CN114161461A - Clamp for square battery module - Google Patents
Clamp for square battery module Download PDFInfo
- Publication number
- CN114161461A CN114161461A CN202111339244.9A CN202111339244A CN114161461A CN 114161461 A CN114161461 A CN 114161461A CN 202111339244 A CN202111339244 A CN 202111339244A CN 114161461 A CN114161461 A CN 114161461A
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- guide rail
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- 210000000078 claw Anatomy 0.000 claims abstract description 77
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000012546 transfer Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 8
- 239000003292 glue Substances 0.000 description 4
- 238000009413 insulation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
- H01M10/0404—Machines for assembling batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The invention provides a clamp of a square battery module, which comprises: a support frame; an X-axis pitch mechanism; a Y-axis pitch change mechanism; the X shaft is connected with a guide rail in a rotating way; the X-axis rotating guide rail is movably connected with the X-axis rotating guide rail along the X axis, each X-axis rotating guide rail is correspondingly connected with two first hook parts, and the four first hook parts are arranged in a rectangular shape; the two second claw parts comprise second claws floating along the Z axis, and the second claw parts are correspondingly fixed at the central position of the X-axis transfer guide rail one by one; the side pushing mechanism is fixed on one side of the supporting frame; a vision part; and (4) a detection device. The hook claw is provided with two groups of hook claws, so that double insurance is realized, and falling is avoided; the side pushing mechanism is arranged, so that the machine does not need to be stopped for waiting, and the abnormity can be automatically processed; each hook claw can float, so that the battery module is ensured to be placed in place, and the battery module cannot be suspended and fall into place due to errors.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to square battery module grabbing equipment, in particular to a clamp for a square battery module.
[ background of the invention ]
With the rise of new energy and the vigorous supporting development of the state, the manufacturing industry of the automobile power battery must be developed at a high speed, and the manufacturing of the automobile power battery needs to break the bottleneck of the improvement of the yield and the product control of the quality and the safety suddenly.
The square battery module is in the process of getting into the case, for raising the efficiency and ensuring safety, generally adopt to snatch anchor clamps centre gripping battery module, then put into the box with battery module. The existing grabbing clamp has the following defects:
the conventional grabbing clamp can only judge whether the preset placement of the battery modules in the box body meets the requirements or not. And when the battery module is put into the box, in order to fix the battery module, the position of placing the battery module in the box scribbles glue in advance, then pick anchor clamps centre gripping battery module and put into predetermined position, because glue solidifies the required time, and glue is easily smooth, put into the back at the battery module, it slides and misplaces on glue to appear the battery module easily, just so cause the battery module to encroach on putting of peripheral battery module, lead to adjacent battery module can't put into, cause putting of adjacent battery module to be not conform to the requirement at the position, in the prior art, wait for staff to handle the anomaly usually, need the stop production wait like this, waste time.
The grabbing clamp of the conventional battery module usually grabs the battery module through a group of hooks or grabs on two sides, and the battery module may be loosened in the moving process.
(iii) since the battery modules have errors in the manufacturing and assembling processes, even if the battery modules of the same lot have deviations in their sizes, this may cause the following safety hazards to occur:
when the battery module is placed in the box body, the robot drives the grabbing clamp to move according to a preset track, when a preset program is debugged, the thickness of the used battery module is assumed to be H1, the battery module can be just placed at a preset position when the preset program is placed in the box, the height coordinate of the grabbing clamp is Z1, and the battery module of the type is kept unchanged by Z1 in subsequent production. And there may occur a battery module having a thickness H1 greater or smaller than that of the battery module for the debugging setting process due to a difference in the thickness H1 of the battery module caused by manufacturing and assembling errors. If it is less, then can appear when coordinate Z1, the battery module is unsettled, works according to predetermined procedure this moment, snatchs anchor clamps and unclamps the battery module, and that battery module drops in the box, breaks the battery module easily, and the battery module is electrified, causes the potential safety hazard easily.
[ summary of the invention ]
The invention aims to solve the technical problem of providing a clamp of a square battery module, which is provided with two groups of hooks, has double safety and is prevented from falling; the side pushing mechanism is arranged, so that the machine does not need to be stopped for waiting, and the abnormity can be automatically processed; each hook claw can float, so that the battery module is ensured to be placed in place, and the battery module cannot be suspended and fall into place due to errors.
