Rotary variable-pitch grabbing mechanism

Abstract

The utility model discloses a rotary variable-pitch grabbing mechanism. The rotary variable-pitch grabbing mechanism comprises a rotary module, a variable-pitch module and a plurality of grabbing parts, the rotating module is driven to move along the X axis and the Y axis, is in positioning connection with the variable-pitch module and drives the variable-pitch module to rotate around the Z axis; the variable-pitch module is provided with a plurality of inclined grooves, all the inclined grooves are in positioning connection with the grabbing parts, the variable-pitch module is driven to move along the Z axis, and the inclined grooves guide and drive the horizontal distance between every two adjacent grabbing parts to be changed. The rotating module is in positioning connection with the variable pitch module, the rotating module can be driven to move along the X axis and the Y axis, and the rotating module can drive the variable pitch module to rotate around the Z axis, so that the position of the grabbing part can be flexibly adjusted, and products at different positions can be grabbed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic product transmission, in particular to a rotary variable-distance grabbing mechanism. BACKGROUND

[0002] At present, the application of grabbing mechanism is relatively wide, from workpiece grabbing and workpiece assembly to pipe piece assembly, all of which need grabbing mechanism to adjust and transport products. Taking the detection of battery cover plate (plate-shaped product) as an example, the battery cover plate to be detected is transported to the inlet end of the detection equipment, and the grabbing mechanism is also needed to grab the product and move it to the corresponding position of the detection equipment. However, the current grabbing mechanism has the following problems:

[0003] (1) The battery cover plate has various specifications and shapes, and the placement position of the battery cover plate at the inlet end of the detection equipment may be different, such as horizontal placement or vertical placement. The angle adjustment of the conventional grabbing mechanism is not flexible, and it cannot meet the grabbing needs of the battery cover plate with multiple placement positions.

[0004] (2) Because the battery cover plate is generally placed in a suction tray, there is a certain distance between the battery cover plates, and multiple battery cover plates cannot be grabbed at the same time, so the detection efficiency is low.

[0005] Therefore, how to solve the above problems of the prior art has become the research and solution of the present application. SUMMARY

[0006] The purpose of the present application is to provide a rotary variable-distance grabbing mechanism.

[0007] In order to achieve the above purpose, the technical scheme adopted by the present application is: a rotary variable-distance grabbing mechanism, comprising: a rotating module, a variable-distance module and a plurality of grabbing parts; the rotating module is driven to be movable along the X-axis and the Y-axis, and is positioned and connected with the variable-distance module, and drives the variable-distance module to rotate around the Z-axis; the variable-distance module is positioned and connected with a plurality of grabbing parts, drives the horizontal distance between adjacent two grabbing parts to change, and drives the grabbing parts to move along the Z-axis.

[0008] Further technical solutions, the variable-distance module comprises a base frame, a variable-distance plate and a connecting block; the variable-distance plate is driven to move along the Z-axis direction, the variable-distance plate has a plurality of inclined grooves, and the plurality of inclined grooves are in a radial shape with one end converging and the other end spreading; the base frame also has a slide rail extending in the horizontal direction, a plurality of connecting blocks are slidably arranged on the slide rail, and each connecting block is slidably arranged in the inclined groove; each connecting block is connected with the grabbing part.

[0009] Further technical solutions, the base frame has a sliding groove extending along the Z-axis direction, and the variable-distance plate is slidably arranged in the sliding groove.

[0010] Further, the chute pairs are symmetrically arranged along a center line of the Z-axis of the variable distance plate, and the projection heights of the plurality of chutes in the Z-axis direction are the same.

[0011] Further, the chutes closer to the center line are relatively steeper.

[0012] Further, the number of the chutes is four, the included angle between the chute closer to the center line and the center line is α, the included angle between the chute farther from the center line and the center line is β, and the included angle α is smaller than the included angle β.

[0013] Further, the connecting block has a first sliding end and a second sliding end, the first sliding end is slidingly arranged on the slide rail, the second sliding end is slidingly arranged on the chute, and the first sliding end and the second sliding end have the same horizontal movement trend.

