CN115806181A - Stacking module carrying gripper - Google Patents
Stacking module carrying gripper Download PDFInfo
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- CN115806181A CN115806181A CN202211552605.2A CN202211552605A CN115806181A CN 115806181 A CN115806181 A CN 115806181A CN 202211552605 A CN202211552605 A CN 202211552605A CN 115806181 A CN115806181 A CN 115806181A
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- 230000007246 mechanism Effects 0.000 claims abstract description 102
- 238000009413 insulation Methods 0.000 claims description 44
- 230000001939 inductive effect Effects 0.000 claims description 29
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000010009 beating Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 239000002184 metal Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 230000009977 dual effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- 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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Abstract
The invention relates to a stacked module carrying gripper, which relates to the technical field of module carrying and comprises a base plate, a double-row clamping mechanism for clamping a double-row battery cell module, a first clamping mechanism for clamping the front side of the double-row battery cell module, and a second clamping mechanism matched with the first clamping mechanism to clamp the rear side of the double-row battery cell module, wherein the first clamping mechanism is fixed on the upper surface of the base plate, the double-row clamping mechanism is respectively and movably arranged on the left side and the right side of the lower surface of the base plate through first sliding rails, and the second clamping mechanism is arranged between a connecting mechanism and the clamping mechanism and slides on the left side and the right side of the upper surface of the base plate through second sliding rails. According to the invention, each row of battery cell modules in the double-row battery cell modules can be simultaneously grabbed, and the capacity of a production line is improved.
Description
Technical Field
The invention relates to the technical field of module conveying, in particular to a stacked module conveying gripper.
Background
The existing module form is generally a single-row battery cell module, if the existing single-row battery cell module gripper is used in a double-row module production line, two grabbing actions are needed to be carried out, and the productivity is influenced, for example, in Chinese patent with the application number of CN202022221875.8, the publication number of CN213445049U, and the patent name of 'a battery cell module up-and-down line clamp and a robot battery cell module up-and-down line clamp', a battery cell module protection assembly, a battery cell module clamping assembly and a camera assembly are disclosed; the rotatable connection of tight piece that expands that the electricity core module presss from both sides tightly is in the locating pin, is equipped with the chute on the connecting rod, and the tongs anchor clamps that the connecting rod is connected through the first connecting piece of installing in the chute and the top of tight piece that expands, and this tongs anchor clamps can guarantee the stability of electricity core module course of working, avoids dropping of electricity core module simultaneously, but still exists and can't once accomplish in the face of current double module production line and snatch, need snatch twice problem.
Disclosure of Invention
The invention aims to provide a stacked module carrying gripper which can solve the problem that single-time finished gripping cannot be carried out in a double-row module production line.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a pile up module transport tongs, includes the base board, carries out double armful clamp mechanism that presss from both sides, presss from both sides the first clamping mechanism of double electric core module front side, with the cooperation of first clamping mechanism goes to press from both sides the second clamping mechanism who presss from both sides double electric core module rear side, first clamping mechanism fixes the upper surface of base board, double armful clamp mechanism is in through the first slide rail activity setting respectively the left and right sides of the lower surface of base board, second clamping mechanism sets up coupling mechanism with clamping mechanism is between, and is in through the second slide rail the left and right sides of the upper surface of base board slides.
Further, double armful clamp mechanism includes that first armful presss from both sides the subassembly, the second is embraced and is pressed from both sides the subassembly, first armful presss from both sides the subassembly through first slide rail is fixed the left side of the lower surface of base board, the second is embraced and is pressed from both sides the subassembly and pass through first slide rail is fixed the right side of the lower surface of base board, first armful presss from both sides the subassembly and the second is embraced and is pressed from both sides the subassembly and all include left side insulation board, right side insulation board, control the left side insulation board with the right side insulation board carries out the power component of embracing the clamp to the electric core module, the left side insulation board with the opposition of right side insulation board position sets up, the left side insulation board with the upper surface of right side insulation board is fixed with the insulating of can holding in the electric core module and prevents the electric inductance board, the inboard surface of right side insulation board is fixed with the first formula that can detect the electric core module and is close the sensor whether the right side, the power component is fixed to be set up in the middle of insulation board the left side with the insulation board right side.
