Grabbing mechanism and carrying device

Abstract

A grabbing mechanism comprises a driving piece, a transmission assembly and at least one clamping jaw pair. Each clamping jaw pair is provided with two clamping jaws, and the transmission assembly comprises a lead screw, a sliding piece and a connecting rod combination. The lead screw is connected with the output end of the driving part, the lead screw is sleeved with the sliding part which is in threaded connection with the lead screw, and the driving part drives the lead screw to rotate and drives the sliding part to move in the first extending direction of the lead screw. The connecting rod combination is symmetrically arranged on the two opposite sides of the sliding part and comprises two rotating rods parallel to each other, the rotating rods extend in the second direction perpendicular to the first direction, and when the sliding part moves, the two rotating rods can be driven to move in the direction opposite to the moving direction of the sliding part. The two clamping jaws on each clamping jaw pair are fixedly connected to the two rotating rods correspondingly, and therefore the driving piece achieves opening and closing of the clamping jaw pairs through the transmission assembly. The utility model further relates to a carrying device. The grabbing mechanism is smooth in grabbing and free of blocking, so that the grabbing precision is improved.

Description

Technical Field

[0001] The utility model relates to the photovoltaic field, in particular to a grabbing mechanism and a transporting device. Background Art

[0002] Currently, photovoltaic cleaning robots can move from one row of photovoltaic panels to another by crossing the bridge structure connecting the two rows. However, due to uneven terrain and varying distances between rows, the bridge structure and installation methods vary, affecting the operation of the photovoltaic cleaning robot between adjacent rows of photovoltaic panels. The industry's alternative approach is typically to use photovoltaic mobile robots to move the photovoltaic cleaning robot between adjacent rows of photovoltaic panels. These mobile robots are equipped with a handling device consisting of a drive, transmission, and grippers. Therefore, photovoltaic mobile robots use a grab-and-carry method to move the photovoltaic cleaning robot from one row of photovoltaic panels to another. However, the mechanical connections between multiple components in the handling device of current photovoltaic mobile robots can become stuck, resulting in both unstable gripping by the grippers and inadequate gripping. Therefore, the structural design of the handling device needs to be improved. Utility Model Content

[0003] The purpose of the utility model is to provide a grabbing mechanism and a handling device, which adopt a flexible structure for grabbing, and the grabbing is smooth and free of jams, and the grabbing accuracy is improved.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical solution 1: a gripping mechanism, comprising a driving member, a transmission assembly and at least one jaw pair, each jaw pair having two jaws, the transmission assembly comprising a lead screw, a sliding member and a connecting rod assembly, the lead screw being connected to the output end of the driving member, the sliding member being sleeved on the lead screw and connected to the lead screw by a thread, the driving member driving the lead screw to rotate and driving the sliding member to move in a first direction extending from the lead screw; the connecting rod assembly is symmetrically arranged on opposite sides of the sliding member and comprises two rotating rods parallel to each other, the rotating rod extending in a second direction perpendicular to the first direction, and when the sliding member moves, it can drive the two rotating rods to move in the opposite direction of the movement of the sliding member; the two jaws on each jaw pair are respectively fixedly connected to the two rotating rods, so that the driving member realizes the opening and closing of the jaw pair through the transmission assembly.

[0005] As a further improved technical solution 1 of the present invention, the connecting rod combination includes two rockers and two cranks, each of the rockers includes a first end and a second end set oppositely, and each of the cranks includes a third end and a fourth end set oppositely, the first end is pivotally connected to one end of the sliding member, the second end is pivotally connected to the third end, and the fourth end is fixedly connected to the corresponding rotating rod.

[0006] As a further improved technical solution 1 of the present invention, it also includes a first positioning pin, the fourth end is provided with a first through hole and a second through hole that penetrate each other, the rotating rod passes through the second through hole and is provided with a third through hole, the first positioning pin passes through the first through hole and the third through hole, and fixes the crank and the rotating rod into one.

