of the clamping driving member 31, the first clamping member 32 can approach or move away from the second clamping member 33 along the third direction, so that the first clamping member 32 and the second clamping member 33 cooperate to clamp or release the material 300.

[0084] In the example of this embodiment, the third direction is consistent with the second direction. In other examples, the third direction may also have an angle with the second direction, which is not limited in the present application.

[0085] Exemplarily, the first clamping member 32 and the second clamping member 33 are respectively located at the two ends of the connection seat 20 in the third direction, the upper end of the first clamping member 32 is slidably connected to one end of the connection seat 20 through the slide rail slider structure, and the upper end of the clamping claw is slidably connected to the other end of the connection seat 20 through the slide rail slider structure. The first clamping member 32 and the second clamping member 33 are both adapted to the avoidance groove 403 of the carrier 400. When the first clamping member 32 and the second clamping member 33 are close to each other to clamp the material 300, the first clamping member 32 and the second clamping member 33 can enter the inside of the carrier 400 from both sides of the carrier 400 through the corresponding avoidance groove 403, and respectively hold the two sides of the material 300 in the third direction.

[0086] Figure 7 Bottom view of the gripping assembly provided for this application.

[0087] like Figure 6 and Figure 7As shown, the clamping drive member 31 includes a first clamping cylinder 311 and a second clamping cylinder 312. The first clamping cylinder 311 has a cylinder body and a piston cylinder. The cylinder body of the first clamping cylinder 311 is bolted and fixed to the connecting seat 20. The piston rod of the first clamping cylinder 311 is connected to the first clamping member 32. The first clamping cylinder 311 can drive the first clamping member 32 to reciprocate in the third direction by the extension and contraction of the piston rod. The second clamping cylinder 312 has a cylinder body and a piston cylinder. The cylinder body of the second clamping cylinder 312 is bolted and fixed to the connecting seat 20. The piston rod of the second clamping cylinder 312 is arranged in the opposite direction to the piston rod of the first clamping cylinder 311. The piston rod of the second clamping cylinder 312 is connected to the second clamping member 33. The second clamping cylinder 312 can drive the second clamping member 33 to reciprocate in the third direction by the extension and contraction of the piston rod.

[0088] like Figure 2 and Figure 7 As shown, when the material 300 needs to be clamped, the first clamping member 32 and the second clamping member 33 can move closer to each other at the same time; when the material 300 needs to be released, the first clamping member 32 and the second clamping member 33 can move away from each other at the same time to improve the grabbing efficiency of the material 300.

[0089] It can be understood that in the example of this embodiment, the first clamping member 32 and the second clamping member 33 are driven by different cylinders respectively, and the two move closer or farther away from each other at the same time to improve the grasping efficiency; in other embodiments, the second clamping member 33 can also be configured to be stationary, and the movement of the first clamping member 32 is used to achieve the two moving closer or farther from each other, and the present application does not impose any restrictions on this.

[0090] In some embodiments, a first positioning screw 321 is provided on one side of the first clamping member 32 facing the second clamping member 33, and the first positioning screw 321 is threadedly connected to the first clamping member 32 along the third direction. The connecting seat 20 is provided with a first stopper 28, and the first stopper 28 is located between the first positioning screw 321 and the second clamping member 33, and the first stopper 28 is arranged near the first positioning screw 321 along the third direction. The first stopper 28 is used to limit the movement range of the first clamping member 32 by abutting against the first positioning screw 321.

[0091] Exemplarily, the first positioning screw 321 has a head and a screw portion, the head of the first positioning screw 321 is used to abut the first stopper 28, and the screw portion of the first positioning screw 321 is extended along the third direction. The first clamping member 32 is provided with a threaded hole, and the screw portion of the first positioning screw 321 is threadedly connected to the first clamping member 32.

[0092] When the distance moved by the first clamping member 32 toward the second clamping member 33 has not reached the maximum value, a distance is left between the head of the first positioning screw 321 and the first stop block 28; when the distance moved by the first clamping member 32 toward the second clamping member 33 has reached the maximum value, the head of the first positioning screw 321 abuts against the first stop block 28, preventing the first clamping member 32 from continuing to move closer to the second clamping member 33, thereby limiting the minimum distance between the first clamping member 32 and the second clamping member 33, thereby controlling the clamping tightness of the first clamping member 32 and the second clamping member 33 on the material 300.

[0093] Furthermore, by utilizing the threaded cooperation between the first positioning screw 321 and the first clamping member 32, the distance between the head of the first positioning screw 321 and the first clamping member 32 can be adjusted by screwing the first positioning screw 321, thereby adjusting the contact position of the head of the first positioning screw 321 relative to the first stopper 28, and adjusting the clamping tightness of the first clamping member 32 and the second clamping member 33 on the material 300.

