CN112676808A - Mechanism and method for grabbing frame by quasi-module - Google Patents
Mechanism and method for grabbing frame by quasi-module Download PDFInfo
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- CN112676808A CN112676808A CN202011480653.6A CN202011480653A CN112676808A CN 112676808 A CN112676808 A CN 112676808A CN 202011480653 A CN202011480653 A CN 202011480653A CN 112676808 A CN112676808 A CN 112676808A
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Abstract
The invention discloses a quasi-module frame grabbing and entering mechanism and a quasi-module frame grabbing and entering method, wherein the frame entering mechanism comprises: a grasping assembly comprising: the grabbing module moves along with the multi-joint mechanical arm to grab the quasi module and place the quasi module into the frame assembly; a framing assembly comprising: a workstation with locate the income frame module on the workstation, go into frame module and include: the U-shaped frame comprises a bottom plate and two vertical plates connected to two long edges of the bottom plate, and the first limiting piece limits the angle between the two vertical plates; the second limiting piece limits the positions of two short edges of the U-shaped frame; the visual positioning assembly is arranged on the grabbing module and used for aligning the module to perform visual positioning and sending the grabbed image to the control device; and the control device is in communication connection with the grabbing component and the frame entering component and is used for controlling the corresponding movement of the grabbing component and the frame entering component.
Description
Technical Field
The invention relates to the technical field of production of quasi-module grabbing frame, in particular to a quasi-module grabbing frame mechanism and a method for grabbing frame by a quasi-module.
Background
After the soft-packaged battery cell is stacked into the accurate module, the module U-shaped frame needs to be assembled. At present, manual or semi-automatic operation is generally adopted in the industry, and due to interference of human factors, the consistency of assembly of the quasi-module and the U-shaped frame is difficult to ensure during operation, so that the product percent of pass is difficult to improve. Therefore, a mechanism and a method for realizing accurate framing of the quasi-module are needed to meet the requirement of high-standard production.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a mechanism and a method for grabbing a frame into a standard module.
In order to achieve the purpose, the invention is realized by the following technical scheme: the invention provides a quasi-module grabbing and frame entering mechanism, which comprises:
a grasping assembly comprising: the grabbing module is mounted on the multi-joint mechanical arm and moves along with the multi-joint mechanical arm to grab the quasi module and place the quasi module into the frame assembly;
a framing assembly comprising: a workstation with locate go into frame module on the workstation, go into frame module and include: the U-shaped frame comprises a bottom plate and two vertical plates connected to two long edges of the bottom plate, and the first limiting piece limits the angle between the two vertical plates; the second limiting piece limits the positions of two short edges of the U-shaped frame;
the visual positioning assembly is arranged on the grabbing module and used for aligning the module to perform visual positioning and sending the grabbed information to the control device;
and the control device is in communication connection with the grabbing component and the frame entering component and is used for controlling the corresponding movement of the grabbing component and the frame entering component according to the information sent by the visual positioning component.
Further, the first stopper includes: the power output shaft of each first driver is connected with a limiting plate, each limiting plate is arranged on one side of each vertical plate, a plurality of suckers are arranged on one side, opposite to the vertical plate, of each limiting plate, and each limiting plate acts on each vertical plate through the suckers.
Furthermore, both ends of the limiting plate are respectively provided with a rotating shaft, a bearing seat is installed on the workbench, one rotating shaft is rotatably connected to the bearing seat, and the other rotating shaft is connected to a power output shaft of a first driver through a coupler.
Further, the second stopper includes: the limiting block and the second driver correspond to the two short edges of the bottom plate respectively, the power output end of the second driver is connected to the U-shaped frame, and the second driver drives the U-shaped frame to move to achieve limiting.