[0007] As a further improved technical solution 1 of the present invention, it also includes a second positioning pin passing through the third end and a third positioning pin passing through the first end or the second end, and the rotating rod is perpendicular to the extension direction of the first positioning pin and consistent with the extension direction of the second positioning pin and the third positioning pin.

[0008] As a further improved technical solution 1 of the present invention, the first direction is the up and down direction, and the second direction is the front and back direction; the crank is fixedly connected to the middle part of the rotating rod, and each of the front and rear ends of the rotating rod is fixedly connected to a clamping claw, and the four clamping claws form two pairs of clamping claws that open and close synchronously, and each pair of clamping claws opens and closes in the left and right direction, and the left and right direction is perpendicular to the up and down direction and the front and back direction.

[0009] As a further improved technical solution 1 of the present invention, the sliding part includes a screw nut and a slider fixedly connected to the screw nut as an integral whole, the screw nut is sleeved on the screw and the screw nut is provided with a screw hole, the inner surface of the screw hole is provided with an internal thread connected to the screw thread, the outer surface of the screw is provided with an external thread connected to the screw nut thread, and the opposite ends of the slider are respectively pivotally connected to the two rockers.

[0010] As a further improved technical solution 1 of the present invention, it also includes a bracket assembly, which includes a top frame, an internal bracket and an external bracket. The internal bracket and the external bracket are fixed below the top frame and the external bracket surrounds the outside of the internal bracket. The opposite ends of the screw are respectively pivotally positioned on the internal bracket, and the opposite ends of the rotating rod are respectively pivotally positioned on the external bracket.

[0011] As a further improved technical solution 1 of the present invention, it also includes a guide rod, the internal bracket includes a base plate and two side plates located below the top frame, the base plate is fixedly connected to the top frame through the two side plates, and the guide rod is located parallel to the side of the screw and is fixed on the base plate.

[0012] As a further improved technical solution 1 of the present invention, it also includes a ranging sensor, and the internal bracket also includes a top plate located above the bottom plate and below the top frame, the top plate is positioned and connected between the two side plates, the slider is movably located between the bottom plate and the top plate, the ranging sensor is located on the top plate and faces the slider, and the slider is provided with a first hole for the lead screw to pass through and a second hole for the guide rod to pass through.

[0013] To achieve the above-mentioned purpose, the present invention adopts the following technical solution 2: a transport device, which includes a base, a vehicle-mounted robotic arm and the grasping mechanism as described above, the base can move on the ground, the vehicle-mounted robotic arm is arranged on the base and connected to the grasping mechanism.

[0014] The cam is connected to the drive mechanism by the movable member, and the movable member is connected to the movable member by a movable member, and the movable member is connected to the movable member by a movable member. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional combination diagram of the handling device of the utility model;

[0016] Figure 2 It is a three-dimensional combined diagram of the gripping mechanism of the utility model in a closed state;

[0017] Figure 3 This is a partial exploded perspective view of the grabbing mechanism of the utility model;

[0018] Figure 4 The utility model is a gripping mechanism Figure 3Further partial three-dimensional exploded diagram based on the above;

[0019] Figure 5 yes Figure 4 A view from another angle;

[0020] Figure 6 The utility model is a gripping mechanism Figure 5 Further partial three-dimensional exploded diagram based on the above;

[0021] Figure 7 It is a three-dimensional diagram of the internal bracket in the present utility model;

[0022] Figure 8 This is a three-dimensional diagram of the internal bracket in the present invention from another angle;

[0023] Figure 9 and Figure 10 It is a partial three-dimensional combination diagram of the grabbing mechanism of the utility model under the same viewing angle, the difference is whether the internal bracket is shown ( Figure 9 Showing the internal bracket, Figure 10 Internal bracket not shown);

[0024] Figure 11 This is another exploded perspective view of the gripping mechanism of the present invention;

[0025] Figure 12 This is another exploded perspective view of the gripping mechanism of the present invention;

[0026] Figure 13 This is a three-dimensional exploded view of another part of the grabbing mechanism of the utility model;

[0027] Figure 14 is with Figure 2 A similar three-dimensional assembly diagram of the gripping mechanism of the present invention, the difference being that the clamping jaws are in an open state. DETAILED DESCRIPTION

[0028] The following exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. If there are several specific embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of devices, products and / or methods that are consistent with some aspects of the present invention and are described in the claims of the present invention.