[0094] In some embodiments, a second positioning screw 331 is provided on one side of the second clamping member 33 facing the first clamping member 32, and the second positioning screw 331 is threadedly connected to the second clamping member 33 along the third direction. The connecting seat 20 is provided with a second stopper 29, and the second stopper 29 is located between the second positioning screw 331 and the first clamping member 32, and the second stopper 29 is arranged near the second positioning screw 331 along the third direction. The second stopper 29 is used to limit the movement range of the second clamping member 33 by abutting against the second positioning screw 331.

[0095] Exemplarily, the second positioning screw 331 has a head and a screw portion, the head of the second positioning screw 331 is used to abut the second stopper 29, and the screw portion of the second positioning screw 331 is extended along the third direction. The second clamping member 33 is provided with a threaded hole, and the screw portion of the second positioning screw 331 is threadedly connected to the second clamping member 33.

[0096] When the distance moved by the second clamping member 33 toward the first clamping member 32 has not reached the maximum value, there is a distance between the head of the second positioning screw 331 and the second stop block 29; when the distance moved by the second clamping member 33 toward the first clamping member 32 has reached the maximum value, the head of the second positioning screw 331 abuts against the second stop block 29, preventing the second clamping member 33 from continuing to move closer to the first clamping member 32, thereby limiting the minimum distance between the first clamping member 32 and the second clamping member 33, thereby controlling the clamping tightness of the first clamping member 32 and the second clamping member 33 on the material 300.

[0097] Furthermore, by utilizing the threaded cooperation between the second positioning screw 331 and the second clamping member 33, the distance between the head of the second positioning screw 331 and the second clamping member 33 can be adjusted by screwing the second positioning screw 331, thereby adjusting the contact position of the head of the second positioning screw 331 relative to the second stopper 29, and adjusting the clamping tightness of the first clamping member 32 and the second clamping member 33 on the material 300.

[0098] like Figure 2 and Figure 6 As shown, in some embodiments, the grabbing assembly 30 further includes a first supporting member 34 and a second supporting member 35, and the first supporting member 34 and the second supporting member 35 are respectively connected to the first clamping member 32 and the second clamping member 33. The first supporting member 34 is fixedly connected to one end of the first clamping member 32 away from the connecting seat 20, and the second supporting member 35 is fixedly connected to one end of the second clamping member 33 away from the connecting seat 20. The first supporting member 34 and the second supporting member 35 are used to support the bottom of the material 300.

[0099] Specifically, when the first clamping member 32 and the second clamping member 33 can enter the interior of the carrier 400 from both sides of the carrier 400 through the corresponding avoidance grooves 403, the first supporting member 34 and the second supporting member 35 can enter the space at the bottom of the material 300 from both sides of the carrier 400 through the corresponding avoidance grooves 403 to support the material 300 after rising.

[0100] In some embodiments, the gripping mechanism 100 further includes a pressing assembly 80, which is connected to the connecting seat 20 and is located above the first supporting member 34 and the second supporting member 35. The pressing assembly 80 is used to cooperate with the first supporting member 34 and the second supporting member 35 to press the material 300.

[0101] In some embodiments, the pressing assembly 80 includes a base 81, a pressing driving member 82 and a pressing member 83, wherein the base 81 is disposed on the connecting seat 20, the pressing driving member 82 is connected to the base 81, and the pressing member 83 is connected to the pressing driving member 82. The pressing member 83 is located above the first supporting member 34 and the second supporting member 35, and the pressing member 83 is used to reciprocate in the vertical direction under the drive of the pressing driving member 82.

[0102] When the first supporting member 34 and the second supporting member 35 are supported at the bottom of the material 300 , the pressing driving member 82 can drive the pressing member 83 to move downward so that the pressing member 83 presses against the top of the material 300 , thereby cooperating with the first supporting member 34 and the second supporting member 35 to press the material 300 .

[0103] Exemplarily, the pressing driving member 82 is a pressing driving cylinder, which is located above the pressing member 83. The pressing driving cylinder has a cylinder body and a piston rod, the cylinder body of the pressing driving cylinder is fixed to the base 81, and the piston rod of the pressing driving cylinder is arranged downward and bolted to the pressing member 83. The pressing driving cylinder drives the pressing member 83 to reciprocate in the vertical direction by extending and retracting the piston rod.

[0104] Figure 8 This is a schematic diagram of the structure of the base and the clamping drive member provided in this application.

[0105] like Figure 6 and Figure 8 As shown, in some embodiments, the clamping assembly 80 also includes a mounting plate 84 , and the clamping drive 82 is disposed on the mounting plate 84 . The mounting plate 84 is connected to the base 81 , that is, the clamping drive 82 is connected to the base 81 through the mounting plate 84 .