[0014] Further, the apparatus further comprises a support including a first guide rail and a second guide rail, the first guide rail and the second guide rail extend along the X-axis and the Y-axis respectively, the rotating module is driven to move along the first guide rail, and the first guide rail drives the rotating module to move along the second guide rail.

[0015] The terms used herein are only for describing specific embodiments and are not intended to limit the present application. The singular forms "a," "an," and "the" as used herein, are intended to include plural forms as well.

[0016] The terms "first", "second", and the like as used herein do not specifically refer to order or sequence, nor do they limit the present application. They are used only to distinguish components or operations described by the same technical terms.

[0017] The terms "connected" or "positioned" as used herein can mean that two or more components or devices are directly in physical contact with each other, or indirectly in physical contact with each other through other components or devices, or can mean that two or more components or devices operate or act with each other.

[0018] The terms "comprising", "including", "having" and the like as used herein are open-ended terms, i.e., meaning "including, but not limited to".

[0019] The terms used herein, unless otherwise specifically noted, generally have their ordinary meanings in the field of use, in the context of the present application, and in the context of the specific content. Some of the terms used to describe the present application are discussed below or elsewhere in the specification to provide additional guidance to those skilled in the art in understanding the description of the present application.

[0020] As for "front", "back", "upper", "lower", "left", "right" and the like used herein, they are directional words, which are used herein only to describe the positional relationship between structures, and are not intended to limit the specific direction of the protection scheme and actual implementation.

[0021] The working principle and advantages of the present application are as follows:

[0022] 1. The rotation module is positioned and connected with the variable distance module, the rotation module can move along the X-axis and the Y-axis through driving, and the rotation module can drive the variable distance module to rotate around the Z-axis, so that the position of the grabbing part can be flexibly adjusted, and products in different positions can be grabbed.

[0023] 2. The variable distance plate of the variable distance module has a plurality of inclined grooves, and the grabbing part is positioned and connected in the variable distance plate through the inclined grooves. When the variable distance plate is displaced along the Z-axis, the inclined edges of the inclined grooves guide and drive the grabbing part to be displaced horizontally, so as to change the horizontal distance between the two adjacent grabbing parts, and then a plurality of products can be grabbed at one time according to the distribution of the products, and the grabbing efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] ATTACHMENT Figure 1 It is a structural schematic view of the rotation variable distance grabbing mechanism of the embodiment of the present application.

[0025] ATTACHMENT Figure 2 It is a schematic view of the variable distance module of the embodiment of the present application.

[0026] ATTACHMENT Figure 3 It is a schematic view of the setting relationship between the rotation variable distance grabbing mechanism and the support of the embodiment of the present application.

[0027] In the above drawings:

[0028] 111-first guide rail; 112-second guide rail; 121-rotation module; 122-variable distance module; 123-grabbing part; 1221-base frame; 1222-variable distance plate; 1223-connection block; 12211-sliding rail; 12212-sliding groove; 12221-inclined groove. DETAILED DESCRIPTION

[0029] The present application will be further described below in combination with the drawings and embodiments:

[0030] Embodiment: The present application will be clearly explained by drawings and detailed description, and any person skilled in the art can change and modify the technology taught by the present application after understanding the embodiments of the present application, without departing from the spirit and scope of the present application.

[0031] Among them, the specific form of the plate-shaped product of the embodiment includes various forms, such as PCB board, battery cover plate, etc. In order to facilitate the description, the plate-shaped product of the embodiment will be introduced by taking the battery cover plate as an example.

[0032] As shown in Figure 1 The rotating distance-variable grabbing mechanism includes a rotating module 121, a distance-variable module 122, and a plurality of grabbing parts 123. The rotating module 121 is positioned and connected with the distance-variable module 122. The rotating module 121 is movable along the X-axis and the Y-axis and drives the distance-variable module 122 to rotate around the Z-axis. The distance-variable module 122 has a plurality of inclined grooves 12221, each of which is positioned and connected with a grabbing part 123. The distance-variable module 122 is movable along the Z-axis or rotatable around the Z-axis. Each inclined groove 12221 guides the change of the horizontal distance between two adjacent grabbing parts 123. The rotating distance-variable grabbing mechanism provided by the embodiment can make the grabbing parts 123 movable along the X-axis, the Y-axis, and the Z-axis and rotatable around the Z-axis. Therefore, the products in different positions can be grabbed, for example, some products are placed horizontally and some products are placed vertically, which can be grabbed by the mechanism. Further, the distance-variable module 122 can change the distance between two adjacent grabbing parts 123, so that the products with specific placement specifications can be grabbed and placed without being affected by the position of the products.

