Gripper

Abstract

The utility model provides a gripper. The gripper comprises a connecting seat and a handle, the first driving assembly is arranged on the connecting seat; the reader is arranged on the first driving assembly, and the first driving assembly is used for driving the reader to stretch out or retract relative to the connecting base; the second driving assembly is arranged on the connecting base, and the first driving assembly is arranged above the second driving assembly; and the clamping jaw is arranged on the second driving assembly, the reader is arranged above the clamping jaw, and the second driving assembly is used for driving the clamping jaw to be opened or clamped. The first driving assembly drives the reader to stretch out to get close to the electrode clamp so that the reader can read a label on the electrode clamp, the first driving assembly drives the reader to retract after reading is completed, and at the moment, the second driving assembly can drive the clamping jaw to clamp an electrode. Therefore, the positions of the clamping jaw and the reader do not need to be changed through rotation of the rotating assembly in the electrode assembling and disassembling process, the assembling and disassembling duration of the electrode is shortened, and the assembling and disassembling efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a gripper. Background Art

[0002] In related technologies, the end of a robotic arm typically loads and unloads electrodes via a gripper. The gripper clamps the electrodes by gripping an electrode fixture. The electrode fixture is provided with label data corresponding to the electrode. A reader is also provided at the end of the robotic arm, which is used to read the label on the electrode fixture. The reader and gripper are mounted on the robotic arm via a rotating assembly. When data needs to be read, the rotating assembly rotates until the reader is aligned with the label on the electrode fixture. When the electrode needs to be gripped, the rotating assembly rotates until the gripper is aligned with the electrode fixture. As a result, during the electrode loading and unloading process, the rotating assembly needs to be driven to rotate to change the position of the gripper and reader, resulting in long loading and unloading times and low efficiency. Utility Model Content

[0003] The technical problem to be solved by the present invention is to provide a gripper, aiming to solve the problem of long loading and unloading time of electrodes in the related art.

[0004] In order to solve the above technical problems, the utility model provides a gripper, comprising:

[0005] Connecting seat;

[0006] A first driving assembly is disposed on the connecting seat;

[0007] a reader, disposed on the first drive assembly, the first drive assembly being used to drive the reader to extend or retract relative to the connecting base;

[0008] a second driving assembly disposed on the connecting seat, wherein the first driving assembly is disposed above the second driving assembly; and

[0009] The clamping jaw is arranged on the second driving component, the reader is arranged above the clamping jaw, and the second driving component is used to drive the clamping jaw to open or clamp.

[0010] Optionally, the gripper further includes a mounting plate, which is arranged on the second drive assembly and fixed relative to the connecting seat, the first drive assembly is arranged on the mounting plate, and the first drive assembly and the second drive assembly are respectively arranged on opposite sides of the mounting plate.

[0011] Optionally, the mounting plate is arranged perpendicular to the connecting seat.

[0012] Optionally, the first driving component includes:

[0013] A first driving source is provided on the mounting plate; and

[0014] a connecting plate, disposed on the first driving source;

[0015] The reader is disposed on the connecting plate, and the reader is movable relative to the connecting plate along a driving direction of the first driving source.

[0016] Optionally, the gripper further includes a tank chain, one end of the tank chain is arranged on the first driving source, and the other end is arranged on the connecting plate.

[0017] Optionally, the gripper further includes a laser sensor, which is disposed on the connecting seat, and a detection direction of the laser sensor is set to be the same as a reading direction of the reader.

[0018] Optionally, the clamping jaw includes a first clamping portion and a second clamping portion, the first clamping portion and the second clamping portion are both provided on the second driving assembly and arranged opposite to each other, and the second driving assembly is used to drive the first clamping portion and the second clamping portion to approach or separate from each other.

[0019] Optionally, one end of the first clamping portion and the second clamping portion are both arranged on the second driving assembly, and the other end extends along the driving direction of the first driving assembly.