[0029] The terms used in this utility model are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of this utility model. The singular forms "a", "the" or "the" used in the specification and claims of this utility model are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0030] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, "one" or "an" and similar words do not indicate a quantity limitation, but rather indicate the existence of at least one. Unless otherwise specified, the words "front", "back", "upper", "lower" and similar words that appear in the present invention are only for the convenience of description and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprises" are open-ended expressions, meaning that the elements appearing before "include" or "comprises" include the elements appearing after "include" or "comprises" and their equivalents, which does not exclude that the elements appearing before "include" or "comprises" may also include other elements. If "several" appears in the present invention, it means two or more.

[0031] Please refer to Figures 1 to 14 As shown, the present invention discloses a gripping mechanism comprising a driver 1, a transmission assembly 2, and at least one pair of jaws 3. Each pair of jaws 3 has two jaws 30. The transmission assembly 2 comprises a lead screw 21, a slider 22, and a connecting rod assembly 23. The lead screw 21 is connected to the output end of the driver 1. The slider 22 is sleeved on the lead screw 21 and threadedly connected to the lead screw 21. The driver 1 drives the lead screw 21 to rotate and moves the slider 22 in a first direction extending from the lead screw 21. The connecting rod assembly 23 is symmetrically arranged on opposite sides of the slider 22 and comprises two parallel rotating rods 233. The rotating rods 233 extend in a second direction perpendicular to the first direction. When the slider 22 moves, the two rotating rods 233 can move in the opposite direction of the movement of the slider 22. The two jaws 30 of each pair of jaws 3 are fixedly connected to the two rotating rods 233, respectively, so that the driver 1 can open and close the pair of jaws 3 through the transmission assembly 2. The transmission assembly 2 of the present invention is a flexible structure, so that the driving member 1 realizes the opening and closing of the clamping claws 3 through the transmission assembly 2. The present invention has smooth grasping without jamming and improves grasping accuracy.

[0032] Please refer to Figures 9 to 13As shown, the connecting rod assembly 23 includes two rocking arms 231 and two cranks 232. Each rocking arm 231 includes a first end 2311 and a second end 2312 arranged opposite to each other, and each crank 232 includes a third end 2321 and a fourth end 2322 arranged opposite to each other. The first end 2311 is pivotally connected to one end of the sliding member 22, the second end 2312 is pivotally connected to the third end 2321, and the fourth end 2322 is fixedly connected to the corresponding rotating rod 233. The rocking arm 231 of the present invention drives the rotating rod 233 through the crank 232, and the entire connecting rod assembly 23 is a flexible connection, which ensures smooth and non-stuck grasping of the present invention and improves grasping accuracy.

[0033] Please refer to Figures 11 to 13 As shown, the present invention further includes a first positioning pin 6. The fourth end portion 2322 is provided with a first through-hole 23221 and a second through-hole 23222, which extend therethrough. The rotating rod 233 passes through the second through-hole 23222 and is provided with a third through-hole 2330. The first positioning pin 6 passes through the first through-hole 23221 and the third through-hole 2330, integrally connecting the crank 232 and the rotating rod 233. This arrangement effectively ensures that the rocker 231 of the present invention can drive the rotating rod 233 via the crank 232, achieving smooth gripping of the present invention.

