Grabbing device and robot

Abstract

The utility model relates to a gripping device and a robot, and the gripping device comprises a body, two sides of which are respectively provided with a first clamping jaw group and a second clamping jaw group; the horizontal driving source is connected with the second clamping jaw group; the horizontal driving source drives the second clamping jaw set to be close to or away from the first clamping jaw set. The pitch changing mechanism is arranged on one side of the first clamping jaw group and / or the second clamping jaw group; the pitch changing mechanism comprises a cam in sliding connection with the body; the plurality of pitch changers are arranged on one side of the pitch changing mechanism in the first direction; the pitch converter comprises a main body; a notch is formed in one side of the main body; the cams are matched with the notches under the action of external force, and under the action of the external force, the clamping jaws of the first clamping jaw set and / or the second clamping jaw set move along the notches of the multiple pitch changers through the cams to conduct pitch changing according to a preset track. According to the utility model, variable pitch servo is saved, and position variable pitch is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of automation devices, in particular to a grasping device and a robot. Background Art

[0002] Generally speaking, in a battery module, the battery cells have various arrangements, so it is necessary to focus on the problem of unordered grasping of the robot, and adaptively adjust the size and clamping points of the clamping jaws according to the size, contour shape and weight of the battery module.

[0003] Currently, existing robots are usually equipped with two sets of servo systems to adjust the distance between two sets of clamping jaw groups and the distance between at least two clamping jaws in the same set of clamping jaw groups, so as to adapt to different battery modules. Specifically, each set of clamping jaw groups is driven by an independent servo system, allowing individual control of the opening and closing of each set of clamping jaws. Moreover, the opening and closing distance of the clamping jaws is controlled to adjust the grasping position of the battery module.

[0004] However, designing two sets of servo systems will increase the load of the robot and complicate the structure of the clamping jaws for grasping the battery.

[0005] Therefore, it is urgent to design a robot that can save variable pitch servo and achieve position variable pitch under the condition of insufficient robot load and cost reduction. Summary of the Utility Model

[0006] In view of the deficiencies of the prior art, the utility model discloses a grasping device and a robot.

[0007] The technical scheme adopted by the utility model is as follows:

[0008] In a first aspect, a grasping device is provided, including:

[0009] A body, with a first clamping jaw group and a second clamping jaw group respectively arranged on both sides;

[0010] A horizontal driving source, connected to the second clamping jaw group; the horizontal driving source drives the second clamping jaw group to approach or move away from the first clamping jaw group;

[0011] A variable pitch mechanism, arranged on one side of the first clamping jaw group and / or the second clamping jaw group; the variable pitch mechanism includes a cam slidably connected to the body;

[0012] A plurality of variable pitch devices, arranged on one side of the variable pitch mechanism along a first direction; each variable pitch device includes a main body; a notch is formed on one side of the main body;

[0013] Wherein, the cam forms a cooperation with the notch under the action of an external force, and under the action of the external force, the jaws of the first jaw group and / or the second jaw group move along the notches of the plurality of pitch changers through the cam and perform pitch change according to a predetermined trajectory.

[0014] In an embodiment of the present invention, the distance between two adjacent pitch changers is the same.

[0015] In an embodiment of the present invention, the shape of the notch is arc-shaped.

[0016] In an embodiment of the present invention, the pitch changing mechanism further includes a first guide rail arranged along a first direction and fixed to the body, a first slider slidably engaged with the first guide rail, and a guide rail lock fixed to the first guide rail.

[0017] In an embodiment of the present invention, the pitch changing mechanism further includes a magnetic grating scale arranged along a first direction and fixed to the body, and a reading head oppositely arranged to the magnetic grating scale.

[0018] In an embodiment of the present invention, the first jaw group includes a plurality of first jaws arranged along a first direction and two second jaws located at the ends of the first jaw group; the plurality of first jaws are arranged between the two second jaws.

[0019] In an embodiment of the present invention, the first jaw includes a first fixing block fixedly connected to the body and a first jaw body arranged on one side of the first fixing block; the second jaw includes a second fixing block fixedly connected to the pitch changing mechanism and a second jaw body arranged on one side of the second fixing block.

[0020] In an embodiment of the present invention, the second jaw group includes a sliding plate slidably connected to the body, a plurality of third jaws arranged on the sliding plate and along the length direction of the body, and two fourth jaws located at the ends of the second jaw group; wherein, the sliding plate moves along a second direction; the plurality of third jaws are arranged between the two fourth jaws.