[0020] Optionally, the reader is disposed between the first clamping portion and the second clamping portion.

[0021] Optionally, the first clamping portion and the second clamping portion enclose and form a clamping space that is compatible with the electrode clamp.

[0022] Compared to related technologies, the gripper in this utility model has the following advantages: the first drive assembly drives the reader to extend close to the electrode fixture so that the reader can read the label on the electrode fixture. After the reading is completed, the first drive assembly drives the reader to retract, at which time the second drive assembly can drive the clamp to clamp the electrode. Therefore, during the installation and removal of the electrode, there is no need to rotate the rotating assembly to change the position of the clamp and reader, which reduces the installation and removal time of the electrode and greatly improves the installation and removal efficiency. In addition, the first drive assembly is arranged above the second drive assembly, so that the first drive assembly and the second drive assembly do not interfere with each other, ensuring that the movement of the reader and the clamp is not disturbed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a structural schematic diagram of a gripper provided in an embodiment of the utility model.

[0025] In the accompanying drawings, the various reference numerals represent: 1. connecting seat; 2. first drive component; 21. first drive source; 22. connecting plate; 3. reader; 4. second drive component; 5. clamping claw; 51. first clamping part; 52. second clamping part; 6. mounting plate; 7. tank chain; 8. laser sensor; 9. support plate; 10. bracket; 20. electrode. DETAILED DESCRIPTION

[0026] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" or "several" means two or more, unless otherwise specifically defined.

[0029] Example:

[0030] See also Figure 1 The present invention provides a gripper comprising a connection base 1, a first drive assembly 2, a reader 3, a second drive assembly 4, and a clamping jaw 5. The first drive assembly 2 is disposed on the connection base 1; the reader 3 is disposed on the first drive assembly 2, and the first drive assembly 2 is used to drive the reader 3 to extend or retract relative to the connection base 1; the second drive assembly 4 is disposed on the connection base 1, and the first drive assembly 2 is disposed above the second drive assembly 4; the clamping jaw 5 is disposed on the second drive assembly 4, and the reader 3 is disposed above the clamping jaw 5, and the second drive assembly 4 is used to drive the clamping jaw 5 to open or clamp.

[0031] The first drive assembly 2 drives the reader 3 to extend close to the electrode fixture so that the reader 3 can read the label on the electrode fixture. After the reading is completed, the first drive assembly 2 drives the reader 3 to retract. At this time, the second drive assembly 4 can drive the clamp 5 to clamp the electrode 20. Therefore, during the installation and removal of the electrode 20, there is no need to rotate the rotating assembly to change the position of the clamp 5 and the reader 3, which reduces the installation and removal time of the electrode 20 and greatly improves the installation and removal efficiency. In addition, the first drive assembly 2 is located above the second drive assembly 4, so that the first drive assembly 2 and the second drive assembly 4 do not interfere with each other, ensuring that the movement of the reader 3 and the clamp 5 is not disturbed.

[0032] It should be noted that the connection base 1 can be a connection flange, one side of which is fixed to the end of the robotic arm, and the other side is provided with the first drive assembly 2 and the second drive assembly 4. The tag on the electrode fixture can be an RFID tag, and the reader 3 can be an RFID identification device. The reader 3 is located above the clamp 5 to ensure that the reader 3 can directly face the tag on the electrode fixture; the electrode 20 is clamped and fixed by the electrode fixture (not shown in the figure), and the electrode 20 and the electrode fixture (not shown in the figure) form a whole.