Furthermore, a second inductive proximity sensor and a third inductive proximity sensor are fixed on the lower surface of the base plate, the second inductive proximity sensor is located in front of the position where the left insulating plate and the right insulating plate are in the open state, and the third inductive proximity sensor is located in front of the position where the left insulating plate and the right insulating plate are in the clamping state.
Furthermore, the first rail is fixed through the lock and attaches the bolt respectively the left side insulation board with the upper surface of right side insulation board, the left side insulation board with the internal surface of right side insulation board is located the side of lock and attaches the bolt is fixed with L type panel beating, the one end of L type panel beating extends to the below of lock and attaches the bolt.
Further, power component includes first slim locking cylinder, the slim locking cylinder of second, connecting plate, the connecting plate is fixed the lower surface of base board, and be located the left side insulation board with the centre of right side insulation board, the left side rear end of the latter half of connecting plate is fixed with first L template, the right side front end of the latter half of connecting plate is fixed with second L template, first slim locking cylinder is fixed on the internal surface of right side insulation board, the output of first slim locking cylinder is connected with the second telescopic link, the second telescopic link is kept away from the one end of first slim locking cylinder with the right side fixed surface of first L template is connected, the slim locking cylinder of second is fixed on the internal surface of left side insulation board, the output of the slim locking cylinder of second is connected with the third telescopic link, the third telescopic link is kept away from the one end of the slim locking cylinder of second with the left side fixed surface of second L template is connected.
Furthermore, the first clamping mechanism comprises a ball screw, a reference plate, a servo motor and a fixing piece which is shaped like a Chinese character 'ji' and drives the second clamping mechanism to move, the servo motor is fixed at the rear end of the upper surface of the base plate, the output end of the servo motor is connected with a coupler, the ball screw is connected with one end, away from the servo motor, of the coupler, one end, away from the coupler, of the ball screw is fixed at the front side of the upper surface of the base plate, the reference plate is fixed at the left side and the right side of the front end of the lower surface of the base plate, a shaft sleeve is sleeved on the ball screw, the shaft sleeve moves back and forth along with the rotation of the ball screw, and the fixing piece shaped like a Chinese character 'ji' is fixed on the upper surface of the shaft sleeve.
Further, the both sides of base board rear end with the relative place in benchmark board position has seted up rectangular shape opening, rectangular shape opening is located servo motor's the left and right sides, second clamping mechanism includes slim cylinder, first fly leaf, second fly leaf, expansion end splint, normally closed type clamp, first fly leaf is located rectangular shape open-ended top, the lower fixed surface of first fly leaf has second track groove, second track groove passes through the second slide rail is in slide on the base board, slim cylinder passes through the nut support to be fixed the upper surface of first fly leaf, the output of slim cylinder is connected with first telescopic link, first telescopic link is far high the one end of slim cylinder is passed through the fixing base and is fixed second fly leaf upper surface, the lower fixed surface of second fly leaf has third track groove, third track groove passes through the second slide rail is in slide on the base board, the expansion end splint is fixed on the lower surface of first fly leaf rear end to be located in the rectangular shape opening, normally closed type clamp is fixed on the second fly leaf and be located the several types of rear end fixing part of second fly leaf and the two sides of the rectangular shape opening is connected with the second fly leaf.
Furthermore, a fourth inductive proximity sensor capable of detecting that the second clamping mechanism is in an open state is fixed on the upper surface of the rear end of the first movable plate, and a fifth inductive proximity sensor capable of detecting that the second clamping mechanism is in a clamping state is fixed at the middle position of the front end of the second movable plate.
Further, coupling mechanism includes left branch strut, right branch strut, frame plate, the valve terminal of the control of integrated signal input and output and signal, module hoist mounting flange dish, tow chain, left branch strut fixes the left side of base board upper surface, right branch strut fixes the right side of base board upper surface, the frame plate is fixed left branch strut with the upper end of right branch strut, module hoist mounting flange dish is fixed the intermediate position of frame plate, the valve terminal is fixed on the frame plate, and be located on the right side of module hoist mounting flange dish, the one end of tow chain is fixed the front side of frame plate, the other end of tow chain is fixed on the front surface of nut support.