[0021] In an embodiment of the present invention, the second jaw includes a first connecting block fixedly connected to the sliding plate, a second connecting block slidably connected to the sliding plate, and a third jaw body fixedly connected to the second connecting block and elastically connected to the first connecting block; the fourth jaw includes a third connecting block fixedly connected to the pitch changing mechanism, a fourth connecting block slidably connected to the pitch changing mechanism, and a fourth jaw body fixedly connected to the third connecting block and elastically connected to the fourth connecting block.

[0022] In a second aspect, a robot is provided, including the grasping device as described in the first aspect.

[0023] The above technical solution of the present utility model has the following advantages compared with the prior art:

[0024] The grasping device described in the present utility model has a simple structure, can quickly and automatically adjust the spacing according to the change of the battery module put into the box, has high use efficiency, high product positioning accuracy, can perform continuous replication operations, meet the precise assembly requirements of products, improve production output, and at the same time greatly reduce costs. Description of the Drawings

[0025] In order to make the content of the present utility model easier to be clearly understood, the following further details the present utility model according to the specific embodiments of the present utility model in conjunction with the drawings.

[0026] Figure 1 It is a schematic structural diagram of the grasping device in the present utility model from the first perspective.

[0027] Figure 2 It is a schematic structural diagram of the grasping device in the present utility model from the second perspective.

[0028] Figure 3 It is a schematic structural diagram of the distance changer in the present utility model.

[0029] Figure 4 It is a schematic structural diagram of the first jaw in the present utility model.

[0030] Figure 5 It is a schematic structural diagram of the second jaw in the present utility model.

[0031] Figure 6 It is a schematic structural diagram of the body and the distance-changing mechanism in the present utility model.

[0032] Figure 7 is Figure 6 an enlarged schematic view of part A in

[0033] Explanation of the reference numerals in the drawings of the specification: 10, body; 20, horizontal driving source; 30, first jaw group; 31, first jaw; 3101, fixed block; 3102, first jaw body; 3103, first anti-slip pad; 32, second jaw; 40, second jaw group; 41, slide plate; 42, third jaw; 4201, first connecting block; 4202, second connecting block; 4203, elastic element; 4204, third jaw body; 4205, second anti-slip pad; 4206, reinforcing member; 43, fourth jaw; 50, distance-changing mechanism; 51, cam; 52, fifth connecting block; 53, guide rail; 54, slider; 55, guide rail lock; 56, magnetic grating ruler; 57, reading head; 60, distance changer; 61, main body; 62, base; 63, notch; 70, connecting portion. Detailed Embodiments

[0034] The present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it, but the embodiments cited do not limit the present utility model.

[0035] Regarding the foregoing and other technical contents, features and effects of the present utility model, they will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as: up, down, left, right, front or back, etc., are only with reference to the direction of the accompanying drawings. Therefore, the directional terms used are for illustration and not for limiting the present utility model. In addition, in all embodiments, the same reference numerals represent the same elements.

[0036] Embodiment 1

[0037] Combined with Figures 1 to 3 , a grasping device includes:

[0038] A body 10, with a first jaw group 30 and a second jaw group 40 provided on both sides respectively;

[0039] A horizontal driving source 20, connected to the second jaw group 40; the horizontal driving source 20 drives the second jaw group 40 to approach or move away from the first jaw group 30;

[0040] A pitch-changing mechanism 50 is provided on one side of the first jaw group 30 and / or the second jaw group 40; the pitch-changing mechanism 50 includes a cam 51 slidably connected to the body 10;

[0041] A plurality of pitch changers 60 are arranged on one side of the pitch-changing mechanism 50 along a first direction; the pitch changer 60 includes a main body 61; a notch 63 is formed on one side of the main body 61;

[0042] Wherein, the cam 51 forms a cooperation with the notch 63 under the action of an external force, and under the action of the external force, the jaws of the first jaw group 30 and / or the second jaw group 40 move along the notch 63 of the plurality of pitch changers 60 according to a predetermined trajectory for pitch change.

[0043] This embodiment provides a grasping device with a simple structure, which can quickly and automatically adjust the spacing according to the changes of the battery modules put into the box, such as the changes in size and contour shape, with high use efficiency, high product positioning accuracy, continuous replication operation, meeting the precise assembly requirements of products, increasing production output, and greatly reducing costs at the same time.

[0044] In this embodiment, combined with Figure 4 , the first jaw group 30 includes a plurality of first jaws 31 arranged along a first direction and two second jaws 32 located at the ends of the first jaw group 30. The plurality of first jaws 31 are arranged between the two second jaws 32.

[0045] Specifically, the first jaw 31 includes a first fixing block 3101 fixedly connected to the main body 10 and a first jaw body 3102 provided on one side of the first fixing block 3101. The second jaw 32 includes a second fixing block fixedly connected to the pitch-changing mechanism 50 and a second jaw body provided on one side of the second fixing block.