The invention is realized by the following steps: a jig for a prismatic battery module, comprising:
a support frame;
an X-axis pitch varying mechanism connected to the support frame;
the Y-axis pitch varying mechanism is connected to the X-axis pitch varying mechanism;
two X-axis rotating guide rails are connected to the Y-axis pitch-variable mechanism and are symmetrically arranged;
the X-axis rotating guide rail is movably connected with the X-axis rotating guide rail along the X axis, each X-axis rotating guide rail is correspondingly connected with two first hook parts, and the four first hook parts are arranged in a rectangular shape;
the two second claw parts comprise second claws floating along the Z axis, and the second claw parts are correspondingly fixed at the central position of the X-axis transfer guide rail one by one;
the side pushing mechanism is fixed on one side of the supporting frame;
a vision part fixed to the support frame and disposed downward;
and the detection device is fixed on the supporting frame and used for detecting the distance between the first claw part and the second claw part and the battery module.
Further, the X-axis pitch change mechanism includes:
a first driving motor fixed to the support frame;
two first transfer seats are provided;
the first transmission assembly is respectively connected with the first driving motor and the two first switching seats;
three first guide rails are fixed to the support frame at intervals in parallel along the X axis, each first guide rail is connected with two first sliding blocks which are symmetrically arranged in a sliding mode, and the six first sliding blocks are arranged in a rectangular mode;
the first driving motor drives the first transmission assembly to drive the two first transfer seats to synchronously move in the opposite direction or in the opposite direction along the X axis.
Further, the first transmission assembly includes:
the first positive and negative tooth screw rod is rotationally connected to the supporting frame and arranged along the X axis;
a first belt pulley fixed to an output shaft of the first drive motor;
the second belt wheel is fixed on the first positive and negative tooth screw rod;
a first belt connected to the first pulley and the second pulley;
the first left-handed nut is connected with the left-handed external thread part of the first positive and negative screw rod and is fixedly connected with one of the first adapter;
and the first right-handed nut is connected with the right-handed external thread part of the first positive and negative screw rod and is fixedly connected with the other first adapter.
Further, the Y-axis pitch change mechanism includes:
a second driving motor fixed to the support frame;
two second adapter seats are fixed at the center of the X-axis adapter guide rail in a one-to-one correspondence manner;
the second transmission assembly is respectively connected to the second driving motor and the two second adapter seats;
two second guide rails are arranged along the Y axis, each second guide rail is respectively connected with two second sliding blocks which are symmetrically arranged in a sliding mode, and the four second sliding blocks are arranged in a rectangular mode; each second guide rail is also fixedly connected with the two first sliding blocks;
the number of the third sliding blocks is four, each X-axis rotating guide rail is connected with two third sliding blocks in a sliding mode, and the four third sliding blocks are arranged in a rectangular mode; the first claw parts are fixedly connected to the third sliding blocks in a one-to-one correspondence manner; the third sliding blocks are also fixedly connected to the second sliding blocks in a one-to-one correspondence manner;
the second driving motor drives the second transmission assembly to drive the two second adapter seats to synchronously move in the opposite direction or in the opposite direction along the Y axis.
Further, each of the first claw portions further includes:
the first fixed seats are fixedly connected to the third sliding blocks in a one-to-one correspondence manner;
the first cylinder is fixed on the first fixed seat, and a piston rod is arranged along the Y axis;
the second fixed seat is movably connected to the first fixed seat along the Y axis and is fixed on the piston rod of the first air cylinder;
the guide shaft is fixed on the second fixed seat and arranged along the Z axis; the first hook claw is movably arranged on the guide shaft in a penetrating way along the Z axis;
and the spring is sleeved on the guide shaft, the top end of the spring is propped against the second fixing seat, and the bottom end of the spring is propped against the first hook claw.
Further, each of the second claw portions further includes:
the third fixing seat is fixed at the central position of the X-axis rotating guide rail;
the second air cylinder is fixed on the third fixing seat, and a piston rod is arranged along the Y axis;
the fourth fixed seat is movably connected to the third fixed seat along the Y axis and is fixed to the piston rod of the second air cylinder;
the third cylinder is fixed on the fourth fixed seat, and the piston rod faces downwards along the Z axis and is fixed on the second hook claw;
the fifth fixed seat is fixed on the third fixed seat;
the fourth cylinder is fixed on the fifth fixing seat, and a piston rod is arranged along the Y axis;
and the steel belt pressing piece is fixed on a piston rod of the fourth cylinder.