[0033] Optionally, the rotating module 121 can be a rotating motor or a rotating cylinder that can drive rotation. Since its structure and principle are prior art and are not the points of the present application, those skilled in the art can choose flexibly according to specific requirements, and thus the present application will not be described in detail.

[0034] The rotating distance-variable grabbing mechanism in the embodiment can be used in different devices to grab and place products. For example, the rotating distance-variable grabbing mechanism can be placed at the entrance and exit of a detection device for battery cover plates to place the products to be detected in the detection device and then take out the products after detection.

[0035] Optionally, the grabbing part 123 is a suction cup.

[0036] On the one hand, since the positions of the plurality of detection devices arranged along the moving route of the battery cover plates are fixed and the plurality of detection devices are arranged at a set distance, each detection device has a detection area. It can be understood that there is a detection area at a set distance along the moving route of the battery cover plates. This requires that the adjacent two battery cover plates also have a corresponding spacing requirement. In addition, the length and width specifications of the battery cover plates are various. Therefore, when placing the battery cover plates into the detection device, it is also necessary to consider that the arrangement of the battery cover plates with large dimensions in the width direction or the length direction does not interfere with each other. Therefore, it is necessary to consider the distance between the adjacent two grabbing parts 123 when placing and grabbing the battery cover plates.

[0037] On the other hand, in some application scenarios, the battery cover plates are carried by empty trays, each empty tray can carry a plurality of battery cover plates, and different types of empty trays have different carrying forms of battery cover plates. In one embodiment, the battery cover plates in the empty tray are arranged in the width direction of the battery cover plates and face the entrance end. In another embodiment, the battery cover plates in the empty tray are arranged in the length direction of the battery cover plates and face the entrance end. Therefore, when placing the battery cover plates into the detection equipment, it is also necessary to consider whether the direction of the battery cover plates needs to be converted to adapt to the detection area in the detection equipment.

[0038] In view of the above two aspects, it is necessary to change the horizontal distance between the plurality of grabbing parts 123 and rotate the plurality of grabbing parts 123 to increase the compatibility of the detection equipment.

[0039] Please continue to refer to the accompanying drawings Figure 2 The distance changing module 122 includes a base frame 1221, a distance changing plate 1222, and a connecting block 1223. The distance changing plate 1222 is driven to move along the Z-axis direction. The distance changing plate 1222 has a plurality of inclined grooves 12221 arranged in a radial shape with one end converging and the other end diverging. The base frame 1221 also has a slide rail 12211 extending in the horizontal direction. A plurality of connecting blocks 1223 are slidingly arranged on the slide rail 12211, and each connecting block 1223 is slidingly arranged in one-to-one correspondence with the inclined grooves 12221. Each connecting block 1223 is connected to the grabbing part 123. In this way, each connecting block 1223 can slide horizontally on the slide rail 12211 while also moving obliquely along the inclined grooves 12221. Specifically, when the distance changing plate 1222 is raised along the Z-axis, the upper end of the connecting block 1223 can be guided by the inclined edge of the inclined groove 12221, prompting the connecting block 1223 to drive the grabbing part 123 to move horizontally along the slide rail 12211, thereby changing the distance between the two adjacent grabbing parts 123.

[0040] It can be understood that "adjacent two grabbing parts 123" refers to the grabbing parts 123 connected by adjacent two different connecting blocks 1223, rather than two adjacent grabbing parts 123 belonging to one connecting block 1223, and the distance between the two adjacent grabbing parts 123 is changed by the position change of the adjacent two connecting blocks 1223. Optionally, each connecting block 1223 can be connected to one or more grabbing parts 123.