[0046] Preferably, a first anti-slip pad 3103 is provided on the side where the first jaw body 3102 and the second jaw body grip an object, such as a battery module. The first anti-slip pad 3103 prevents the object from slipping during handling by increasing the friction on the contact surface with the object.

[0047] In this embodiment, in combination with Figure 5 , the second jaw group 40 includes a slide plate 41 slidably connected to the main body 10, a plurality of third jaws 42 provided on the slide plate 41 and arranged along the length direction of the main body 10, and two fourth jaws 43 located at the ends of the second jaw group 40. Among them, the slide plate 41 moves along the second direction. The plurality of third jaws 42 are provided between the two fourth jaws 43.

[0048] In this embodiment, the horizontal driving source 20 can adopt a cylinder, and the acting end of the cylinder is connected to the slide plate 41 to push the slide plate 41 to move along the second direction.

[0049] Specifically, the third jaw 42 includes a first connection block 4201 fixedly connected to the slide plate 41, a second connection block 4202 slidably connected to the slide plate 41, and a third jaw body 4204 fixedly connected to the second connection block 4202 and elastically connected to the first connection block 4201. The fourth jaw 43 includes a third connection block fixedly connected to the pitch-changing mechanism 50, a fourth connection block slidably connected to the pitch-changing mechanism 50, and a fourth jaw body fixedly connected to the third connection block and elastically connected to the fourth connection block.

[0050] Among them, elastic elements 4203 are respectively provided between the first connection block 4201 and the third jaw body 4204 and between the fourth connection block and the fourth jaw body. The elastic elements 4203 can adopt springs to achieve elastic connection.

[0051] Preferably, a second anti-slip pad 4205 is provided on the side where the third jaw body 4204 and the fourth jaw body grip an object, such as a battery module. The second anti-slip pad 4205 prevents the object from slipping during handling by increasing the friction on the contact surface with the object.

[0052] Preferably, the third jaw 42 further includes a reinforcing member 4206, and the reinforcing member 4206 is fixedly connected to the first connection block 4201 and the third jaw body 4204 respectively to improve the stability of the third jaw body 4204.

[0053] As described above, the pitch-changing mechanism 50 is provided on one side of the first jaw group 30 and the second jaw group 40, so as to adjust the distance between the first jaw 31 and the second jaw 32 and the distance between the third jaw 42 and the fourth jaw 43.

[0054] It should be noted that in this embodiment, the "first direction" refers to the length direction of the body 10, and the "second direction" refers to the width direction of the body 10.

[0055] In this embodiment, in combination with Figure 6 and Figure 7 , the pitch-changing mechanism 50 further includes a fifth connecting block 52, and the cam 51 is fixed on the fifth connecting block 52.

[0056] The pitch-changing mechanism 50 further includes a guide rail 53 arranged along the first direction and fixed to the body 10, a slider 54 slidably engaged with the guide rail 53, and a guide rail lock 55 fixed to the guide rail 53.

[0057] Furthermore, the pitch-changing mechanism 50 further includes a magnetic scale 56 arranged along the first direction and fixed to the body 10 and a reading head 57 arranged opposite to the magnetic scale 56. The magnetic scale 56 and the reading head 57 are used in cooperation to provide a high-precision position feedback signal for monitoring and controlling the position of the second jaw 32.

[0058] In this embodiment, the pitch changer 60 further includes a base 62, and the base 62 supports the main body 61. The base 62 and the main body 61 can be integrally formed.

[0059] Preferably, the distance between two adjacent pitch changers 60 is the same.

[0060] In this embodiment, as Figure 3 shown, the shape of the notch 63 is arc-shaped. The arc-shaped notch 63 can provide a smooth contact surface, reduce the friction and wear of the cam 51 in the notch 63, and achieve a more stable movement. The position of the cam 51 can be controlled more precisely to ensure that the cam 51 is stably positioned in the notch 63. At the same time, it can adapt to the cam 51 profiles with different radii, providing a certain degree of flexibility to adapt to different designed cams 51.

[0061] The working principle of this embodiment is as follows:

[0062] Under the action of an external force, the body 10 reaches near the pitch changer 60 and waits for pitch change;

[0063] The cam 51 is stuck in the notch 63 of the pitch changer 60, the guide rail lock 55 is opened by ventilation, and then pitch change is performed by an external force, that is, the distance between the first jaw 31 and the second jaw 32 and the distance between the third jaw 42 and the fourth jaw 43 are adjusted.

