Variable pitch gripper

Abstract

This utility model discloses a variable pitch gripper, including a variable pitch module. The variable pitch module includes a variable pitch slide, a variable pitch guide rail, variable pitch sliders, and variable pitch blocks. The variable pitch slide is connected to the lower end of a base. One end of the variable pitch slide is connected to a bearing seat, and a rotating shaft is rotatably connected inside the bearing seat. The lower end of the variable pitch slide is connected to the variable pitch guide rail, and multiple variable pitch sliders slide on the variable pitch guide rail. The lower end of each variable pitch slider is connected to a variable pitch block, and the lower end of each variable pitch block is connected to a gripper unit. A connecting part is formed on the variable pitch block. Multiple sliding grooves are formed on the rotating shaft, and each sliding groove has at least two positioning grooves corresponding to the position of the gripper unit. This utility model changes the distance between the variable pitch blocks by forming multiple sliding grooves on the rotating shaft and setting multiple positioning grooves in the sliding grooves, and by using the connecting part to switch between the positioning grooves, so that the spacing corresponds to the corresponding battery spacing, which facilitates the gripper unit to grip the battery.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a variable-pitch gripper. Background Technology

[0002] In existing battery production lines, batteries of different specifications are placed on trays, resulting in different spacing between them. When handling multiple batches of batteries of different specifications, the distance between the grippers needs to be adjusted when the battery specifications change, otherwise it will be impossible to accurately grip each battery.

[0003] The existing variable-pitch manipulator has a complex structure, changes the distance through multiple transmissions, has poor transmission stability, and is prone to failure to reach the correct pitch. Therefore, in order to meet the requirements of gripping different batches of batteries, this variable-pitch gripper was designed. Utility Model Content

[0004] The purpose of this utility model is to provide a variable pitch gripper, which has multiple sliding grooves formed on the rotating shaft and multiple positioning grooves set in the sliding grooves. By switching the connecting part between the positioning grooves, the distance between the variable pitch blocks is changed so that the spacing corresponds to the corresponding battery spacing, which facilitates the gripper unit to grip the battery.

[0005] This utility model provides the following technical solution: a variable pitch gripper, including a flange and a base, with the flange connected to the base. The variable pitch module is connected to the lower end of the base. The variable pitch module includes a variable pitch slide, a variable pitch guide rail, variable pitch sliders, and a variable pitch block. The variable pitch slide is connected to the lower end of the base. A bearing seat is connected to one end of the variable pitch slide, and a rotating shaft is rotatably connected within the bearing seat. The lower end of the variable pitch slide is connected to the variable pitch guide rail, and multiple variable pitch sliders slide on the variable pitch guide rail. A variable pitch block is connected to the lower end of each variable pitch slider, and a gripper unit is connected to the lower end of each variable pitch block. A connecting portion is formed on the variable pitch block. Multiple sliding grooves are formed on the rotating shaft, and each sliding groove has at least two positioning grooves corresponding to the positions of the gripper units. The positioning grooves are interconnected and used for positioning the variable pitch block. The positioning grooves on the same axis of adjacent sliding grooves are equidistant. The connecting portion is embedded within the sliding groove. When the rotating shaft rotates, it drives the variable pitch block to move along the variable pitch slide.

[0006] To drive the rotating shaft to rotate, a transmission unit is connected to the side of the variable pitch slide. A servo reducer is connected to one side of the transmission unit. The servo reducer controls the rotation of the rotating shaft through the transmission unit. The transmission unit includes a toothed belt pulley fixed on the rotating shaft and a belt pulley fixed at the output end of the servo reducer. The two belt pulleys are connected by a belt.

[0007] To buffer the buffer base plate and the connecting plate, a buffer assembly is connected between the gripper unit and the pitch block. The buffer assembly includes a buffer base plate, buffer guide rails are fixed on both sides of the buffer base plate, a buffer slider slides on the buffer guide rails, a sliding plate is connected to the side of the buffer slider, and a connecting plate is fixed to the lower end of the sliding plate.

[0008] To further enhance the buffering performance of the relative movement between the buffer base plate and the connecting plate, a limiting plate is also fixed to the side of the buffer base plate. A spring guide post and a spring are connected between the limiting plate and the connecting plate. The spring is sleeved on the spring guide post, and the upper end of the sliding plate is set on the limiting plate.

[0009] To clamp the battery, the gripper unit includes two gripper cylinders connected to the lower end of the connecting plate, and the output end of the gripper cylinders is connected to a left gripper and a right gripper.

[0010] To limit the clamping height of the battery, a limiting post is connected to the lower end of the connecting plate, and a limiting strip is connected to the lower end of the limiting post. The limiting strip is located between the left and right grippers.

[0011] To detect the distance between adjacent gripper units, a rangefinder is connected to the outer surface of the buffer assembly.