[0041] In the embodiment, the oblique groove 12221 of the variable distance plate 1222 is in a shape of converging at the bottom end and diverging at the top end. Therefore, when the variable distance plate 1222 moves downward, the inclined edge of the oblique groove 12221 guides the connecting block 1223, so as to make the connecting block 1223 move on the slide rail 12211, the plurality of grabbing parts 123 make diverging movement, the distance between the adjacent two grabbing parts 123 increases, meanwhile, the length of the oblique groove 12221 limits the displacement of the connecting block 1223 in the horizontal direction, thereby controlling the variable distance between the adjacent two grabbing parts 123. In another embodiment, the oblique groove 12221 of the variable distance plate 1222 is in a shape of diverging at the bottom end and converging at the top end. Therefore, when the variable distance plate 1222 moves downward, the plurality of grabbing parts 123 make converging movement.

[0042] Optionally, the base frame 1221 has a sliding groove 12212 extending along the Z-axis direction, and the variable distance plate 1222 can move up and down along the sliding groove 12212.

[0043] Further, the connecting block 1223 has a first sliding end and a second sliding end, the first sliding end is slidingly arranged on the slide rail 12211, the second sliding end is slidingly arranged in the oblique groove 12221, and the first sliding end and the second sliding end have the same horizontal movement trend. When the variable distance plate 1222 moves upward or downward, the inclined edge of the oblique groove 12221 guides the second sliding end, so that the second sliding end and the first sliding end move together in the horizontal direction.

[0044] In the embodiment, the oblique grooves 12221 are arranged in pairs, and the pairs of oblique grooves 12221 are symmetric to the center line of the Z-axis of the variable distance plate 1222, and the projection heights of the plurality of oblique grooves 12221 in the Z-axis direction are the same. In this way, when the variable distance plate 1222 drops to the maximum height, the second sliding end of each connecting block 1223 slides to the end of the oblique groove 12221, which is beneficial to control the displacement of the connecting block 1223.

[0045] In the embodiment, the number of the oblique grooves 12221 is four, and the four oblique grooves 12221 are symmetrically distributed along the center line of the Z-axis of the variable distance plate 1222. Among the two oblique grooves 12221 on one side of the center line, the included angle between the oblique groove 12221 relatively close to the center line and the center line is α, and the included angle between the oblique groove 12221 relatively far away from the center line and the center line is β, and the included angle α is smaller than the included angle β. Therefore, when the variable distance plate 1222 drops or rises by a vertical distance, the horizontal displacement of the connecting block 1223 relatively close to the above-mentioned center line is smaller than the horizontal displacement of the connecting block 1223 relatively far away from the above-mentioned center line, thereby the distance between the two connecting blocks 1223 can be pulled apart.

[0046] Further, to ensure that the distance changing plate 1222 drops or rises by a vertical distance, the distance changing increments of each two adjacent grabbing parts 123 are the same, so as to realize quantitative distance changing, and in the embodiment, the tangent value of the included angle β is three times of the tangent value of the included angle α, specifically, when the distance changing plate 1222 drops or rises by a same height h, the distance changing increment Δ1 of the inclined groove 12221 where the included angle α is located and the adjacent inclined groove 12221 in the opposite direction is 2htanα, and the distance changing increment Δ2 of the adjacent inclined groove 12221 in the same direction is htanβ-h tanα, if Δ1=Δ2, tanβ=3tanα, which can ensure that the connecting blocks 1223 drop by a same height when moving in the four inclined grooves 12221, and the distance changing increments of the adjacent two connecting blocks 1223 are the same, that is, the distance changing increments of the adjacent two grabbing parts 123 in the embodiment are the same, which is more conducive to quantitative distance changing.