[0034] Please refer to Figures 10 to 13 As shown, the present invention further includes a second positioning pin 5 passing through the third end portion 2321 and a third positioning pin 4 passing through the first end portion 2311 or the second end portion 2312. The rotating rod 233 is perpendicular to the extension direction of the first positioning pin 6 and is consistent with the extension direction of the second positioning pin 5 and the third positioning pin 4. The second positioning pin 5 is used to ensure the relative rotation between the rocking arm 231 and the sliding member 22, and the third positioning pin 4 is used to ensure the relative rotation between the crank 232 and the rocking arm 231. Such an arrangement enables the sliding member 22 to move up and down relative to the lead screw 21, and the up and down movement of the sliding member 22 on the lead screw 21 can be converted into the in-situ rotation of the rotating rod 233 through the bending and flexing connection of the rocking arm 231 and the crank 232.

[0035] For details, please refer to Figures 1 to 14 shown and with particular reference to Figure 2, the first direction is the up-down direction, and the second direction is the front-to-back direction. Each of the front and rear ends of the rotating rod 233 is fixedly connected to a clamping jaw 30, and the four clamping jaws 30 form two clamping jaw pairs 3 that open and close synchronously. The crank 232 is fixedly connected to the middle part of the rotating rod 233, and the four clamping jaws 30 are fixedly connected to the four ends of the two rotating rods 233. Each clamping jaw pair 3 opens and closes in the left-right direction, and the left-right direction is perpendicular to the up-down direction and the front-to-back direction. With such an arrangement, the utility model has two clamping jaw pairs 3, which is more stable in gripping compared to the case where one clamping jaw pair 3 opens and closes.

[0036] Please refer to Figure 5 、 Figure 6 and Figure 12 As shown, the sliding member 22 includes a screw nut 221 and a slider 222 fixedly connected to the screw nut 221 as a whole. The screw nut 221 is sleeved on the screw 21 and the screw nut 221 is provided with a screw hole 2210. The inner surface of the screw hole 2210 is provided with an internal thread threadedly connected to the screw 21. The outer surface of the screw 21 is provided with an external thread threadedly connected to the screw nut 221. The opposite ends of the slider 222 are respectively pivotally connected to the two rockers 231. With this arrangement, the sliding member 22 is configured as a two-piece, which is convenient for molding and assembly; the fixed connection as a whole can be a welding fixation method. In other embodiments, the screw nut 221 and the slider 222 can also be an integral injection molded type.

[0037] Please refer to Figures 1 to 10 As shown, the utility model also includes a bracket assembly 7. The bracket assembly 7 includes a top frame 71, an internal bracket 72 and an external bracket 73, the internal bracket 72 and the external bracket 73 are fixed below the top frame 71, and the external bracket 73 surrounds the outside of the internal bracket 72. The upper and lower opposite ends of the lead screw 21 are respectively pivotally positioned on the internal bracket 72, and the front and rear opposite ends of the rotating rod 233 are respectively pivotally positioned on the external bracket 73. With such an arrangement, on the one hand, the lead screw 21 is positioned and rotated in the upper and lower directions, and on the other hand, the rotating rod 233 is positioned and rotated in the front and rear directions. Therefore, the lead screw 21 and the rotating rod 233 both rotate without moving in their respective original positions, which is called in-situ rotation.

[0038] Please refer to Figures 4 to 8As shown, the present invention further includes a guide rod 8. The internal bracket 72 includes a bottom plate 721 and two side plates 722 located below the top frame 71. The bottom plate 721 is fixedly connected to the top frame 71 via the two side plates 722. The guide rod 8 is located parallel to the side of the lead screw 21 and is fixed to the bottom plate 721. The purpose of providing the guide rod 8 is to ensure that the rotation of the lead screw 21 does not drive the rotation of the sliding member 22 (including the slider 222). The guide rod 8 also provides guidance for the slider 222 as it moves up and down.