[0033] See also Figure 1 In some embodiments, the gripper further includes a mounting plate 6, which is disposed on the second drive assembly 4 and fixed relative to the connecting base 1, and the first drive assembly 2 is disposed on the mounting plate 6, that is, the first drive assembly 2 is fixed to the connecting base 1 through the mounting plate 6. The first drive assembly 2 and the second drive assembly 4 are respectively disposed on opposite sides of the mounting plate 6, and the first drive assembly 2 is disposed above the second drive assembly 4 to ensure that the movements of the first drive assembly 2 and the second drive assembly 4 do not interfere with each other. The second drive assembly 4 can be a cylinder, the cylinder body of the cylinder is fixed to a side surface of the connecting base 1, the mounting plate 6 is fixed to the cylinder body of the cylinder, and the first drive assembly 2 is fixed to the mounting plate 6, thereby fixing the first drive assembly 2 and the second drive assembly 4 to the same side surface of the connecting base 1.

[0034] According to actual needs, the mounting plate 6 is arranged perpendicular to the connecting seat 1, that is, one side surface of the mounting plate 6 is fixed to the second drive component 4, and the other side surface is fixed to the first drive component 2, which is conducive to supporting and fixing the first drive component 2 on the second drive component 4.

[0035] In another embodiment, the first driving assembly 2 can be directly fixed on the connecting base 1, or the first driving assembly 2 can be directly fixed on the cylinder body of the cylinder.

[0036] See also Figure 1 In some embodiments, the first drive assembly 2 includes a first drive source 21 and a connecting plate 22. The first drive source 21 is disposed on the mounting plate 6; the connecting plate 22 is disposed on the first drive source 21; wherein the reader 3 is disposed on the connecting plate 22, and the reader 3 can move relative to the connecting plate 22 along the driving direction of the first drive source 21, thereby further adjusting the distance between the reader 3 and the electrode fixture. According to actual needs, the first drive source 21 can be a cylinder, and the connecting plate 22 is disposed at the output end of the cylinder. The cylinder drives the reader 3 to extend or retract through the connecting plate 22; the connecting plate 22 is provided with a mounting hole, and a threaded sleeve is assembled in the mounting hole. The threaded sleeve is threadedly connected to the connecting plate, and the reader 3 is fixed in the threaded sleeve, so that the threaded sleeve can drive the reader 3 to move along the driving direction of the first drive source 21.

[0037] It should be noted that, in other embodiments, the first driving component 2 may be a motor, that is, the motor drives the reader 3 to extend or retract.

[0038] See also Figure 1 The gripper also includes a tank chain 7, one end of which is attached to the first drive source 21 and the other end to the connecting plate 22. This allows the tank chain 7 to follow the reader 3 when it is extended, preventing the wiring harness within the tank chain 7 from being torn. Depending on actual needs, the tank chain 7 can be installed on the left or right side of the first drive source 21. A support plate 9 is installed on the left or right side of the connecting plate 22, connecting the tank chain 7 to the connecting plate 22 via the support plate 9.

[0039] See also Figure 1The gripper also includes a laser sensor 8, which is arranged on the connecting base 1, and the detection direction of the laser sensor 8 is set to the same as the reading direction of the reader 3, so that the detection of the laser sensor 8 and the reader 3 can be carried out synchronously, reducing the time required to detect the electrode 20. The laser sensor 8 is arranged on one side of the connecting base 1, and the laser beam emitted by the laser sensor 8 is as close as possible to the position of the first clamping part 51 or the second clamping part 52 relative to the center point of the electrode 20, and prevents other obstacles from blocking the laser emitted by the laser sensor 8. At the same time, the movement of the robot arm can also be reduced, further improving efficiency. According to actual needs, the laser sensor 8 can be fixed to one side of the connecting base 1 by the bracket 10.

[0040] See also Figure 1 In some embodiments, the clamping jaw 5 includes a first clamping portion 51 and a second clamping portion 52. The first clamping portion 51 and the second clamping portion 52 are both disposed on the second drive assembly 4 and arranged opposite to each other. The second drive assembly 4 is used to drive the first clamping portion 51 and the second clamping portion 52 to move closer to or separate from each other. The second drive assembly 4 can be a cylinder. The first clamping portion 51 and the second clamping portion 52 are both disposed at the output end of the cylinder. The cylinder drives the first clamping portion 51 and the second clamping portion 52 to move closer to or separate from each other, thereby tightening or opening the clamping jaw 5.