[0047] As shown in Figure 3 In the embodiment, the support further includes a first guide rail 111 and a second guide rail 112, the first guide rail 111 and the second guide rail 112 extend along the X axis and the Y axis respectively, the rotating module 121 is driven to move along the first guide rail 111, and the first guide rail 111 drives the rotating module 121 to move along the second guide rail 112. The support can be arranged at the entrance end or the exit end of the detection equipment, and is suitable for the grabbing parts 123 to complete displacement in the X axis and the Y axis at the entrance end and the exit end, so as to further accurately and quickly grab the products and improve the compatibility of the detection equipment.

[0048] The working process of the utility model is as follows:

[0049] In the grabbing process, first, the positions of the products to be grabbed are confirmed, the rotating module 121 is driven to move along the X axis and the Y axis, and drives the distance changing module 122 to rotate around the Z axis, so that the grabbing parts 123 move directly above the products to be grabbed; then, according to the distance between the products to be grabbed, the distance changing plate 1222 in the distance changing module 122 rises or drops to change the distance between the adjacent two grabbing parts 123, so that the plurality of grabbing parts 123 present an expanded or contracted state, so as to adapt to the positions of the products to be grabbed;

[0050] Opposite to the grabbing process, the placing process should first confirm the placing position, and adjust the positions of the grabbing parts 123 according to the placing position, and the specific implementation operation is the same as or similar to the above-mentioned grabbing process.

[0051] The above examples are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. A rotary variable distance gripping mechanism characterized by: The utility model relates to a kind of rotary module (121), variable distance module (122) and multiple grab parts (123) comprising: The rotary module (121) is positioned and is connected with the variable distance module (122), the rotary module (121) is driven along X axis and Y axis can be moved, and variable distance module (122) is driven to rotate around Z axis; The variable distance module (122) has multiple inclined grooves (12221), each inclined groove (12221) is positioned and is connected with the grab part (123), the variable distance module (122) is driven along Z axis can be moved, and multiple inclined grooves (12221) guide drive the horizontal distance between adjacent two grab parts (123) changes. The variable distance module (122) includes base frame (1221), variable distance plate (1222) and connecting block (1223); 2. The rotary indexing gripper mechanism of claim 1, wherein: The variable distance plate is driven to move along Z axis direction, and the variable distance plate (1222) has multiple inclined grooves (12221) on it, and multiple inclined grooves (12221) are in the shape of radial pattern with one end converging and the other end diffusing; The base frame (1221) also has slide rail (12211) extending along horizontal direction, multiple connecting blocks (1223) are slidably arranged on the slide rail (12211), and each connecting block (1223) is slidably arranged in the inclined groove (12221) one by one; Each connecting block (1223) is connected with the grab part (123). The base frame (1221) has sliding groove (12212) extending along Z axis direction, and the variable distance plate (1222) is slidably arranged in the sliding groove (12212).

3. A rotary indexing gripper mechanism according to claim 2, characterised in that: The inclined grooves (12221) are arranged in pairs and are symmetric to the center line of the variable distance plate (1222) in Z axis direction, and the projection height of multiple inclined grooves (12221) in Z axis direction is the same.

4. The rotary indexing gripper mechanism of claim 2, wherein: The inclined groove (12221) closer to the center line is relatively steeper.

5. A rotary indexing gripper mechanism according to claim 4, characterised in that: The number of the inclined grooves is four, in the two inclined grooves (12221) on one side of the center line, the included angle between the inclined groove (12221) relatively close to the center line and the center line is α, the included angle between the inclined groove (12221) relatively far away from the center line and the center line is β, and the included angle α is smaller than the included angle β.

6. A rotary indexing gripper mechanism according to claim 5, characterised in that: The connecting block (1223) has first sliding end and second sliding end, the first sliding end is slidably arranged on the slide rail (12211), the second sliding end is slidably arranged in the inclined groove (12221), and the first sliding end and the second sliding end have the same horizontal movement trend.

7. The rotary displacement gripping mechanism of claim 2, wherein: It also includes a support, which includes first guide rail (111) and second guide rail (112), the first guide rail (111) and the second guide rail (112) extend along X axis and Y axis respectively, the rotary module (121) is driven to move along the first guide rail (111), and the first guide rail (111) drives the rotary module (121) to move along the second guide rail (112).

8. The rotary displacement gripping mechanism of claim 1, wherein: ​

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