[0039] Please refer to Figure 8 、 Figure 9 、 Figure 11 and Figure 12 As shown, the present invention further includes a distance sensor 9. The internal bracket 72 further includes a top plate 723 located above the bottom plate 721 and below the top frame 71. The top plate 723 is positioned and connected between the two side plates 722. The slider 222 is movably positioned between the bottom plate 721 and the top plate 723. The distance sensor 9 is located on the top plate 723 and faces the slider 222. The slider 222 is provided with a first hole 2221 for the lead screw 21 to pass through and a second hole 2222 for the guide rod 8 to pass through. The purpose of providing the distance sensor 9 is to measure the position and height of the slider 222, thereby determining the open and closed positions of the clamping jaws 30.

[0040] Please refer to Figures 1 to 14 shown and with particular reference to Figure 1 The present invention further relates to a transport device, which includes a base 11, a vehicle-mounted robotic arm 12, and the aforementioned gripping mechanism 100. The base 11 is movable on the ground, and the vehicle-mounted robotic arm 12 is disposed on the base 11 and connected to the gripping mechanism 100. Thus, the transport device of the present invention can be conveniently moved to any desired location to transport the photovoltaic cleaning robot.

[0041] In summary, the present invention sets a transmission assembly 2 in the gripping mechanism 100, including a lead screw 21, a sliding member 22 and a connecting rod assembly 23. The lead screw 21 is connected to the output end of the driving member 1, and the sliding member 22 is sleeved on the lead screw 21 and connected to the lead screw 21 through a thread. The driving member 1 drives the lead screw 21 to rotate and drives the sliding member 22 to move in the first direction in which the lead screw 21 extends; the connecting rod assembly 23 is symmetrically arranged on opposite sides of the sliding member 22 and includes two parallel connecting rods. The rotating rod 233 extends in a second direction perpendicular to the first direction. When the sliding member 22 moves, it can drive the two rotating rods 233 to move in the opposite direction of the movement of the sliding member 22; the two clamping jaws 30 on each clamping jaw pair 3 are respectively fixedly connected to the two rotating rods 233. Therefore, the transmission component 2 of the utility model is a flexible structure, so that the driving member 1 realizes the opening and closing of the clamping jaw pair 3 through the transmission component 2. The utility model has smooth grasping, no jamming and improves the grasping accuracy.

[0042] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of the present invention should be based on technical personnel in the relevant technical field. Although this specification has described the present invention in detail with reference to the above embodiments, ordinary technical personnel in the field should understand that technical personnel in the relevant technical field can still modify or replace the present invention with equivalents, and all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A gripping mechanism comprising a drive member (1), a transmission assembly (2) and at least one pair of jaws (3), each pair of jaws (3) having two jaws (30), characterized in that: The transmission assembly (2) comprises a lead screw (21), a sliding member (22) and a connecting rod assembly (23); the lead screw (21) is connected to the output end of the driving member (1); the sliding member (22) is sleeved on the lead screw (21) and connected to the lead screw (21) through a thread; the driving member (1) drives the lead screw (21) to rotate and drives the sliding member (22) to move in a first direction in which the lead screw (21) extends; the connecting rod assembly (23) is symmetrically arranged on opposite sides of the sliding member (22). The two rotating rods (233) are parallel to each other and extend in a second direction perpendicular to the first direction. When the sliding member (22) moves, the two rotating rods (233) can be driven to move in the opposite direction of the movement of the sliding member (22); the two clamping jaws (30) on each clamping jaw pair (3) are respectively fixedly connected to the two rotating rods (233), so that the driving member (1) realizes the opening and closing of the clamping jaw pair (3) through the transmission assembly (2).

2. The gripping mechanism according to claim 1, wherein: The connecting rod assembly (23) includes two rocking arms (231) and two cranks (232), each of the rocking arms (231) includes a first end (2311) and a second end (2312) that are oppositely arranged, and each of the cranks (232) includes a third end (2321) and a fourth end (2322) that are oppositely arranged, the first end (2311) being pivotally connected to one end of the sliding member (22), the second end (2312) being pivotally connected to the third end (2321), and the fourth end (2322) being fixedly connected to the corresponding rotating rod (233).