Further, the module of snatching includes: the multi-joint manipulator comprises a mounting seat, two moving shafts, a gripper piece, a module push plate and two bottom supporting pieces, wherein the top of the mounting seat is connected to the multi-joint manipulator, the bottom of the mounting seat is connected to the gripper piece, the two moving shafts are arranged in parallel, the gripper piece is connected between the two moving shafts in a sliding mode, each bottom supporting piece is installed on the outer side of one moving shaft, and the module push plate is fixed to the bottom of the two moving shafts.
Further, the grip piece includes: the pneumatic claw and the pressing plates arranged at two piston ends of the pneumatic claw are oppositely arranged, and the two pressing plates are opened and closed under the action of the pneumatic claw.
Further, each of said shoe members comprises: the device comprises a bottom supporting plate and an air cylinder, wherein each air cylinder is arranged on a moving shaft, each bottom supporting plate is an L-shaped plate, the two bottom supporting plates are oppositely arranged, the transverse surfaces of the two L-shaped plates are inwards arranged, and the vertical surfaces of the two L-shaped plates are connected to the piston end of the air cylinder;
furthermore, each cylinder is arranged on a moving shaft through a fixing frame, and the piston end of each cylinder is positioned below the moving shaft; the fixing frame comprises a first plate and a second plate which are vertically installed, the first plate is fixed on the moving shaft, the air cylinder is installed at the bottom of the second plate, and a plurality of supporting plates are arranged between the first plate and the second plate.
The invention also provides a method for grabbing a frame by using any one quasi-module frame grabbing and inserting mechanism, which comprises the following steps:
step a, a control device controls a multi-joint mechanical arm to move to a quasi-module grabbing position, a grabbing module descends along a moving shaft, a gas claw of the grabbing module controls two pressing plates to tightly press the quasi-module, the grabbing module ascends for a certain distance along the moving shaft, and a bottom support extends out;
b, controlling the multi-joint mechanical arm to move above the frame entering component by the control device;
c, limiting the two vertical plates of the U-shaped frame by a first limiting piece of the frame entering assembly to enable the two vertical plates to be turned outwards for a certain angle, and limiting the positions of two short sides of the U-shaped frame by a second limiting piece;
d, the gas claw controls the two pressing plates to release the quasi-module, the grabbing module descends under the drive of the multi-joint mechanical arm to enter the U-shaped frame, the grabbing module stops descending after entering the U-shaped frame for a certain distance, the bottom support piece is retracted and reset, and the grabbing module continues descending until the quasi-module is completely pressed into the U-shaped frame;
e, the multi-joint mechanical arm drives the grabbing module to ascend and leave the U-shaped frame, and the grabbing module resets; resetting the first limiting piece; the second limiting piece is reset; and the multi-joint mechanical arm moves to the quasi-module grabbing position to grab the next quasi-module.
Further, the distance is half or more of the width of the quasi module.
By adopting the scheme, the invention provides a mechanism and a method for grabbing a frame by a quasi-module, which have the following beneficial effects:
(1) the grabbing component adopts a multi-joint mechanical arm to drive the grabbing module to align the module to grab, and the visual positioning component is utilized to carry out visual positioning, so that the operation is more accurate.
(2) Go into the frame subassembly and be equipped with first and second locating part, spacing in two directions to the U-shaped frame respectively, and first locating part can be adjusted the angle between coexistence board, all outwards turns over certain angle with two risers when the frame is gone into to the standard die group, has reduced the degree of difficulty that the frame was gone into to the standard die group, has improved the rate of accuracy of going into the frame.
(3) The automation degree is high, the production efficiency is greatly improved, and the high-standard production requirement is met.
Drawings
Fig. 1 is a schematic front view of a capture module of the quasi-module frame capturing and entering mechanism according to the present invention.
FIG. 2 is a schematic side view of a capture module of the quasi-module frame capturing and inserting mechanism according to the present invention
Fig. 3 is a schematic perspective view of a frame entering component of the quasi-module frame grabbing and entering mechanism of the present invention.
