Grabbing device and manipulator

Abstract

The utility model discloses a gripping device, which comprises a butt joint seat, the suction part is arranged at the first position of the butt joint seat; the anti-disengaging assembly is arranged at the second position of the butt joint base and matched with the suction piece to grab the materials, the anti-disengaging assembly is provided with a bearing piece and a driving piece, and the driving piece is in transmission connection with the bearing piece; the battery pack can enter the box body even if the gap between the box body and the battery pack is very small through the suction part, the overall stability of the grabbing device can be improved through the arrangement of the anti-disengaging assembly, and the battery pack is prevented from disengaging from the grabbing device.

Description

Technical Field

[0001] The utility model relates to the field of battery pack handling equipment, in particular to a grasping device and a manipulator. Background Art

[0002] A battery pack is a device consisting of two or more batteries connected through a circuit. Its primary function is to provide power to another device. These battery packs can be connected in series or in parallel to meet different voltage and current requirements.

[0003] After the battery pack is manufactured, it needs to be moved into a box. The traditional equipment for moving the battery pack into the box is a robot. A clamp is set at one end of the robot. The clamp is a pneumatic clamp or other tool. After the clamp clamps the battery pack, the robot transfers the battery pack to the box. However, sometimes the gap between the box and the battery pack is small. Since the clamp is clamped on the side of the battery pack, the clamp cannot enter the box to place the battery pack into the box. Even if the clamp enters the box, it is not convenient to detach from the battery pack, which causes the disadvantage of inconvenience in transportation. When the clamp clamps the battery pack, the battery pack may detach from the clamp, resulting in unstable clamping. Utility Model Content

[0004] In order to overcome the disadvantages of the existing technology that sometimes the gap between the box and the battery pack is small, the clamp is clamped on the side of the battery pack, and the clamp cannot enter the box to place the battery pack into the box. Even if the clamp enters the box, it is not convenient to detach from the battery pack, resulting in inconvenience in transportation. The battery pack may also detach from the clamp when clamping the battery pack, resulting in unstable clamping.

[0005] First aspect

[0006] The utility model provides a grabbing device, comprising:

[0007] docking station;

[0008] A suction member is installed at the first position of the docking seat;

[0009] The anti-slip component is installed at the second position of the docking seat and cooperates with the suction member to grab materials. The anti-slip component is provided with a supporting member and a driving member, and the driving member is transmission-connected to the supporting member.

[0010] Optionally, the first position is the bottom of the docking seat, and the suction member includes a suction cup, which is fixed to the bottom of the docking seat.

[0011] Optionally, a pipe opening is provided on the docking seat, an airway is provided on the suction cup, and the pipe opening is communicated with the airway.

[0012] Optionally, the second position is the side of the docking seat, the driving member includes a rotating cylinder and a rotating shaft, the rotating cylinder is connected to the rotating shaft, and the supporting member includes a U-shaped frame, the two ends of the U-shaped frame are respectively located on both sides of the docking seat and connected to the rotating shaft.

[0013] Optionally, the docking seat includes a docking head and a mounting frame, and the docking head is mounted on the mounting frame.

[0014] Optionally, the mounting frame includes a base plate and two side plates, the two side plates are respectively mounted on both sides of the base plate, and the docking joint is mounted on the side plates.

[0015] Optionally, the first position is at the bottom of the base plate, and the second position is on the side plate.

[0016] Optionally, the docking joint includes a connecting plate and a bracket, and the connecting plate is mounted on the bracket.

[0017] Optionally, a camera module is provided on the mounting frame.

[0018] Second aspect

[0019] The utility model provides a manipulator, comprising the grasping device described in the first aspect.

[0020] The advantageous effects of the present invention are as follows: the suction piece is installed to the first position of the docking seat, and the suction piece is docked with the vacuum equipment, the anti-slip assembly is installed to the second position of the docking seat, the docking seat is docked with the manipulator, and the manipulator drives the docking seat to the battery pack carrying point, firstly, the vacuum equipment is turned on so that the suction piece adsorbs the battery pack on the bottom, the manipulator drives the docking seat to move upward, the driving piece on the anti-slip assembly drives the supporting piece to the bottom of the battery pack, the supporting piece can be placed at the bottom of the battery pack and the battery pack falls off the suction piece, even if the battery pack falls off the suction piece, the supporting piece will lift the battery pack, and then the manipulator drives the grasping device to the top of the box, at this time the driving piece drives the supporting piece to leave the bottom of the battery pack, and then the manipulator drives the suction piece to move downward, carrying the battery pack into the box, and then the vacuum equipment is turned off so that the suction piece no longer adsorbs the battery pack, and finally the battery pack is put into the box, and the battery pack can be adsorbed by the suction piece even when the gap between the box and the battery pack is very small, and the provision of the anti-slip assembly can improve the overall stability of the grasping device and prevent the battery pack from falling off from the grasping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 is a schematic diagram of a structure with a battery pack in some embodiments;