The invention has the beneficial effects that: this module transport tongs can realize through setting up double armful clamp mechanism that every row of electric core module in the double electric core module snatchs simultaneously, first clamping mechanism and second clamping mechanism can press from both sides tightly to the front and back side of electric core module and prevent that electric core module from taking place to drop, not only can carry out twice in the double module production line and snatch the action in using current single module electricity core tongs relatively, promoted the productivity, can also snatch and the in-process of transporting, prevent dropping of electric core module. In the aspect of locking the module gripper and the first rail, a side-mounted L-shaped metal plate mode is adopted to prevent falling of an inverted locking bolt in the conveying process; the clamp is arranged on the slide rail to prevent the side slip in the process of grabbing and placing; the locking cylinder with self-locking is selected for use on the holding and clamping mechanism, the dropping of a gas-off product can be effectively prevented, and meanwhile, the left side and the right side of the gripper mechanism are respectively provided with a proximity sensor to sense materials so as to judge whether the materials are grabbed in place or not.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a schematic view of a partial structure of a dual-row clasping mechanism of the present invention;
FIG. 6 is a front view of a dual row clasping mechanism in accordance with the present invention;
FIG. 7 is a left side view of the dual row clasping mechanism of the present invention;
FIG. 8 is a top view of the dual row clasping mechanism of the present invention;
FIG. 9 is a schematic structural view of a first clamping mechanism in the present invention;
FIG. 10 is a front view of a first clamping mechanism in the present invention;
FIG. 11 is a left side view of a first clamping mechanism in the present invention;
FIG. 12 is a top view of a first clamping mechanism in accordance with the present invention;
FIG. 13 is a schematic structural view of a second clamping mechanism in accordance with the present invention;
fig. 14 is a schematic structural view of a connection mechanism in the present invention.
Wherein: 1. a base plate, 2, a double-row holding and clamping mechanism, 3, a first clamping mechanism, 4, a second clamping mechanism, 5, a connecting mechanism, 6, a first slide rail, 7, a left side insulating plate, 8, a right side insulating plate, 9, a first track groove, 10, an insulation falling-preventing plate, 11, a first inductive proximity sensor, 12, a locking bolt, 13, an L-shaped metal plate, 14, a first thin locking cylinder, 15, a second thin locking cylinder, 16, a connecting plate, 17, a first L-shaped plate, 18, a coupler, 19, a ball screw, 20, a reference plate, 21, a servo motor, 22, a n-shaped fixing piece, 23 and a shaft sleeve, 24, an elongated opening, 25, a thin cylinder, 26, a first movable plate, 27, a movable end clamping plate, 28, a normally closed clamp, 29, a second track groove, 30, a second slide rail, 31, a fourth inductive proximity sensor, 32, a fifth inductive proximity sensor, 33, a left support frame, 34, a right support frame, 35, a frame plate, 36, a valve island, 37, a module hanger mounting flange plate, 38, a tow chain, 39, a second inductive proximity sensor, 40, a third inductive proximity sensor, 41, a nut support, 42, a second movable plate, 43, a third track groove, 44 and a second L-shaped plate.