Further, the side-pushing mechanism includes:
the sixth fixed seat is fixed on one side of the supporting frame;
the fifth cylinder is fixed on the sixth fixing seat, and a piston rod is arranged downwards along the Z axis;
and the insulating push plate is fixed on a piston rod of the fifth cylinder and is vertically arranged along the Z axis.
Further, the visual part includes:
a vision bracket fixed to the support frame;
the industrial camera is fixed on the vision bracket, and the lens is arranged downwards along the Z axis;
and the light source is fixed on the visual support and arranged downwards along the Z axis.
Further, the detection device is a laser ranging sensor.
The invention has the advantages that:
(1) the invention has two groups of hooks: the first hook claw part and the second hook claw part play a double-insurance role when the battery module is grabbed, and the falling is avoided;
(2) the side pushing mechanism is arranged, so that the machine does not need to be stopped for waiting, and the abnormity can be automatically processed;
(3) the first hook claw and the second hook claw can float and can be compressed in the Z-axis direction, so that when a preset program is carried out, a certain distance can be adjusted downwards on the basis of a reference debugging position, and a battery module is ensured to be placed in place without hanging and falling into place due to errors.
[ description of the drawings ]
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a first perspective view of a jig for a prismatic battery module according to the present invention.
Fig. 2 is a second perspective view of the jig for a prismatic battery module according to the present invention.
Fig. 3 is a front view of a jig for a prismatic battery module according to the present invention.
Fig. 4 is a plan view of a jig for a prismatic battery module according to the present invention.
Fig. 5 is a left side view of a jig for a prismatic battery module according to the present invention.
Fig. 6 is a bottom view of a jig for a prismatic battery module according to the present invention.
Fig. 7 is a first perspective view of the side pushing mechanism of the present invention.
Fig. 8 is a second perspective view of the side pushing mechanism of the present invention.
FIG. 9 is a first perspective view of the first and second claw portions of the present invention.
FIG. 10 is a second perspective view of the first and second claw portions of the present invention.
FIG. 11 is a third perspective view of the first and second claw portions of the present invention.
FIG. 12 is an exploded view of the first and second claw portions of the present invention.
Fig. 13 is a front view of a clamping device for clamping a battery module according to the present invention.
Fig. 14 is a perspective view of the gripper battery module of the first claw part and the second claw part of the present invention.
Description of reference numerals:
a jig 100 for a square battery module;
a support frame 1;
the X-axis pitch-variable mechanism 2, a first driving motor 21, a first adapter 22, a first transmission assembly 23, a first positive and negative tooth screw rod 231, a first belt pulley 232, a second belt pulley 233, a first belt 234, a first left-handed nut 235, a first right-handed nut 236, a first guide rail 24 and a first slide block 25;
the Y-axis pitch-variable mechanism 3, a second driving motor 31, a second adapter 32, a second transmission assembly 33, a second guide rail 34, a second sliding block 35 and a third sliding block 36;
an X-axis rotating guide rail 4;
the first hook claw part 5, the first hook claw 51, the first fixed seat 52, the first air cylinder 53, the second fixed seat 54, the guide shaft 55 and the spring 56;
the steel belt pressing piece comprises a second claw hooking part 6, a second claw hooking part 61, a third fixed seat 62, a second air cylinder 63, a fourth fixed seat 64, a third air cylinder 65, a fifth fixed seat 66, a fourth air cylinder 67 and a steel belt pressing piece 68;
the side pushing mechanism 7, a sixth fixed seat 71, a fifth air cylinder 72 and an insulation push plate 73;
a vision part 8, a vision bracket 81, an industrial camera 82, a light source 83;
and a detection device 9.
The battery module 200, a steel belt 201, a diagonal bolt hole 202, a first positioning hole 203 and a second positioning hole 204.
[ detailed description ] embodiments
In the description of the present invention, it is to be understood that the description indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The general concept of the invention is as follows:
(1) full-automatic snatching, according to product automatically regulated and compatible different battery module product size, snatch stably, safely, reliably automatically.