[0023] Figure 2is a schematic structural diagram of some embodiments at a first angle;

[0024] Figure 3 is a schematic structural diagram of a second angle in some embodiments;

[0025] Figure 4 is a schematic diagram of an explosion structure in some embodiments;

[0026] Figure 5 Schematic diagram of the structure of the anti-slip assembly in some embodiments;

[0027] Figure 6 Schematic diagram of the explosion structure of the anti-detachment component in some embodiments.

[0028] Explanation of the accompanying reference numerals: 1. docking station; 2. suction piece; 3. anti-slip assembly; 4. camera module; 101. nozzle; 202. air duct; 301. rotary cylinder; 302. rotating shaft; 303. U-shaped frame; 102. docking station; 103. mounting bracket; 104. bottom plate; 105. side plate; 106. negative pressure gauge; 107. connecting plate; 108. bracket; 401. camera; 402. fixing plate; 5. battery pack. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technical personnel in this field without creative work are within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the present invention can be combined interactively without conflicting with each other.

[0030] The utility model provides a grabbing device for grabbing a battery pack 5 during the handling of the battery pack 5, comprising: a docking seat 1; a suction member 2, mounted at a first position of the docking seat 1;

[0031] The anti-slip assembly 3, mounted in the second position of the docking station 1, cooperates with the suction element 2 to grasp materials. The anti-slip assembly 3 includes a support member and a drive member, which are in driving connection with the support member. The docking station 1 is used to dock with a manipulator; the suction element 2 is used to dock with external vacuum equipment. The anti-slip assembly 3 prevents the battery pack 5 from detaching from the suction element 2.

[0032] During implementation, the suction piece 2 is installed to the first position of the docking seat 1, and the suction piece 2 is docked with the vacuum equipment, the anti-slip component 3 is installed to the second position of the docking seat 1, and the docking seat 1 is docked with the manipulator. The manipulator drives the docking seat 1 to the battery pack 5 transportation point. First, the vacuum equipment is turned on to make the suction piece 2 adsorb the battery pack 5 at the bottom. The manipulator drives the docking seat 1 to move upward. The driving piece on the anti-slip component 3 drives the supporting piece to the bottom of the battery pack 5. The supporting piece can be placed at the bottom of the battery pack 5. Even if the battery pack 5 falls off the suction piece 2, The detached supporting part will also lift the battery pack 5, and then the manipulator drives the grasping device to the top of the box. At this time, the driving part drives the supporting part to leave the bottom of the battery pack 5, and then the manipulator drives the suction part 2 to move downward, carrying the battery pack 5 into the box, and then turns off the vacuum equipment so that the suction part 2 no longer absorbs the battery pack 5. Finally, the battery pack 5 enters the box. The suction part 2 absorbs the battery pack 5 and allows it to enter the box even when the gap between the box and the battery pack 5 is very small. The anti-detachment component 3 can improve the overall stability of the grasping device and prevent the battery pack 5 from detaching from the grasping device.

[0033] In some embodiments, the first position is the bottom of the docking seat 1 , and the suction member 2 includes a suction cup, which is fixed to the bottom of the docking seat 1 .

[0034] During implementation, a suction cup is installed at the bottom of the docking seat 1. The suction cup is used to dock with a vacuum device, and the suction cup can adsorb the battery pack 5 at the bottom.

[0035] Specifically, the suction cup is a square structure, the bottom of the suction cup is a flat surface, and the battery pack 5 is adsorbed on the bottom surface of the suction cup.

[0036] In some cases, the suction member 2 is a tubular suction head, and a plurality of tubular suction heads are provided at the bottom of the docking seat 1 , and the battery pack 5 is adsorbed by the plurality of tubular suction heads.

[0037] In some embodiments, the docking seat 1 is provided with a nozzle 101, the suction cup is provided with an air passage 202, and the nozzle 101 is communicated with the air passage 202. The nozzle 101 is for docking with a suction pipe in a vacuum device.

[0038] During implementation, the suction tube on the external vacuum equipment is docked onto the docking seat 1, the suction cup is installed onto the docking seat 1, and the air channel 202 on the suction cup is docked with the pipe mouth 101. The vacuum equipment draws air from the air channel 202 through the suction tube to form a negative pressure in the air channel 202. Since the air pressure in the air channel 202 is different from the external air pressure, the battery pack 5 will be adsorbed after being pressed against the battery pack 5.