[0106] The mounting plate 84 is provided with an adjustment hole 841 , and the adjustment hole 841 is used to cooperate with a mounting member (not shown in the figure) to adjust the position of the mounting plate 84 relative to the base 81 in the vertical direction.

[0107] In this way, by adjusting the hole 841 and the mounting part, the position of the mounting plate 84 relative to the base 81 in the vertical direction can be adjusted to change the height of the mounting plate 84 in the vertical direction, thereby adjusting the height of the clamping drive member 82 and the clamping member 83 in the vertical direction, which is convenient for users to adjust the clamping height according to actual needs and is suitable for a variety of grasping scenarios.

[0108] Exemplarily, the base 81 is bolted and fixed to the bottom of the connecting seat 20. A connecting plate 811 is provided at the bottom of the base 81, and the connecting plate 811 extends in a vertical direction. The top of the connecting plate 811 is bolted and fixed to the base 81.

[0109] The mounting plate 84 is connected to one side of the connecting plate 811. The adjustment hole 841 is waist-shaped as a whole and extends in the vertical direction. The adjustment hole 841 passes through the mounting plate 84 in the horizontal direction. There are multiple adjustment holes 841, and multiple adjustment holes 841 can be connected to multiple mounting parts at the same time. The mounting part can be a mounting screw. The connecting plate 811 is reserved with a through hole for the mounting screw to pass through. The mounting screw is penetrated through the adjustment hole 841 and the connecting plate 811, and is threadedly connected to a nut fixed to the connecting plate 811. The mounting screw compresses the connecting plate 811 and the mounting plate 84 by cooperating with the nut to fix the mounting plate 84.

[0110] When the mounting screws are tightened, the mounting plate 84 is relatively fixed to the connecting plate 811. When the mounting screws are loosened, the mounting plate 84 and the connecting plate 811 can move relative to each other in the vertical direction to change the height of the mounting plate 84 in the vertical direction.

[0111] It can be understood that in the above examples, the cooperation between the adjustment hole 841 and the mounting piece is a sliding cooperation. In other examples, the cooperation between the adjustment hole 841 and the mounting piece can also be a plug-in cooperation. For example, multiple adjustment holes 841 are spaced apart in the vertical direction, and the mounting piece can be fixed to the pin of the connecting plate 811. By plugging and fixing the pin to the adjustment holes 841 at different heights, the height of the mounting plate 84 can be changed in the vertical direction.

[0112] like Figure 2 , Figure 4 and Figure 6 As shown, the cooperation between the grabbing assembly 30 and the pressing assembly 80 provided in the present application is described below.

[0113] For example, when the carrier 400 is already loaded with the material 300, the method of moving the material 300 out of the fully loaded carrier 400 may be:

[0114] First, the connecting seat 20 can be moved to the top of the carrier 400 , so that the first clamping member 32 and the second clamping member 33 are aligned with the avoidance grooves 403 on both sides of the carrier 400 .

[0115] Then, the first clamping member 32 and the second clamping member 33 approach each other, and the first clamping member 32 and the second clamping member 33 respectively contact the two sides of the material 300 through the corresponding avoidance grooves 403, and at the same time, the first supporting member 34 and the second supporting member 35 extend below the bottom of the material 300.

[0116] Then, the pressing member 83 moves downward to press the top of the material 300 .

[0117] Then, the connecting seat 20 is controlled to move upward a short distance (eg, 1 mm), at which time the material 300 is still located in the carrier 400 , and the first supporting member 34 and the second supporting member 35 cooperate with the pressing member 83 to press the material 300 .

[0118] Then, the connection seat 20 moves a short distance (eg, 0.5 mm) along the first direction to fine-tune the position of the material 300 to ensure that the side surface of the material 300 is separated from the inner wall of the carrier 400 .

[0119] Then, the connecting seat 20 is controlled to move upward, driving the material 300 to be pulled upward and away from the carrier 400 , and at the same time, the first clamping member 32 , the second clamping member 33 , the first supporting member 34 and the second supporting member 35 can also be separated from the carrier 400 .

[0120] During the above-mentioned transport process, the first clamping member 32 and the second clamping member 33 limit the material 300 in the horizontal direction, and the first supporting member 34, the second supporting member 35 and the clamping member 83 cooperate to limit the material 300 in the vertical direction, which can not only transport a whole stack of materials 300 at the same time, but also reduce the risk of the material 300 falling during the transport process.