(2) The claw that colludes of two sets of differences carries out the centre gripping to battery module, has increased the secondary protection, avoids causing the battery module risk that drops because of the quick travel in-process.
(3) When putting second battery module and follow-up battery module, pass first battery module or adjacent battery module with the side push mechanism and can be safe put into battery module, avoid causing the battery module and overlap the risk, the battery short circuit that arouses need not to shut down simultaneously and waits for the manual work to handle unusually, improves work efficiency.
(4) The first hook claw 51 and the second hook claw 61 can float and can be compressed in the Z-axis direction, so that when a preset program is carried out, a certain distance can be adjusted downwards on the basis of a reference debugging position, and a battery module is ensured to be placed in place without hanging and falling into place due to errors.
Word interpretation: the positive and negative thread screw rod is also called a left and right screw rod and a bidirectional ball screw rod.
Please refer to fig. 1 to 14.
A jig 100 for prismatic battery modules, comprising:
a support frame 1;
an X-axis pitch mechanism 2 connected to the support frame 1;
a Y-axis pitch-changing mechanism 3 connected to the X-axis pitch-changing mechanism 2; the distance between the first hook part 5 and the second hook part 6 is adjusted through the X-axis distance changing mechanism 2 and the Y-axis distance changing mechanism 3, and different sizes of battery module products are compatible.
Two X-axis transfer guide rails 4 are connected to the Y-axis pitch-variable mechanism 3 and are symmetrically arranged;
the number of the first claw parts 5 is four, the first claw parts comprise first claw parts 51 which float along a Z axis, the first claw parts 5 are movably connected to the X-axis transfer guide rails 4 along an X axis, each X-axis transfer guide rail 4 is correspondingly connected with two first claw parts 5, and the four first claw parts 5 are arranged in a rectangular shape;
two second claw parts 6 are provided, each second claw part comprises a second claw 61 floating along the Z axis, and the second claw parts 6 are correspondingly fixed at the central position of the X-axis transfer guide rail 4 one by one;
the side pushing mechanism 7 is fixed on one side of the supporting frame 1;
a visual part 8 fixed to the support frame 1 and arranged downward;
and a detection device 9 fixed to the support frame 1 and detecting a distance between the first claw portion 5 and the second claw portion 6 and the battery module 200.
Shooting the plane position of the battery module 200 or a preset placing position in the box body through the vision part 8, and detecting the distance between the first hook part 5 and the second hook part 6 and the battery module 200 through the detection device 9 to adjust the X \ Y \ Z three-axis coordinates of each hook;
the distance between the first claw part 5 and the second claw part 6 is adjusted through the X-axis distance-changing mechanism 2 and the Y-axis distance-changing mechanism 3 to match the size of the battery module, and the battery module 200 is clamped;
when the preset placing position in the box body does not meet the requirement, the adjacent battery modules 200 are pushed away through the side pushing mechanism 7, and the position is vacated.
The X-axis pitch change mechanism 2 includes:
a first drive motor 21 fixed to the support frame 1;
two first transfer seats 22;
the first transmission assembly 23 is respectively connected to the first driving motor 21 and the two first adapter 22;
three first guide rails 24 are fixed to the support frame 1 at intervals in parallel along the X axis, and each first guide rail 24 is connected with two first sliding blocks 25 which are symmetrically arranged in a sliding manner, and six first sliding blocks 25 are arranged in a rectangular manner;
the first driving motor 21 drives the first transmission assembly 23 to drive the two first adapter 22 to synchronously move in opposite directions or away from each other along the X axis.
The first transmission assembly 23 comprises:
a first front and rear teeth screw rod 231 rotatably connected to the support frame 1 and arranged along the X-axis;
a first pulley 232 fixed to an output shaft of the first drive motor 21;
a second belt wheel 233 fixed to the first front and rear teeth screw 231;
a first belt 234 connected to the first pulley 232 and the second pulley 233;
the first left-handed nut 235 is connected with the left-handed external thread part of the first positive and negative thread lead screw 231 and fixedly connected with one of the first adapter 22;
and a first right-handed nut 236 connected to the right-handed external thread of the first front and back teeth lead screw 231 and fixedly connected to the other first adapter 22.