[0039] Specifically, the docking seat 1 is provided with multiple pipe openings 101, and the bottom of the docking seat 1 is also provided with multiple suction cups. Each pipe opening 101 is connected to an air duct 202 on a suction cup. The suction cup has a square structure. Multiple suction cups are arranged side by side at the bottom of the docking seat 1 and are close to each other. The bottoms of the multiple suction cups form a large suction surface. The large suction surface can more stably adsorb the battery pack 5. The suction cup is provided with multiple suction ports on the bottom and side. The suction ports are communicated with the air duct 202 in the suction cup. The air ducts 202 of two adjacent suction cups are communicated through the suction ports on the side. The suction port on the ground of the suction cup is used to adsorb the battery pack 5.

[0040] In some cases, the suction cup can also be directly connected to the vacuum device, and a straw fixing device is provided on the suction cup so that the straw on the vacuum device is connected to the air channel 202 of the suction cup.

[0041] In some embodiments, the second position is the side of the docking seat 1, the driving member includes a rotating cylinder 301 and a rotating shaft 302, the rotating cylinder 301 is connected to the rotating shaft 302, and the supporting member includes a U-shaped frame 303, the two ends of the U-shaped frame 303 are respectively located on both sides of the docking seat 1 and connected to the rotating shaft 302.

[0042] During implementation, the rotating cylinder 301 and the rotating shaft 302 are installed on the docking seat 1, and the rotating cylinder 301 and the rotating shaft 302 are connected in a transmission manner. The two ends of the U-shaped frame 303 are connected to the rotating shaft 302. Before the suction member 2 absorbs the battery pack 5, the main part of the U-shaped frame 303 is located above the docking seat 1 and the suction member 2. This can avoid affecting the suction member 2 from adsorbing the battery pack 5. After the suction member 2 adsorbs the battery pack 5, the rotating cylinder 301 drives the rotating shaft 302 to rotate, and the two ends of the U-shaped frame 303 rotate with the rotating shaft 302. The rotating shaft 302 plays a role in making the two ends of the U-shaped frame 303 rotate simultaneously. The main part of the U-shaped frame 303 is driven to rotate to the bottom of the battery pack 5, thereby preventing the battery pack 5 from falling off during transportation. Even if the battery pack 5 is detached from the adsorption component, it can be supported by the U-shaped frame 303 and will not fall off. Before the battery pack 5 is put into the box, the rotating cylinder 301 drives the rotating shaft 302 to rotate. The main part of the U-shaped frame 303 is rotated to the top of the adsorption component 2 and the docking seat 1, which can avoid affecting the entry of the battery pack 5 into the box and solves the problem that the gap between the battery pack 5 and the box body is small and the battery pack 5 is inconvenient to enter the box body due to obstruction of other components.

[0043] Specifically, two sets of anti-detachment components 3 are provided on the docking seat 1, that is, two rotating cylinders 301 are provided on the side of the docking seat 1, each rotating cylinder 301 is connected to a rotating shaft 302, and each rotating shaft 302 is connected to a U-shaped frame 303. The battery pack 5 is prevented from detaching by the main parts of the two U-shaped frames 303. Using two U-shaped frames 303 to support the battery pack 5 can support the battery pack 5 more stably.

[0044] In some cases, the driving member may also be a motor, which drives the rotating shaft 302 to rotate; the supporting member may also be two L-shaped support plates, which are respectively located on both sides of the docking station 1 and are connected at one end by the rotating shaft 302, and the main parts of the two L-shaped support plates are used to support the battery pack 5 to prevent it from detaching.

[0045] In some embodiments, the docking station 1 includes a docking head 102 and a mounting frame 103, wherein the docking head 102 is mounted on the mounting frame 103. The docking head 102 is used to connect with the manipulator, and the mounting frame 103 is used to mount the suction member 2 and the anti-slip assembly 3.

[0046] During implementation, the docking connector 102 is installed on the mounting frame 103 and docked with the manipulator. After docking, the manipulator can drive the mounting frame 103 to move and transfer the battery pack 5 through the manipulator.

[0047] In some embodiments, the mounting frame 103 includes a bottom plate 104 and two side plates 105 , and the two side plates 105 are respectively installed on both sides of the bottom plate 104 .

[0048] During implementation, the two side panels 105 are respectively installed on the bottom panel 104 . The side panels 105 and the bottom panel 104 form a whole for installing other equipment. The docking joint 102 is installed on the side panels 105 , and the side panels 105 play a role in supporting the docking joint 102 .

[0049] In some embodiments, the first position is at the bottom of the base plate 104 , and the second position is on the side plate 105 .