Detailed Description
The invention is further described below with reference to the accompanying drawings. For a better understanding, the invention has been described with reference to the orientation shown in the drawings and is not to be construed as being limited thereto; the following terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
With continued reference to fig. 1-4, the present invention provides an embodiment: the utility model provides a pile up module transport tongs, includes base board 1, with double electric core module embrace double embrace press from both sides mechanism 2, press from both sides the first clamping mechanism 3 of double electric core module front side, with the cooperation of first clamping mechanism 3 goes to press from both sides the second clamping mechanism 4 of double electric core module rear side, first clamping mechanism 3 is fixed base board 1's upper surface, double embrace press from both sides mechanism 2 and move about respectively through first slide rail 6 and set up the left and right sides of base board 1's lower surface, second clamping mechanism 4 sets up coupling mechanism 5 with clamping mechanism is between to be in through second slide rail 30 the left and right sides of base board 1's upper surface slides. As shown in fig. 1 and 2, the base plate 1 mainly plays a role in fixing and bearing parts in the present invention, the double-row clamping mechanism 2 can simultaneously grab each row of battery cell modules in the double-row battery cell modules, and the first clamping mechanism 3 and the second clamping mechanism 4 can clamp the front side and the rear side of the battery cell modules to prevent the battery cell modules from falling from the front side and the rear side, so that the productivity is improved compared with the case that the existing single-row module battery cell gripper is used for grabbing twice in a double-module production line, and the battery cell modules can be prevented from falling in the grabbing and transferring processes.
As shown in fig. 1 to 8, the double-row clasping mechanism 2 includes a first clasping component and a second clasping component, the first clasping component is fixed on the left side of the lower surface of the base plate 1 through a first slide rail 6, the second clasping component is fixed on the right side of the lower surface of the base plate 1 through the first slide rail 6, the first clasping component and the second clasping component respectively include a left insulating plate 7, a right insulating plate 8, and a power component for controlling the left insulating plate 7 and the right insulating plate 8 to clasp the cell module, the left insulating plate 7 and the right insulating plate 8 are oppositely disposed, a plurality of first track grooves 9 are respectively fixed on the upper surfaces of the left insulating plate 7 and the right insulating plate 8, the first track grooves 9 slide on the lower surface of the base plate 1 through the first slide rail 6, the left insulating plate 7 and the right insulating plate 8 are fixed on the inner surfaces of the ends of the left insulating plate 7 and the right insulating plate 8, which are far away from the base plate 1, a left insulating plate 10 capable of supporting the cell module is fixed on the right insulating plate, the right surface of the right insulating plate 8 is fixed with a left insulating plate 10 capable of preventing the insulating plate, and a left insulating plate 8 is fixed on the inner side insulating plate, and a left side insulating plate 11 capable of detecting whether the middle insulating plate is fixed on the middle insulating plate capable of detecting sensor component, and a right side sensor is fixed on the left side of the insulating plate 11. As shown in fig. 1, the first clamp component of embracing can snatch the electric core module that is located the left side, and the second is embraced the clamp component and can snatch the electric core module that is located the right side, as shown in fig. 5, the first clamp component of embracing and the second is the same subassembly and is set up through first slide rail 6 respectively the left and right sides of the lower surface of base board 1, wherein left side insulation board 7 and right side insulation board 8 can press from both sides the left and right sides of every row of electric core module in the double-row electric core module, whether first inductance type proximity sensor 11 can just grab the electric core module, whether the position of grabbing is correct, wherein rely on power component to control left side insulation board 7 and right side insulation board 8 to slide along first slide rail 6 and open or press from both sides tightly.
Referring to fig. 1 to 8, in an embodiment of the present invention, a second inductive proximity sensor 39 and a third inductive proximity sensor 40 are fixed on a lower surface of the base plate 1, the second inductive proximity sensor 39 is located in front of a position where the left insulating plate 7 and the right insulating plate 8 are in an open state, and the third inductive proximity sensor 40 is located in front of a position where the left insulating plate 7 and the right insulating plate 8 are in a clamped state. As shown in fig. 3, the second inductive proximity sensor 39 and the third inductive proximity sensor 40 are located in front of the left insulating plate 7 and the right insulating plate 8 to detect whether the open state and the clamped state are in place.