The output shaft of the first driving motor 21 rotates, the first belt pulley 232 at the bottom end rotates, the second belt pulley 233 is driven to rotate through the first belt 234, and then the first positive and negative teeth screw rod 231 is driven to rotate, so that the first left-handed nut 235 and the first right-handed nut 236 are driven to synchronously move in the opposite direction or in the deviated direction, finally the two first adapter 22 are driven to synchronously move in the opposite direction or in the deviated direction, and then the X-axis distance of the two second guide rails 34 is adjusted to adapt to battery modules with different widths. Similarly, the second transmission assembly 33 may adopt a similar structure to adjust the Y-axis distance between the hook portions to adapt to battery modules with different lengths.
The Y-axis pitch change mechanism 3 includes:
a second driving motor 31 fixed to the support frame 1;
two second adapter seats 32 are fixed at the center of the X-axis adapter guide rail 4 in a one-to-one correspondence manner;
the second transmission assembly 33 is respectively connected to the second driving motor 31 and the two second adapters 32; in a specific embodiment, the second transmission assembly 33 may also be configured similarly to the first transmission assembly.
Two second guide rails 34 are arranged along the Y axis, each second guide rail 34 is connected with two second sliding blocks 35 which are symmetrically arranged in a sliding manner, and the four second sliding blocks 35 are arranged in a rectangular manner; each second guide rail 34 is also fixedly connected with two first sliding blocks 25; the second guide rails 34 are further fixedly connected to the first adapter 22 in a one-to-one correspondence manner;
four third sliding blocks 36 are provided, two third sliding blocks 36 are connected to each X-axis transfer guide rail 4 in a sliding manner, and the four third sliding blocks 36 are arranged in a rectangular shape; the first claw parts 5 are fixedly connected to the third sliding blocks 36 in a one-to-one correspondence manner; the third sliding blocks 36 are also fixedly connected to the second sliding blocks 35 in a one-to-one correspondence manner;
the second driving motor 31 drives the second transmission assembly 33 to drive the two second adapters 32 to synchronously move in opposite directions or away from each other along the Y axis.
Each of the first claw portions 5 further includes:
the first fixing seats 52 are fixedly connected to the third sliding blocks 36 in a one-to-one correspondence manner, and are used for driving the second sliding block 35 to move along the X axis and further driving the third sliding blocks 36 to move along the X axis when the second guide rail 34 moves along the X axis, so that the first fixing seats 52 are driven to move along the X axis, and the X-axis coordinate of the first fixing seats 52 is adjusted;
a first cylinder 53 fixed to the first fixing seat 52, and having a piston rod arranged along the Y axis;
a second fixed seat 54 movably connected to the first fixed seat 52 along the Y-axis and fixed to a piston rod of the first cylinder 53;
a guide shaft 55 fixed to the second fixing base 54 and arranged along the Z-axis; the first hook claw 51 is movably arranged on the guide shaft 55 along the Z axis in a penetrating manner;
the spring 56 is sleeved on the guide shaft 55, and the top end of the spring abuts against the second fixing seat 54 and the bottom end of the spring abuts against the first hook 51. The spring 56 allows the first hook 51 to float in the Z-axis direction, and can compress the stroke at a predetermined stroke to ensure that the battery module is placed in place, rather than dropped into place.
Each of the second claw portions 6 further includes:
a third fixing seat 62 fixed to a central position of the X-axis transfer rail 4;
the second air cylinder 63 is fixed on the third fixing seat 62, and a piston rod is arranged along the Y axis;
a fourth fixing seat 64 movably connected to the third fixing seat 62 along the Y axis and fixed to the piston rod of the second cylinder 63;
the third cylinder 65 is fixed to the fourth fixing seat 64, and a piston rod of the third cylinder faces downward along the Z axis and is fixed to the second hook claw 61; since the piston rod of the third cylinder 65 can be compressed when in use, the second claw 61 can float in the Z-axis direction, and the battery module is ensured to be placed in place.
A fifth fixing seat 66 fixed to the third fixing seat 62;
the fourth air cylinder 67 is fixed on the fifth fixing seat 66, and a piston rod is arranged along the Y axis;
and a steel belt pressing member 68 fixed to a piston rod of the fourth cylinder 67. At a preset position, the fourth cylinder 67 drives the steel belt pressing piece 68 to press the steel belt 201 of the battery module, so that the second hook claw 61 is prevented from being influenced by deformation of the steel belt 201 caused by an upstream production process to grab the battery module 200.