[0041] According to actual needs, in another embodiment, the second driving component 4 can also be a motor, which drives the first clamping portion 51 and the second clamping portion 52 to move closer to or separate from each other.

[0042] See also Figure 1 One end of the first clamping portion 51 and the second clamping portion 52 are both disposed on the second drive assembly 4, and the other ends extend along the driving direction of the first drive assembly 2. This allows the clamping jaw 5 to have a certain length to prevent interference between the second drive assembly 4 and the stage when clamping the electrode 20. This also prevents the clamping jaw 5 from interfering with the movement of the reader 3. The first clamping portion 51 and the second clamping portion 52 are both disposed below the first drive assembly 2 to prevent the first drive assembly 2 from interfering with the clamping jaw 5.

[0043] See also Figure 1 The reader 3 is arranged between the first clamping part 51 and the second clamping part 52, so that the action can be completed in a smaller space and interference can be reduced; at the same time, the action of the robot arm can be reduced, further improving efficiency.

[0044] See also Figure 1The first clamping portion 51 and the second clamping portion 52 enclose a clamping space that is compatible with the electrode fixture. Since the electrode 20 and the electrode fixture (not shown) are integral, the clamping jaw 5 can clamp the electrode 20 by clamping the electrode fixture. The shape of the clamping space is the same as the shape of the electrode fixture groove. For example, when the electrode fixture groove is rectangular, the clamping space is rectangular; when the electrode fixture groove is columnar, the clamping space is columnar.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gripper, characterized in that: include: Connecting seat; A first driving assembly is disposed on the connecting seat; a reader, disposed on the first drive assembly, the first drive assembly being used to drive the reader to extend or retract relative to the connecting base; a second driving assembly disposed on the connecting seat, wherein the first driving assembly is disposed above the second driving assembly; and The clamping jaw is arranged on the second driving component, the reader is arranged above the clamping jaw, and the second driving component is used to drive the clamping jaw to open or clamp.

2. The gripper according to claim 1, characterized in that: The gripper also includes a mounting plate, which is arranged on the second drive component and fixed relative to the connecting seat. The first drive component is arranged on the mounting plate, and the first drive component and the second drive component are respectively arranged on opposite sides of the mounting plate.

3. The gripper according to claim 2, characterized in that: The mounting plate is arranged perpendicular to the connecting seat.

4. The gripper according to claim 2, characterized in that: The first drive assembly comprises: A first driving source is provided on the mounting plate; and a connecting plate, disposed on the first driving source; The reader is disposed on the connecting plate, and the reader can move relative to the connecting plate along the driving direction of the first driving source.

5. The gripper according to claim 4, characterized in that: The gripper further includes a tank chain, one end of which is arranged on the first driving source, and the other end of which is arranged on the connecting plate.

6. The gripper according to claim 4, characterized in that: The gripper further includes a laser sensor, which is disposed on the connecting seat, and a detection direction of the laser sensor is arranged to be the same as a reading direction of the reader.

7. The gripper according to claim 1, characterized in that: The clamping jaw includes a first clamping portion and a second clamping portion, wherein the first clamping portion and the second clamping portion are both provided on the second driving assembly and arranged opposite to each other, and the second driving assembly is used to drive the first clamping portion and the second clamping portion to move closer to or separate from each other.

8. The gripper according to claim 7, characterized in that: One end of the first clamping portion and the second clamping portion are both arranged on the second driving assembly, and the other end extends along the driving direction of the first driving assembly.

9. The gripper according to claim 7, characterized in that: The reader is disposed between the first clamping portion and the second clamping portion.

10. The gripper according to claim 7, characterized in that: The first clamping portion and the second clamping portion enclose and form a clamping space adapted to the electrode clamp.

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