[0012] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: by opening a sliding groove on the rotating shaft and opening multiple positioning grooves on the sliding groove, the connecting block moves along the sliding groove by rotating the rotating shaft, and the connecting block moves from one positioning groove to another positioning groove, so that the distance between the variable distance blocks changes, further changing the spacing between the gripper units, corresponding to the spacing between batteries of different specifications, meeting the spacing requirements for battery gripping, and improving the adaptability of the gripper. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0014] Figure 1 This is a perspective view of the variable pitch gripper of this utility model;

[0015] Figure 2 This is a perspective view of the variable pitch module of this utility model;

[0016] Figure 3 This is a cross-sectional view of the variable pitch module of this utility model;

[0017] Figure 4 This is a schematic diagram showing the surface unfolding of the rotating shaft of this utility model;

[0018] Figure 5 This is a perspective view of the buffer assembly and gripper of this utility model;

[0019] Figure 6 This is a perspective view of the buffer assembly and gripper of this utility model from another angle.

[0020] In the diagram: 1. Flange; 2. Base; 3. Pitch-changing module; 31. Servo reducer; 32. Transmission unit; 33. Pitch-changing slide rail; 34. Pitch-changing guide rail; 35. Pitch-changing slider; 36. Pitch-changing block; 361. Connecting part; 37. Rotating shaft; 371. Slide groove; 372. First positioning groove; 373. Second positioning groove; 38. Bearing seat base plate; 4. Buffer assembly; 41. Buffer base plate; 42. Buffer guide rail; 43. Buffer slider; 44. Sliding plate; 441. Limiting plate; 45. Connecting plate; 46. Spring guide post; 47. Grip cylinder; 471. Left gripper; 472. Right gripper; 481. Limiting post; 482. Limiting strip; 49. Rangefinder. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figures 1 to 4As shown, this utility model provides a technical solution: a variable pitch gripper, including a flange 1 and a base 2. The lower end of the flange 1 is bolted to the base 2. The lower end of the base 2 is bolted to a variable pitch module 3. The variable pitch module 3 includes a variable pitch slide 33, a variable pitch guide rail 34, a variable pitch slider 35, and a variable pitch block 36. The variable pitch slide 33 is bolted to the lower end of the base 2. A bearing seat is bolted to one end of the variable pitch slide 33. A bearing seat base plate 38 is connected to the lower end of the bearing seat. The bearing seat base plate 38 is located below the variable pitch block 36. A rotating shaft 37 is rotatably connected inside the bearing seat. The lower end of the variable pitch slide 33 is bolted to the variable pitch guide rail 34. Multiple variable pitch sliders slide on the variable pitch guide rail 34. 35. A pitch block 36 is bolted to the lower end of the pitch slider 35, and a gripper unit is bolted to the lower end of the pitch block 36. The pitch slider 35 is guided by a pitch guide rail 34, and the pitch slider 35 can drive the pitch block 36 and the gripper unit to move along the pitch guide rail 34. A connecting part 361 is formed in the middle of the pitch block 36. Multiple sliding grooves 371 are formed on the rotating shaft 37. At least two positioning grooves corresponding to the positions of the gripper unit are formed in each sliding groove 371. The positioning grooves are connected to each other. In this embodiment, there are two positioning grooves, including a first positioning groove 372 and a second positioning groove 373. There are 6 first positioning grooves 372 and 6 second positioning grooves 373. The number of pitch blocks 36 is... There are also 6 positioning slots for positioning the pitch blocks 36. The positioning slots of adjacent slide rails 371 on the same axis are equidistant. The connecting part 361 is embedded in the slide rail 371. The rotating shaft 37 rotates, and the rotating shaft 37 drives the pitch blocks 36 to move along the pitch slide rail 33. Through the rotation of the rotating shaft 37, the connecting part 361 of the pitch blocks 36 moves from the first positioning slot 372 to the second positioning slot 373. The pitch blocks 36 are all distributed on the same axis. Because of the rotation of the rotating shaft 37, the pitch blocks 36 are moved from the first positioning slot 372 to the second positioning slot 373. When in the first positioning slot 372, the distance between the pitch blocks 36 is the same. At this time, the spacing between the gripper units conforms to a pallet. The battery distribution on the tray is such that when the variable pitch block 36 moves to the second positioning slot 373, the distance between the variable pitch blocks 36 decreases, matching the batteries on another tray, making it easier to clamp the batteries on the other tray. In summary, by opening several positioning slots on different axes, the distance between the positioning slots on the same axis corresponds to the battery distribution on one tray. The rotating shaft 37 rotates, causing the connecting part 361 to move from one positioning slot to another, changing the distance between the variable pitch blocks 36, so that the spacing of the variable pitch blocks 36 corresponds to the batteries distributed on different trays, enabling the gripper units with different spacings to clamp the batteries on different trays, improving the adaptability of the gripper, and enabling it to clamp the batteries on different trays.

[0023] like Figure 1 and 2As shown, a transmission unit 32 is connected to the side of the variable pitch slide 33, and a servo reducer 31 is connected to one side of the transmission unit 32. One end of the rotating shaft 37 extends into the transmission unit 32. The servo reducer 31 controls the rotation of the rotating shaft 37 through the transmission unit 32. The transmission unit 32 includes a toothed belt pulley fixed on the rotating shaft 37 and a belt pulley fixed at the output end of the servo reducer 31. The two belt pulleys are connected by a belt.