The side pushing mechanism 7 includes:
a sixth fixing seat 71 fixed to one side of the support frame 1;
the fifth air cylinder 72 is fixed on the sixth fixed seat 71, and a piston rod is arranged downwards along the Z axis;
and an insulation push plate 73 fixed to a piston rod of the fifth cylinder 72 and vertically arranged along the Z-axis. For example, in a specific embodiment, the insulating push plate 73 is made of polyurethane, and is insulating, and at the same time, because the material is soft and has a certain buffering effect, hard contact with the battery module 200 is avoided.
The insulation push plate 73 is driven by the fifth air cylinder 72 to adjust the Z-axis coordinate of the insulation push plate 73.
The visual portion 8 includes:
a vision bracket 81 fixed to the support frame 1;
an industrial camera 82 fixed to the vision bracket 81 and having a lens arranged downward along a Z-axis; the industrial camera 82 is used to photograph X, Y the position coordinates in the axial direction.
And the light source 83 is fixed on the visual support 81 and is arranged downwards along the Z axis.
The detection device 9 is a laser ranging sensor. The detection device 9 is used for detecting the position coordinates in the Z-axis direction.
The specific use mode is as follows:
the support frame 1 is fixed to a robot, and the robot drives the fixture 100 to move.
The robot, the first air cylinder 53, the second air cylinder 63, the third air cylinder 65, the fourth air cylinder 67, the fifth air cylinder 72, the first driving motor 21, the second driving motor 31, the industrial camera 82, the light source 83 and the detection device 9 are respectively connected to the PLC and are controlled by the PLC in a unified mode.
The operation program is preset.
When the device works, the PLC controls the robot to drive the clamp 100 to translate to the position above the battery module 200 to be boxed;
secondly, the PLC controls the industrial camera 82 to take a picture, the position of the diagonal bolt hole 202 of the battery module 200 is detected, and other parts on the battery module 200 can be set as reference positions in other embodiments so as to determine the position of the battery module X, Y in the axial direction;
thirdly, the PLC controls the detection device 9 to detect the height distance of the first hook 51 from the battery module 200;
fourthly, the PLC controls the industrial camera 82 to scan codes on the battery module 200, reads product information of the battery module 200, and identifies the distance between the first positioning holes 203 and the distance between the second positioning holes 204 preset in the battery module 200; if the battery module 200 does not have the bar code, the space information of the battery module 200 can be preset, and the step is omitted;
the PLC controls the first driving motor 21 and the second driving motor 31 to work according to the information of the product, automatically adjusts the distance between the first hook claws 51 and the distance between the second hook claws 61, and automatically changes the clamping size of the battery module 200 required by distance change;
sixthly, the PLC controls the robot to drive the whole clamp 100 to descend, the clamp stops at a position above the set battery module 200 to be used as coarse positioning, and the first hook claw 51 is opposite to the first positioning hole 203;
then the PLC controls a piston rod of the fourth cylinder 67 to extend out, and drives the steel belt pressing piece 68 to press the steel belt 201 of the battery module;
then the PLC controls a piston rod of the third air cylinder 65 to extend downwards, so that the second hook claw 61 is opposite to the second positioning hole 204; then, the piston rod of the second cylinder 63 is controlled to retract to drive the second hook claw 61 to move oppositely to hook the second positioning hole 204, and after the second positioning hole is in place, the PLC control robot drives the fixture 100 to lift, so that the battery module 200 is lifted to a preset height, such as a position of 20mm, and the battery module 200 is kept horizontal;
then the PLC controls a piston rod of the first air cylinder 53 to extend out, so that the first hook claw 51 is driven to hook into a first positioning hole 203 of the battery module 200, and the battery module is stably held by the six hook claws to ensure the safety of the battery;
and (seventh) the PLC controls the robot to continuously lift the battery module, then the robot is translated to the position above the placement position of the box body, then the industrial camera 82 is controlled to photograph to detect whether foreign matters exist at the preset placement position, and whether the size gap below the distance measurement of the detection device 9 is enough to place the battery module 200, if one battery module 200 is in the box body and has generated deviation, the second module is not placed in enough space, then the PLC controls the piston rod of the fifth cylinder 72 to extend downwards, the insulating push plate 73 is driven to descend, the post-control robot drives the clamp 100 to move, the first battery module 200 is pushed to the specified position by the push plate to lift and return, the piston rod of the fifth cylinder 72 is controlled to reset and return, the industrial camera 82 is controlled to photograph for re-judgment, and the second module can be safely placed in the box body.