Fig. 4 is a schematic perspective view of the quasi-module frame grabbing and placing mechanism according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
The invention upgrades the traditional equipment, and realizes the automatic operation of the quasi-module for grabbing the frame by arranging the grabbing component, the frame entering component, the visual positioning component and the control device. The assembly consistency of the quasi-module and the U-shaped frame is met. The invention particularly provides a frame grabbing and entering mechanism of a quasi-module and a frame grabbing and entering method of the quasi-module. Referring to fig. 1-4, the quasi-module frame capturing mechanism includes: snatch the subassembly, go into frame subassembly, vision positioning assembly 30 and controlling means, it includes to snatch the subassembly: the multi-joint mechanical arm 10 and the grabbing module 11 are arranged on the multi-joint mechanical arm 10, and the grabbing module 11 moves along with the multi-joint mechanical arm 10 to grab the quasi module 60 and place the quasi module 60 into the frame assembly; the frame-in component comprises: a workstation 20 with locate go into frame module 21 on the workstation 20, go into frame module 21 and include: the U-shaped frame 210 comprises a bottom plate 2101 and two upright plates 2102 connected to two long sides of the bottom plate, and the first limiting piece 211 limits the angle between the two upright plates 2102; the second limiting member 212 limits the positions of two short sides of the U-shaped frame 210; the visual positioning component 30 is an industrial camera, is mounted on the grabbing module, and is used for aligning the module 60 to perform visual positioning and sending the grabbed image to the control device; the control device (not shown) runs on a machine, is communicatively connected to the grasping assembly and the framing assembly, and is configured to analyze and calculate a position of the quasi module 60 according to the image sent by the visual positioning assembly 30, determine a next operation according to the position, and control corresponding actions of the grasping assembly and the framing assembly. It should be noted that the communication connection between the visual positioning assembly 30 and the control device, and the communication connection between the control device and the grasping assembly and the framing assembly in the present invention are implemented by using the methods that can be implemented in the prior art, such as "I/O" connection and communication line connection. The method of the control device for data analysis by the received image is also realized by the prior art. In the structure of the framing assembly, specifically, as shown in fig. 3, the first limiting member 211 includes: the two opposite limiting plates 2111 and the two first drivers 2112 are arranged, a power output shaft of each first driver 2112 is connected with one limiting plate 2111, each limiting plate 2111 is arranged on one side of each vertical plate 2102, a plurality of suckers (not marked) are arranged on one side, opposite to the vertical plate 2102, of each limiting plate 2111, each vertical plate 2102 is acted on by each limiting plate 2111 through the suckers, namely when the first drivers 2112 drive one limiting plate 2111 to rotate towards one vertical plate, vacuum switches of the suckers on the limiting plates 2111 are turned on, the suckers are adsorbed on the vertical plate 2102, and the two first drivers 2112 rotate in opposite directions, so that the two limiting plates 2111 drive the two vertical plates to turn outwards for a certain angle, and the standard module 60 is easier to enter the frame when the frame is grabbed. Preferably, two ends of the limiting plate 2111 are respectively provided with a rotating shaft 2113, the workbench 20 is provided with a bearing seat 22, one rotating shaft 2113 is rotatably connected to the bearing seat 22, and the other rotating shaft is connected to a power output shaft of a first driver 2112 through a coupling 215. In this embodiment, the first driver 2112 is a rotating motor, the control device controls the two first drivers 2112 to rotate in opposite directions, and the two vertical plates 2102 of the U-shaped frame are driven to turn outwards by the two limiting plates 2111, so as to facilitate the frame entering of the alignment module 60 or the vertical state recovery of the two vertical plates 2102 after the frame entering is finished. The second limiting member 212 includes: the limiting block 2121 is arranged on one short side of the bottom plate 2101, the second driver 2122 is arranged on one short side of the bottom plate 2101, the power output end of the second driver 2122 is connected to the U-shaped frame, and the second driver 2122 drives the U-shaped frame to move towards the limiting block 2121 so as to limit the positions of the two short sides of the U-shaped frame.