[0064] After the pitch change is completed, it is confirmed through the magnetic grating ruler 56 and the read head 57, and the positions of the second jaw 32 and the fourth jaw 43 are confirmed. The air supply of the guide rail lock 55 is cut off and closed to lock the second jaw 32 and the fourth jaw 43. The main body 10 leaves the pitch changer 60 under the action of an external force, realizing the pitch change function.

[0065] Embodiment 2

[0066] This embodiment provides a robot, including the grasping device provided in Embodiment 1.

[0067] In this embodiment, the robot further includes a multi-degree-of-freedom robotic arm, and the robotic arm is used to perform specific operations and tasks.

[0068] In this embodiment, the main body 10 of the grasping device is provided with a connecting portion 70, and the connecting portion 70 is used to connect to the end of the robotic arm. The robotic arm controls the grasping device to approach the pitch changer 60, so that the main body 10 moves along the notch 63 of multiple pitch changers 60 through the cam 51 to perform pitch change according to a predetermined trajectory.

[0069] It should be noted that the main design key point of the present utility model lies in the structural improvement of the grasping device, and other structures of the robot, such as the electrical connection part of the robot and the structural part of the robotic arm, will not be elaborated one by one.

[0070] In the description of the embodiments of the present utility model, it should also be noted that unless otherwise clearly specified and limited, if the terms "set" and "connect" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0071] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present utility model.

Claims

1. A grasping device, characterized in that, Comprising: A main body (10) with a first jaw group (30) and a second jaw group (40) provided on both sides respectively; A horizontal driving source (20) connected to the second jaw group (40); the horizontal driving source (20) drives the second jaw group (40) to approach or move away from the first jaw group (30); A pitch-changing mechanism (50) provided on one side of the first jaw group (30) and / or the second jaw group (40); the pitch-changing mechanism (50) includes a cam (51) slidably connected to the main body (10); A plurality of pitch changers (60) arranged along a first direction on one side of the pitch-changing mechanism (50); the pitch changer (60) includes a main body (61); a notch (63) is formed on one side of the main body (61); Wherein, the cam (51) forms a cooperation with the notch (63) under an external force, and under the external force, the jaws of the first jaw group (30) and / or the second jaw group (40) move along the notches (63) of the plurality of pitch changers (60) to perform pitch change according to a predetermined trajectory.

2. The gripping device according to claim 1, wherein The distance between two adjacent pitch changers (60) is the same.

3. The grasping device according to claim 1, wherein The shape of the notch (63) is arc-shaped.

4. The gripping device according to claim 1, wherein The pitch-changing mechanism (50) further includes a first guide rail (53) arranged along the first direction and fixed to the main body (10), a first slider (54) slidably engaged with the first guide rail (53), and a guide rail lock (55) fixed to the first guide rail (53).

5. The gripping device according to claim 3, characterized in that, The pitch-changing mechanism (50) further includes a magnetic scale (56) arranged along the first direction and fixed to the main body (10) and a reading head (57) arranged opposite to the magnetic scale (56).

6. The gripping device according to claim 1, characterized in that The first jaw group (30) includes a plurality of first jaws (31) arranged along the first direction and two second jaws (32) located at the ends of the first jaw group (30); the plurality of first jaws (31) are arranged between the two second jaws (32).

7. The gripping device according to claim 6, characterized in that, The first jaw (31) includes a first fixing block (3101) fixedly connected to the main body (10) and a first jaw body (3102) arranged on one side of the first fixing block (3101); the second jaw (32) includes a second fixing block fixedly connected to the pitch-changing mechanism (50) and a second jaw body arranged on one side of the second fixing block.

8. The gripping device according to claim 1, characterized in that, The second jaw group (40) includes a slide plate (41) slidably connected to the main body (10), a plurality of third jaws (42) arranged on the slide plate (41) and along the length direction of the main body (10), and two fourth jaws (43) located at the ends of the second jaw group (40); wherein, the slide plate (41) moves along a second direction; the plurality of third jaws (42) are arranged between the two fourth jaws (43).

9. The gripping device according to claim 8, characterized in that, The third jaw (42) includes a first connecting block (4201) fixedly connected to the sliding plate (41), a second connecting block (4202) slidably connected to the sliding plate (41), and a third jaw body (4204) fixedly connected to the second connecting block (4202) and elastically connected to the first connecting block (4201); the fourth jaw (43) includes a third connecting block fixedly connected to the pitch-changing mechanism (50), a fourth connecting block slidably connected to the pitch-changing mechanism (50), and a fourth jaw body fixedly connected to the third connecting block and elastically connected to the fourth connecting block.

10. A robot, characterized in that, It includes the grasping device according to any one of claims 1-9.

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