The PLC controls a piston rod of the second air cylinder 63 to extend out to drive the second hook claw 61 to move away, the second hook claw exits the second positioning hole 204, and the battery module 200 is loosened firstly;
then, the piston rod of the first cylinder 53 is controlled to retract, the first hook claw 51 is driven to exit the first positioning hole 203, the battery module 200 is also loosened, and the battery module 200 can be placed in place;
and (ninthly) finally, the PLC controls the robot to drive the clamp 100 to ascend, and finally drives the clamp 100 and all mechanisms on the clamp 100 to return to the initial position.
The PLC controls the robot to return to the original position with the jig 100, and the subsequent grasping operation is repeated.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (9)
1. The utility model provides a square battery module's anchor clamps which characterized in that: the method comprises the following steps:
a support frame;
an X-axis pitch varying mechanism connected to the support frame;
the Y-axis pitch varying mechanism is connected to the X-axis pitch varying mechanism;
two X-axis rotating guide rails are connected to the Y-axis pitch-variable mechanism and are symmetrically arranged;
the X-axis rotating guide rail is movably connected with the X-axis rotating guide rail along the X axis, each X-axis rotating guide rail is correspondingly connected with two first hook parts, and the four first hook parts are arranged in a rectangular shape;
the two second claw parts comprise second claws floating along the Z axis, and the second claw parts are correspondingly fixed at the central position of the X-axis transfer guide rail one by one;
the side pushing mechanism is fixed on one side of the supporting frame;
a vision part fixed to the support frame and disposed downward;
and the detection device is fixed on the supporting frame and used for detecting the distance between the first claw part and the second claw part and the battery module.
2. The jig for a prismatic battery module according to claim 1, wherein: the X-axis pitch change mechanism includes:
a first driving motor fixed to the support frame;
two first transfer seats are provided;
the first transmission assembly is respectively connected with the first driving motor and the two first switching seats;
three first guide rails are fixed to the support frame at intervals in parallel along the X axis, each first guide rail is connected with two first sliding blocks which are symmetrically arranged in a sliding mode, and the six first sliding blocks are arranged in a rectangular mode;
the first driving motor drives the first transmission assembly to drive the two first transfer seats to synchronously move in the opposite direction or in the opposite direction along the X axis.
3. The jig for a prismatic battery module according to claim 2, wherein: the first transmission assembly includes:
the first positive and negative tooth screw rod is rotationally connected to the supporting frame and arranged along the X axis;
a first belt pulley fixed to an output shaft of the first drive motor;
the second belt wheel is fixed on the first positive and negative tooth screw rod;
a first belt connected to the first pulley and the second pulley;
the first left-handed nut is connected with the left-handed external thread part of the first positive and negative screw rod and is fixedly connected with one of the first adapter;
and the first right-handed nut is connected with the right-handed external thread part of the first positive and negative screw rod and is fixedly connected with the other first adapter.
4. The jig for a prismatic battery module according to claim 2, wherein: the Y-axis pitch change mechanism includes:
a second driving motor fixed to the support frame;
two second adapter seats are fixed at the center of the X-axis adapter guide rail in a one-to-one correspondence manner;
the second transmission assembly is respectively connected to the second driving motor and the two second adapter seats;
two second guide rails are arranged along the Y axis, each second guide rail is respectively connected with two second sliding blocks which are symmetrically arranged in a sliding mode, and the four second sliding blocks are arranged in a rectangular mode; each second guide rail is also fixedly connected with the two first sliding blocks; the second guide rails are further fixedly connected to the first switching seats in a one-to-one correspondence manner;
the number of the third sliding blocks is four, each X-axis rotating guide rail is connected with two third sliding blocks in a sliding mode, and the four third sliding blocks are arranged in a rectangular mode; the first claw parts are fixedly connected to the third sliding blocks in a one-to-one correspondence manner; the third sliding blocks are also fixedly connected to the second sliding blocks in a one-to-one correspondence manner;
the second driving motor drives the second transmission assembly to drive the two second adapter seats to synchronously move in the opposite direction or in the opposite direction along the Y axis.