Further, in the grasping assembly, the grasping module 11 includes: the multi-joint mechanical arm comprises a mounting seat 111, two moving shafts 112, a gripper 113, a module push plate 114 and two bottom supporting pieces 115, wherein the top of the mounting seat 111 is connected to the multi-joint mechanical arm 10, the bottom of the mounting seat 111 is connected to the gripper 113, and the mounting seat 111 plays a role in connecting the gripper 113 with the multi-joint mechanical arm 10. The two moving shafts 112 are arranged in parallel, the gripper 113 is connected between the two moving shafts 112 in a sliding manner, specifically, two opposite inner sides of the two moving shafts 112 are respectively provided with a sliding rail 116, the gripper 113 is mounted on an external support 117, two sides of the external support 117 are provided with sliding blocks 118, and the sliding blocks 118 slide along the sliding rails 116 to drive the gripper 113 to move up and down along the two moving shafts 112. Wherein the grip member 113 includes: a gas claw 1131 with locate the clamp plate 1132 of two piston ends of gas claw 1131, two clamp plates set up relatively, two clamp plates 1132 are in realize opening and shutting under the effect of gas claw 1131, realize when two clamp plates 1132 are closed a section distance that the snatching of alignment module 60, realize when two clamp plates 1132 open the release of alignment module 60. Each of the bases 115 is installed on the outer side of a moving shaft 112, and the bases 115 protect the quasi-module 60 during grasping and prevent the quasi-module from falling off during the grasping movement. Wherein the base 115 includes: each cylinder 1152 is arranged on a moving shaft 112, each bottom supporting plate 1151 is an L-shaped plate, the two bottom supporting plates 1151 are oppositely arranged, the transverse surfaces of the two L-shaped plates are inwards arranged, and the vertical surfaces of the two L-shaped plates are connected to the piston end of the cylinder 1152. When the quasi-module is grabbed by grabbing component 113, and after rising a distance along two movement shafts 112 under the effect of articulated arm 10, the piston end of two cylinders 1152 stretches out, drive two bottom supporting plates 1151 and move in opposite directions, two cross surfaces of two bottom supporting plates 1151 form a bearing surface under the quasi-module, when special circumstances causes to grab module 11 and aims at module 60 and snatch not firmly, the bearing surface forms the lift of aiming at module 60, the condition that quasi-module 60 dropped has effectively been prevented. The module push plate 114 is a transverse plate structure and is fixed to the bottom of the two moving shafts 112, and when the alignment module 60 is grabbed, the alignment module 60 is positioned by applying a certain force from the top of the alignment module 60. Preferably, in this embodiment, the module push plates 114 are provided in two, each module push plate 114 is fixed to the bottom of one of the moving shafts 112, and a gap between the two module push plates 114 allows the hand grip 113 to pass through. Preferably, each of the cylinders 1152 is mounted on a moving shaft 112 through a fixing frame 119, a piston end of the cylinder 1152 is located below the moving shaft 112, and preferably, the mounting position of the cylinder 1152 ensures that the quasi module 60 can be placed between the two bottom supporting plates 1151 and the module push plate 114. The mount 119 includes first board 1191 and the second board 1192 of perpendicular installation, first board 1191 is fixed in on the motion shaft 112, the installation of second board 1192 bottom cylinder 1152, first board 1191 with be equipped with a plurality of backup pads 1193 between the second board 1192, a plurality of backup pads 1193 are triangle-shaped, guarantee first board 1191 with steadiness between the second board 1192.