[0024] like Figure 5 As shown, a buffer assembly 4 is connected between the gripper unit and the pitch block 36. The buffer assembly 4 includes a buffer base plate 41, which is bolted to the lower end of the pitch block 36. The buffer base plate 41 has a rectangular frame and its structure is elastic. Buffer guide rails 42 are bolted to both sides of the buffer base plate 41. Buffer sliders 43 slide on the buffer guide rails 42. A sliding plate 44 is bolted to the side of the buffer slider 43. A connecting plate 45 is fixed to the lower end of the sliding plate 44. The buffer guide rails 42 guide the sliding of the buffer slider 43, allowing the connecting plate 45 to move up and down under the action of the sliding plate 44. This makes the relative movement of the buffer base plate 41 and the connecting plate 45 smoother and reduces jamming.

[0025] like Figure 5 and 6 As shown, a limiting plate 441 is also fixed to the side of the buffer base plate 41. A spring guide post 46 and a spring are connected between the limiting plate 441 and the connecting plate 45. The spring is sleeved on the spring guide post 46. The upper end of the sliding plate 44 is set on the limiting plate 441. The spring is connected between the limiting plate 441 and the connecting plate 45. The spring guide post 46 guides the stretching of the spring, which further improves the buffering performance of the connecting plate 45 relative to the buffer base plate 41.

[0026] like Figure 5 and 6 As shown, the gripper unit includes two gripper cylinders 47, which are connected to the lower end of the connecting plate 45. The output end of the gripper cylinders 47 is connected to the left gripper 471 and the right gripper 472. The gripper cylinders 47 control the gripping of the left gripper 471 and the right gripper 472 to clamp the battery.

[0027] like Figure 6 As shown, the lower end of the connecting plate 45 is connected to a limiting post 481, and the lower end of the limiting post 481 is inserted and fixed with a limiting strip 482. The limiting strip 482 is located between the left gripper 471 and the right gripper 472. The limiting strip 482 is set horizontally to limit the upper end of the battery, ensuring that the battery moves in the height direction between the left gripper 471 and the right gripper 472.

[0028] like Figure 1As shown, a rangefinder 49 is connected to the outer surface of the buffer assembly 4. The rangefinder 49 detects the distance between different gripper units so that the distance corresponds to the distance between batteries of different specifications.

[0029] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A variable pitch gripper comprising a flange and a base, the flange being attached to the base, characterised in that: The lower end of the base is connected to a pitch-changing module, which includes a pitch-changing slide, a pitch-changing guide rail, a pitch-changing slider, and a pitch-changing block. The pitch-changing slide is connected to the lower end of the base, and a bearing seat is connected to one end of the pitch-changing slide. A rotating shaft is rotatably connected inside the bearing seat. The lower end of the pitch-changing slide is connected to the pitch-changing guide rail, and multiple pitch-changing sliders slide on the pitch-changing guide rail. The lower end of each pitch-changing slider is connected to a pitch-changing block, and the lower end of the pitch-changing block is connected to a gripper unit. A connecting part is formed on the pitch-changing block, and multiple sliding grooves are formed on the rotating shaft. Each sliding groove has at least two positioning grooves corresponding to the position of the gripper unit. The positioning grooves are interconnected and used to position the pitch-changing block. The positioning grooves on the same axis of adjacent sliding grooves are equidistant. The connecting part is embedded in the sliding groove. When the rotating shaft rotates, it drives the pitch-changing block to move along the pitch-changing slide.

2. The variable span gripper of claim 1, wherein: A transmission unit is connected to the side of the variable pitch slide, and a servo reducer is connected to one side of the transmission unit. The servo reducer controls the rotation of the rotating shaft through the transmission unit. The transmission unit includes a toothed belt pulley fixed on the rotating shaft and a belt pulley fixed at the output end of the servo reducer. The two belt pulleys are connected by a belt.

3. The variable span gripper of claim 1, wherein: A buffer assembly is connected between the gripper unit and the pitch block. The buffer assembly includes a buffer base plate, buffer guide rails are fixed on both sides of the buffer base plate, a buffer slider slides on the buffer guide rails, a sliding plate is connected to the side of the buffer slider, and a connecting plate is fixed to the lower end of the sliding plate.

4. A variable span gripper according to claim 3, characterised in that: A limiting plate is also fixed to the side of the buffer base plate. A spring guide post and a spring are connected between the limiting plate and the connecting plate. The spring is sleeved on the spring guide post, and the upper end of the sliding plate is set on the limiting plate.

5. The variable span gripper of claim 1, wherein: The gripper unit includes two gripper cylinders, which are connected to the lower end of the connecting plate. The output end of each gripper cylinder is connected to a left gripper and a right gripper.

6. A variable span gripper according to claim 5, characterised in that: The lower end of the connecting plate is connected to a limiting post, and the lower end of the limiting post is connected to a limiting strip, which is located between the left gripper and the right gripper.

7. The variable span gripper of claim 3, wherein: A rangefinder is connected to the outer surface of the buffer assembly.

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