5. The jig for a prismatic battery module according to claim 4, wherein: each of the first claw portions further includes:
the first fixed seats are fixedly connected to the third sliding blocks in a one-to-one correspondence manner;
the first cylinder is fixed on the first fixed seat, and a piston rod is arranged along the Y axis;
the second fixed seat is movably connected to the first fixed seat along the Y axis and is fixed on the piston rod of the first air cylinder;
the guide shaft is fixed on the second fixed seat and arranged along the Z axis; the first hook claw is movably arranged on the guide shaft in a penetrating way along the Z axis;
and the spring is sleeved on the guide shaft, the top end of the spring is propped against the second fixing seat, and the bottom end of the spring is propped against the first hook claw.
6. The jig for a prismatic battery module according to claim 1, wherein: each of the second claw portions further includes:
the third fixing seat is fixed at the central position of the X-axis rotating guide rail;
the second air cylinder is fixed on the third fixing seat, and a piston rod is arranged along the Y axis;
the fourth fixed seat is movably connected to the third fixed seat along the Y axis and is fixed to the piston rod of the second air cylinder;
the third cylinder is fixed on the fourth fixed seat, and the piston rod faces downwards along the Z axis and is fixed on the second hook claw;
the fifth fixed seat is fixed on the third fixed seat;
the fourth cylinder is fixed on the fifth fixing seat, and a piston rod is arranged along the Y axis;
and the steel belt pressing piece is fixed on a piston rod of the fourth cylinder.
7. The jig for a prismatic battery module according to claim 1, wherein: the side pushes away the mechanism and includes:
the sixth fixed seat is fixed on one side of the supporting frame;
the fifth cylinder is fixed on the sixth fixing seat, and a piston rod is arranged downwards along the Z axis;
and the insulating push plate is fixed on a piston rod of the fifth cylinder and is vertically arranged along the Z axis.
8. The jig for a prismatic battery module according to claim 1, wherein: the visual portion includes:
a vision bracket fixed to the support frame;
the industrial camera is fixed on the vision bracket, and the lens is arranged downwards along the Z axis;
and the light source is fixed on the visual support and arranged downwards along the Z axis.
9. The jig for a prismatic battery module according to claim 1, wherein: the detection device is a laser ranging sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111339244.9A CN114161461A (en) | 2021-11-12 | 2021-11-12 | Clamp for square battery module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111339244.9A CN114161461A (en) | 2021-11-12 | 2021-11-12 | Clamp for square battery module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114161461A true CN114161461A (en) | 2022-03-11 |
Family
ID=80479214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111339244.9A Pending CN114161461A (en) | 2021-11-12 | 2021-11-12 | Clamp for square battery module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114161461A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115676370A (en) * | 2022-12-30 | 2023-02-03 | 江苏烽禾升智能科技有限公司 | Variable-pitch grabbing mechanism of battery module |
| CN116079770A (en) * | 2022-11-25 | 2023-05-09 | 宁德思客琦智能装备有限公司 | Novel module in-box gripper implementation method |
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| CN112589403A (en) * | 2020-12-02 | 2021-04-02 | 福建星云电子股份有限公司 | Device and method for preventing two objects from shifting in carrying process |
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| CN216505217U (en) * | 2021-11-12 | 2022-05-13 | 福建星云电子股份有限公司 | Clamp for square battery module |
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| KR20020045712A (en) * | 2000-12-11 | 2002-06-20 | 이계안 | Clamping apparatus for inserting battery of vehicles |
| CN209125835U (en) * | 2018-09-21 | 2019-07-19 | 昆山捷云智能装备有限公司 | Flexibility positioning clamping jaw, flexible composition robot and battery modules flexible composition line |
| CN210148128U (en) * | 2019-04-26 | 2020-03-17 | 浙江博拉自动化科技有限公司 | Novel flexible clamping jaw floats |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116079770A (en) * | 2022-11-25 | 2023-05-09 | 宁德思客琦智能装备有限公司 | Novel module in-box gripper implementation method |
| CN115676370A (en) * | 2022-12-30 | 2023-02-03 | 江苏烽禾升智能科技有限公司 | Variable-pitch grabbing mechanism of battery module |
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