The invention also provides a method for grabbing a frame by the quasi-module, which adopts the quasi-module frame grabbing and putting mechanism to operate, and specifically comprises the following steps:
step a, the control device controls the multi-joint mechanical arm 10 to move to a quasi-module grabbing position, the grabbing module 11 descends along the movement axis 112 under the action of the multi-joint mechanical arm 10, after the module push plate 114 is close to the quasi-module 60, the control device controls the multi-joint mechanical arm 10 to stop descending, the gas claw 1131 of the grabbing module 11 is opened, the two press plates 1132 are controlled to tightly press the quasi-module 60, grabbing of the quasi-module 60 is achieved, after grabbing is successful, the multi-joint mechanical arm 10 drives the grabbing module 11 to ascend along the movement axis 112 to enable the module push plate 114 to be close to the top of the quasi-module 60, the two cylinders 1152 are opened, the two pistons drive the two bottom supporting plates 1151 of the two bottom supporting pieces 115 to extend, the two bottom supporting plates 1151 are close to the bottom of the quasi-module 60;
b, the control device controls the multi-joint mechanical arm 10 to move above the frame entering component to prepare for frame entering operation;
step c, after the visual positioning assembly 30 recognizes the framing assembly, the control device controls the first limiting member 211 of the framing assembly to limit the two vertical plates 2102 of the U-shaped frame, that is: the first driver 2112 drives a limiting plate 2111 to rotate towards a vertical plate, vacuum switches of a plurality of suckers on the limiting plate 2111 are turned on, and the suckers are adsorbed on the vertical plate 2102, so that the two vertical plates 2102 are turned outwards by a certain angle; the second limiting member 212 limits the positions of the two short sides of the U-shaped frame, that is: the second driver 2122 drives the U-shaped frame to move towards the limiting block 2121, so that one short edge of the U-shaped frame abuts against the limiting block 2121, thereby realizing the position limiting of two short edges of the U-shaped frame;
step d, the gas claw 1131 controls the two pressing plates 1132 to release the quasi module, so that the pressing force of the two pressing plates 1132 for aligning the module 60 is almost zero, at this time, the two pressing plates 1132 play a role in guiding the quasi module to enter the U-shaped frame, the grabbing module 11 is driven by the multi-joint mechanical arm 10 to descend into the U-shaped frame, and after entering the U-shaped frame for a certain distance (preferably, in this embodiment, a distance is half or more than half of the width of the quasi module 60, that is, when half or more than half of the quasi module 60 enters the U-shaped frame), the control device controls to stop descending the quasi module 60, the piston ends of the two cylinders 1152 of the bottom bracket 115 are withdrawn, and drive the two bottom supporting plates 1151 to be withdrawn, and the grabbing module 11 continues to descend under the drive of the multi-joint mechanical arm 10 until the quasi module 60 is completely pressed into the U-shaped frame under the guidance;
step e, the multi-joint mechanical arm 10 drives the grabbing module 11 to ascend and leave the U-shaped frame; resetting the grabbing module 11 and preparing for the next grabbing; the first limiting member 211 is reset, and stops limiting the two vertical plates 2102, so that the two vertical plates 2102 are restored to the vertical initial state; the second limiting member 212 is reset to release the limitation on the U-shaped frame; the multi-joint mechanical arm 10 moves to the quasi-module grabbing position to grab the next quasi-module.
According to the method for grabbing the frame by the quasi-module, disclosed by the invention, anti-falling protection is carried out in the grabbing process of the quasi-module, so that the safe grabbing of the quasi-module is effectively ensured, and the limit operation is also carried out on the vertical plate of the U-shaped frame in the frame-entering operation, so that the quasi-module is easier to put in the frame, and the problem of low frame-entering success rate caused by inaccurate positioning in the frame-entering operation in the prior art is avoided. The method for grabbing the frame by the quasi-module adopts full-process automatic control, avoids interference of human factors, and improves the assembly consistency of the quasi-module and the U-shaped frame.