[0121] On the other hand, since the length directions of the first clamping member 32 and the second clamping member 33 are parallel to the stacking direction of the material 300, when the first clamping member 32 and the second clamping member 33 are close to and in contact with the material 300, the stacked material 300 can be tidied, so that the material 300 can reduce the tidiness steps and be directly put into the next process, thereby improving work efficiency.

[0122] 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: include: Fixed seat; A connecting seat, sliding along a first direction and connected to the fixing seat, wherein an angle is formed between the first direction and the vertical direction; A grabbing assembly is arranged on the connecting seat and moves synchronously with the connecting seat, and the grabbing assembly is used to grab materials; The translation driving assembly is arranged on the fixing seat and connected to the connecting seat. The translation driving assembly is used to drive the connecting seat to move along the first direction relative to the fixing seat.

2. The gripping mechanism according to claim 1, characterized in that: The gripping mechanism also includes a limiting component, which moves synchronously with the connecting seat, one end of the limiting component is connected to the connecting seat, and the other end of the limiting component is arranged close to the fixed seat along the first direction; the limiting component is used to limit the movement range of the connecting seat relative to the fixed seat by abutting against the fixed seat.

3. The gripping mechanism according to claim 2, characterized in that: The limiting assembly includes a blocking member and a mounting block, wherein the mounting block is connected to the connecting seat, the blocking member is mounted on the mounting block, and at least a portion of the blocking member is arranged close to the fixing seat along the first direction to limit the movement range of the connecting seat relative to the fixing seat by abutting against the fixing seat.

4. The gripping mechanism according to claim 1, characterized in that: The grabbing mechanism also includes: An adjustment platform is slidably connected to the fixing seat along a second direction, the adjustment platform is used to be connected to an external driving mechanism, and an angle is formed between the second direction and the first direction; An adjusting member is disposed between the fixing seat and the adjusting platform, and is used to adjust a position of the fixing seat relative to the adjusting platform in the second direction.

5. The gripping mechanism according to claim 1, characterized in that: The connecting seat is provided with a first slide rail, and the first slide rail is extended along the first direction; the fixing seat is provided with a first slider, and the first slider is slidably connected to the first slide rail.

6. The gripping mechanism according to claim 5, characterized in that: The connecting seat is provided with a connecting block and a first limiting block, and the connecting block is connected to the translation driving assembly; The first slide rail is located on a side of the connecting seat close to the translation driving assembly, and the connecting block and the first limiting block are respectively located at two ends of the first slide rail.

7. The gripping mechanism according to claim 5, characterized in that: The connecting seat is further provided with a second slide rail, the second slide rail is parallel to the first slide rail and is spaced apart in a second direction, and an angle is formed between the second direction and the first direction; The fixing seat is also provided with a second sliding block, and the second sliding block is slidably connected to the second sliding rail.

8. The gripping mechanism according to claim 1, characterized in that: The grabbing assembly comprises a first clamping member, a second clamping member and a clamping driving member, wherein the clamping driving member is arranged on the connecting seat; the first clamping member is extended in the vertical direction and connected to the clamping driving member; the second clamping member is parallel to the first clamping member, and the second clamping member and the first clamping member are spaced apart in a third direction, and an angle is formed between the third direction and the vertical direction; The first clamping member is used to move closer to or farther away from the second clamping member along the third direction under the drive of the clamping driving member, so that the first clamping member and the second clamping member cooperate to clamp or release the material.

9. The gripping mechanism according to claim 8, characterized in that: A first positioning screw is provided on a side of the first clamping member facing the second clamping member, and the first positioning screw is threadedly connected to the first clamping member along the third direction; The connecting seat is provided with a first stopper, which is located between the first positioning screw and the second clamping member, and is arranged close to the first positioning screw along the third direction; the first stopper is used to limit the movement range of the first clamping member by abutting against the first positioning screw.

10. The gripping mechanism according to claim 8, characterized in that: The grabbing assembly further includes a first supporting member and a second supporting member, wherein the first supporting member and the second supporting member are respectively connected to the first clamping member and the second clamping member, and the first supporting member and the second supporting member are used to support the bottom of the material; The gripping mechanism further includes a pressing assembly, which is connected to the connecting seat and is located above the first supporting member and the second supporting member, and is used to cooperate with the first supporting member and the second supporting member to press the material.

11. The gripping mechanism according to claim 10, characterized in that: The clamping assembly comprises: A base, connected to the connecting seat; A mounting plate connected to the base, the mounting plate being provided with an adjustment hole, the adjustment hole being used to cooperate with a mounting member to adjust the position of the mounting plate relative to the base in a vertical direction; A pressing driving member, arranged on the mounting plate; A pressing member is connected to the pressing driving member, and the pressing member is used to move in a vertical direction under the drive of the pressing driving member.

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