3. The gripping mechanism according to claim 2, wherein: The crank (232) and the rotating rod (233) are fixedly connected to each other by a first positioning pin (6), the fourth end portion (2322) is provided with a first through hole (23221) and a second through hole (23222) which penetrate each other, the rotating rod (233) passes through the second through hole (23222) and is provided with a third through hole (2330), and the first positioning pin (6) passes through the first through hole (23221) and the third through hole (2330) to fix the crank (232) and the rotating rod (233) into a whole.

4. The gripping mechanism according to claim 3, wherein: It also includes a second positioning pin (5) passing through the third end portion (2321) and a third positioning pin (4) passing through the first end portion (2311) or the second end portion (2312); the rotating rod (233) is perpendicular to the extension direction of the first positioning pin (6) and is consistent with the extension direction of the second positioning pin (5) and the third positioning pin (4).

5. The gripping mechanism according to any one of claims 2 to 4, characterized in that: The first direction is the up-down direction, and the second direction is the front-back direction; the crank (232) is fixedly connected to the middle of the rotating rod (233), and each of the front and rear ends of the rotating rod (233) is fixedly connected to a clamping jaw (30), and the four clamping jaws (30) form two clamping jaw pairs (3) that open and close synchronously, and each of the clamping jaw pairs (3) opens and closes in the left-right direction, and the left-right direction is perpendicular to the up-down direction and the front-back direction.

6. The gripping mechanism according to claim 2, wherein: The sliding member (22) includes a screw nut (221) and a slider (222) fixedly connected to the screw nut (221) as a whole, the screw nut (221) is sleeved on the screw (21) and the screw nut (221) is provided with a screw hole (2210), the inner surface of the screw hole (2210) is provided with an internal thread threadedly connected to the screw (21), the outer surface of the screw (21) is provided with an external thread threadedly connected to the screw nut (221), and the opposite ends of the slider (222) are respectively pivotally connected to the two rocking arms (231).

7. The gripping mechanism according to claim 6, wherein: The invention also includes a bracket assembly (7), wherein the bracket assembly (7) includes a top frame (71), an internal bracket (72) and an external bracket (73), wherein the internal bracket (72) and the external bracket (73) are fixed below the top frame (71) and the external bracket (73) surrounds the outside of the internal bracket (72), and the opposite ends of the lead screw (21) are respectively pivotally positioned on the internal bracket (72), and the opposite ends of the rotating rod (233) are respectively pivotally positioned on the external bracket (73).

8. The gripping mechanism according to claim 7, wherein: It also includes a guide rod (8), the internal bracket (72) includes a bottom plate (721) and two side plates (722) located below the top frame (71), the bottom plate (721) is fixedly connected to the top frame (71) through the two side plates (722), and the guide rod (8) is located parallel to the side of the lead screw (21) and is fixed on the bottom plate (721).

9. The gripping mechanism according to claim 8, wherein: The invention also includes a distance sensor (9), and the internal bracket (72) further includes a top plate (723) located above the bottom plate (721) and below the top frame (71). The top plate (723) is positioned and connected between the two side plates (722). The slider (222) is movably located between the bottom plate (721) and the top plate (723). The distance sensor (9) is located on the top plate (723) and faces the slider (222). The slider (222) is provided with a first hole (2221) for the lead screw (21) to pass through and a second hole (2222) for the guide rod (8) to pass through.

10. A transport device, characterized in that: The invention comprises a base (11), a vehicle-mounted mechanical arm (12) and a gripping mechanism (100) as described in any one of claims 1 to 9 above, wherein the base (11) is movable on the ground, and the vehicle-mounted mechanical arm (12) is arranged on the base (11) and connected to the gripping mechanism (100).

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