In summary, the invention provides a quasi-module frame grabbing and entering mechanism and a quasi-module frame grabbing and entering method, wherein a module is automatically aligned for grabbing, the grabbed quasi-module is conveyed to a frame entering assembly by a mechanical arm, and the frame entering operation of the quasi-module is realized by matching the grabbing module and the frame entering module, so that the assembly consistency of the quasi-module and a U-shaped frame is greatly improved. The quasi-module frame grabbing and entering mechanism and the quasi-module frame grabbing and entering method have high automation degree, control is performed by using the visual positioning system and the control device, interference of human factors is avoided, and the operation accuracy is greatly improved compared with the existing manual operation and semi-automatic operation.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a frame mechanism is snatched to quasimode group which characterized in that includes:
a grasping assembly comprising: the grabbing module is mounted on the multi-joint mechanical arm and moves along with the multi-joint mechanical arm to grab the quasi module and place the quasi module into the frame assembly;
a framing assembly comprising: a workstation with locate go into frame module on the workstation, go into frame module and include: the U-shaped frame comprises a bottom plate and two vertical plates connected to two long edges of the bottom plate, and the first limiting piece limits the angle between the two vertical plates; the second limiting piece limits the positions of two short edges of the U-shaped frame;
the visual positioning assembly is arranged on the grabbing module and used for aligning the module to perform visual positioning and sending the grabbed information to the control device;
and the control device is in communication connection with the grabbing component and the frame entering component and is used for controlling the corresponding movement of the grabbing component and the frame entering component according to the information sent by the visual positioning component.
2. The quasi-module frame grabber mechanism of claim 1, wherein the first stop comprises: the power output shaft of each first driver is connected with a limiting plate, each limiting plate is arranged on one side of each vertical plate, a plurality of suckers are arranged on one side, opposite to the vertical plate, of each limiting plate, and each limiting plate acts on each vertical plate through the suckers.
3. The mechanism of claim 2, wherein a rotating shaft is disposed at each of two ends of the limiting plate, a bearing seat is mounted on the worktable, one rotating shaft is rotatably connected to the bearing seat, and the other rotating shaft is connected to a power output shaft of a first driver through a coupling.
4. The quasi-module frame grabber mechanism of claim 1, wherein the second stop comprises: the limiting block and the second driver correspond to the two short edges of the bottom plate respectively, the power output end of the second driver is connected to the U-shaped frame, and the second driver drives the U-shaped frame to move to achieve limiting.
5. The quasi-modular frame grabber mechanism as recited in claim 1, wherein said grabber module comprises: the multi-joint manipulator comprises a mounting seat, two moving shafts, a gripper piece, a module push plate and two bottom supporting pieces, wherein the top of the mounting seat is connected to the multi-joint manipulator, the bottom of the mounting seat is connected to the gripper piece, the two moving shafts are arranged in parallel, the gripper piece is connected between the two moving shafts in a sliding mode, each bottom supporting piece is installed on the outer side of one moving shaft, and the module push plate is fixed to the bottom of the two moving shafts.
6. The quasi-modular frame grabber mechanism as recited in claim 5, wherein said grab member comprises: the pneumatic claw and the pressing plates arranged at two piston ends of the pneumatic claw are oppositely arranged, and the two pressing plates are opened and closed under the action of the pneumatic claw.
7. A quasi-modular frame grabber mechanism as recited in claim 5, wherein each said bottom bracket includes: the bottom supporting plate is an L-shaped plate, the two bottom supporting plates are arranged oppositely, the transverse surfaces of the two L-shaped plates are arranged inwards, and the vertical surfaces of the two L-shaped plates are connected to the piston end of the cylinder.
8. The quasi-module frame grabbing mechanism according to claim 7, wherein each cylinder is mounted on a moving shaft through a fixing frame, and the piston end of the cylinder is located below the moving shaft; the fixing frame comprises a first plate and a second plate which are vertically installed, the first plate is fixed on the moving shaft, the air cylinder is installed at the bottom of the second plate, and a plurality of supporting plates are arranged between the first plate and the second plate.