[0050] During implementation, the suction member 2 is installed on the bottom of the bottom plate 104, and the anti-slip assembly 3 is installed on the side plate 105. The bottom plate 104 and the side plate 105 are respectively equipped with different components.

[0051] Specifically, it is mentioned in the above embodiment that a pipe mouth 101 is provided on the docking seat 1. In this embodiment, the pipe mouth 101 is provided on the base plate 104, the suction member 2 is a suction cup, and an air channel 202 is provided in the suction cup. The suction cup is fixed to the bottom of the base plate 104 by bolts, and the pipe mouth 101 on the base plate 104 is docked with the air channel 202 on the suction cup; the anti-slip component 3 includes a rotating cylinder 301 and a rotating shaft 302, and the two side plates 105 are provided with through holes positioned in the same axial direction, and rolling bearings are provided in the through holes. The rotating shaft 302 is installed in the rolling bearings of the two side plates 105, and the rotating cylinder 301 is installed at the through hole through a mounting plate. The rotating cylinder 301 is connected to the rotating shaft 302, and the supporting member includes a U-shaped frame 303, and the two ends of the U-shaped frame 303 are respectively connected to the rotating shaft 302 on the outside of the two side plates 105; a plurality of negative pressure gauges 106 are also provided on the side plate 105, and the negative pressure gauge 106 is used to dock the suction pipe of the external vacuum equipment and measure the pressure value.

[0052] In some embodiments, the docking head 102 includes a connecting plate 107 and a bracket 108 , wherein the connecting plate 107 is mounted on the bracket 108 .

[0053] During implementation, the bracket 108 is installed on the mounting frame 103, and the connecting plate 107 is installed on the bracket 108. The bracket 108 supports the connecting plate 107, and the connecting plate 107 is used to dock with the robot. The mounting frame 103 is fixed to the robot through the connecting plate 107.

[0054] In some embodiments, a camera module 4 is provided on the mounting bracket 103 .

[0055] During implementation, a camera module 4 is installed on the mounting frame 103. Before grabbing the battery pack 5, the camera module 4 needs to shoot the marking points to determine the position of the battery pack 5 to facilitate grabbing.

[0056] Specifically, the camera module 4 includes a camera 401 and a fixing plate 402 . The fixing plate 402 is mounted on the mounting frame 103 , and the camera 401 is mounted on the fixing plate 402 .

[0057] The present invention provides a manipulator, comprising the gripping device described in the above embodiment. Since the gripping device has been described in detail in the above embodiment, it will not be described in detail here.

[0058] During implementation, a grabbing device is installed on the manipulator, the grabbing device grabs the battery pack 5, and the manipulator drives the grabbing device to move, transfers the battery pack 5 from the pickup point to the box, and finally puts the battery pack 5 on the grabbing device into the box.

[0059] The above is a specific description of the preferred implementation of the present invention, but the invention of the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A gripping device, characterized in that: include: docking station; A suction member is mounted at a first position of the docking seat; The anti-slip component is installed at the second position of the docking seat and cooperates with the suction member to grab materials. The anti-slip component is provided with a supporting member and a driving member, and the driving member is transmission-connected to the supporting member.

2. The gripping device according to claim 1, characterized in that The first position is the bottom of the docking seat, and the suction member includes a suction cup, which is fixed to the bottom of the docking seat.

3. The gripping device according to claim 2, characterized in that A pipe opening is provided on the docking seat, an airway is provided on the suction cup, and the pipe opening is communicated with the airway.

4. The gripping device according to claim 1, characterized in that The second position is the side of the docking seat, the driving member includes a rotating cylinder and a rotating shaft, the rotating cylinder is connected to the rotating shaft, and the supporting member includes a U-shaped frame, the two ends of the U-shaped frame are respectively located on both sides of the docking seat and connected to the rotating shaft.

5. The gripping device according to claim 1, characterized in that The docking seat comprises a docking head and a mounting frame, and the docking head is mounted on the mounting frame.

6. The gripping device according to claim 5, characterized in that The mounting frame comprises a bottom plate and two side plates, wherein the two side plates are respectively mounted on both sides of the bottom plate, and the docking joints are mounted on the side plates.

7. The gripping device according to claim 6, characterized in that The first position is at the bottom of the base plate, and the second position is at the side plate.

8. The gripping device according to claim 6, characterized in that The butt joint comprises a connecting plate and a bracket, and the connecting plate is mounted on the bracket.

9. The gripping device according to claim 5, characterized in that A camera module is provided on the mounting frame.

10. A robot, characterized in that: The invention comprises the gripping device according to any one of claims 1 to 9.

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