9. A method of quasi-module capture framing using the quasi-module capture framing mechanism of any of claims 1-8, comprising the steps of:
step a, a control device controls a multi-joint mechanical arm to move to a quasi-module grabbing position, a grabbing module descends along a moving shaft, a gas claw of the grabbing module controls two pressing plates to tightly press the quasi-module, the grabbing module ascends for a certain distance along the moving shaft, and a bottom support extends out;
b, controlling the multi-joint mechanical arm to move above the frame entering component by the control device;
c, limiting the two vertical plates of the U-shaped frame by a first limiting piece of the frame entering assembly to enable the two vertical plates to be turned outwards for a certain angle, and limiting the positions of two short sides of the U-shaped frame by a second limiting piece;
d, the gas claw controls the two pressing plates to release the quasi-module, the grabbing module descends under the drive of the multi-joint mechanical arm to enter the U-shaped frame, the grabbing module stops descending after entering the U-shaped frame for a certain distance, the bottom support piece is retracted and reset, and the grabbing module continues descending until the quasi-module is completely pressed into the U-shaped frame;
e, driving the grabbing module to ascend away from the U-shaped frame by the multi-joint mechanical arm; resetting the grabbing module; resetting the first limiting piece; the second limiting piece is reset; and the multi-joint mechanical arm moves to the quasi-module grabbing position to grab the next quasi-module.
10. The method of claim 9, wherein the distance is one half or more of the width of the quasi module.
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| CN201922168U (en) * | 2011-01-21 | 2011-08-10 | 重庆派斯克刀具制造有限公司 | Material frame for high-frequency automatic welding of woodworking plane edges |
| CN202996878U (en) * | 2012-11-20 | 2013-06-12 | 常州天华新能源科技有限公司 | Photovoltaic module on-line type framing machine |
| CN103962820A (en) * | 2014-04-28 | 2014-08-06 | 佛山市中格威电子有限公司 | Plastic cement sleeve assembling mechanism for protective tube automatic assembling machine |
| CN104085694A (en) * | 2014-07-01 | 2014-10-08 | 苏州博众精工科技有限公司 | Automatic mismatched discharge mechanism |
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| CN206966984U (en) * | 2017-07-07 | 2018-02-06 | 东莞市拓科智能科技有限公司 | A kind of two-sided bus-bar automatic assembling machine |
| CN207239623U (en) * | 2017-08-16 | 2018-04-17 | 深圳市联赢激光股份有限公司 | A kind of battery modules stack fitter's bench |
| CN107819134A (en) * | 2017-09-27 | 2018-03-20 | 春龙马丁工业技术南京有限公司 | New energy battery modules assembly line |
| CN107799783A (en) * | 2017-10-09 | 2018-03-13 | 深圳德龙激光智能有限公司 | A kind of automatic assembling detecting system for lithium battery |
| CN109571530A (en) * | 2019-01-04 | 2019-04-05 | 深圳市国威科创新能源科技有限公司 | A kind of manipulator grabbing device of battery modules |
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| CN209667634U (en) * | 2019-03-27 | 2019-11-22 | 广天宏（天津）包装有限公司 | A kind of pallet of adjustable-angle |
| CN110421582A (en) * | 2019-05-20 | 2019-11-08 | 合肥国轩高科动力能源有限公司 | A kind of robot device for lithium battery coiling core crawl pairing |
| CN110000537A (en) * | 2019-05-27 | 2019-07-12 | 韶关学院 | A kind of packing tube and chock plug Assembling Production mechanical equipment |
| CN211164003U (en) * | 2019-11-21 | 2020-08-04 | 国联汽车动力电池研究院有限责任公司 | Module grabbing device and system |
| CN111302065A (en) * | 2020-03-11 | 2020-06-19 | 苏州迈为科技股份有限公司 | Silicon wafer carrying disc aligning and positioning device, carrying plate conveying system and conveying method |
| CN111761335A (en) * | 2020-07-03 | 2020-10-13 | 南京机电职业技术学院 | Square-shell lithium battery cell pairing machine and working method thereof |
| KR102182094B1 (en) * | 2020-08-28 | 2020-11-23 | (주)제이렘 | Automatic bolt fastening device using two-arm scara robot |
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