Referring to fig. 1 to 5, in an embodiment of the present invention, the first rail is fixed on the upper surfaces of the left insulating plate 7 and the right insulating plate 8 through a locking bolt 12, an L-shaped metal plate 13 is fixed on the inner surfaces of the left insulating plate 7 and the right insulating plate 8 and located on the side of the locking bolt 12, and one end of the L-shaped metal plate 13 extends to the first slide rail 6 below the locking bolt 12. As shown in fig. 5, because the first rail is located below the first slide rail 6 and slides on the first slide rail 6, the first rail is fixed to the left insulating plate 7 and the right insulating plate 8 in an inverted manner, and the locking bolt 12 is fixed to the first rail through the lower surfaces of the upper ends of the left insulating plate 7 and the right insulating plate 8, the inverted locking bolt 12 has a problem that the locking bolt 12 falls off due to vibration of the operation of the device, and one end of the L-shaped metal plate 13 extends below the locking bolt 12 to prevent the locking bolt 12 from falling off.
Referring to fig. 1 to 8, in an embodiment of the present invention, the power assembly includes a first thin locking cylinder 14, a second thin locking cylinder 15, and a connecting plate 16, the connecting plate 16 is fixed on the lower surface of the base plate 1 and is located between the left insulating plate 7 and the right insulating plate 8, a first L-shaped plate 17 is fixed on the rear left side of the lower half portion of the connecting plate 16, a second L-shaped plate 44 is fixed on the front right side of the lower half portion of the connecting plate 16, the first thin locking cylinder 14 is fixed on the inner surface of the right insulating plate 8, an output end of the first thin locking cylinder 14 is connected to a second telescopic rod, an end of the second telescopic rod away from the first thin locking cylinder 14 is fixedly connected to the right surface of the first L-shaped plate 17, the second thin locking cylinder 15 is fixed on the inner surface of the left insulating plate 7, an output end of the second locking cylinder 15 is connected to a third telescopic rod, and an end of the third telescopic rod away from the second thin locking cylinder 15 is fixedly connected to the left surface of the second L-shaped plate 44. As shown in fig. 5 and 7, the connection plate 16 is fixed on the lower surface of the base plate 1 and located between the left insulating plate 7 and the right insulating plate 8, so that the position of the connection plate 16 is fixed, and the clamping state of the left insulating plate 7 and the right insulating plate 8 is not affected, wherein the first L-shaped plate 17 and the second L-shaped plate 44 are fixed on the left and right sides of the connection plate 16 in a mutually staggered manner, which does not affect the fixing of the first thin lock cylinder 14 and the second thin lock cylinder 15 on the right insulating plate 8 and the left insulating plate 7, and at the same time, the opening and clamping of the right insulating plate 8 and the left insulating plate 7 can be well controlled.
Referring to fig. 1 to 12, in an embodiment of the present invention, the first clamping mechanism 3 includes a ball screw 19, a reference plate 20, a servo motor 21, and a fixing member 22 shaped like a Chinese character 'ji' for driving the second clamping mechanism 4 to move, as shown in fig. 9, the servo motor 21 is fixed at a rear end of an upper surface of the base plate 1, an output end of the servo motor 21 is connected to a coupler 18, the ball screw 19 is connected to an end of the coupler 18 away from the servo motor 21, an end of the ball screw 19 away from the coupler 18 is fixed at a front side of the upper surface of the base plate 1, the reference plate 20 is fixed at left and right sides of a front end of the lower surface of the base plate 1, a sleeve 23 is sleeved on the ball screw 19, the sleeve 23 moves back and forth along with rotation of the ball screw 19, and the fixing member 22 shaped like a Chinese character 'ji' is fixed on an upper surface of the sleeve 23. The first clamping mechanism 3 can be matched with the first clamping mechanism 3 to clamp the front side and the rear side of the double-row battery cell module, the servo motor 21 operates to drive the ball screw 19 connected with the coupler 18 to rotate, the shaft sleeve 23 sleeved on the ball screw 19 can also move along with the rotation of the ball screw 19, the second clamping mechanism 4 can be driven to move forwards and backwards through different rotating directions of the ball screw 19, and the second clamping mechanism and the reference plate 20 can fix the battery cell module forwards and backwards.
Referring to fig. 1 to 13, in an embodiment of the present invention, elongated openings 24 are formed at positions opposite to the reference plate 20 on both sides of the rear end of the base plate 1, the elongated openings 24 are located on both sides of the servo motor 21, the second clamping mechanism 4 includes a thin cylinder 25, a first movable plate 26, a second movable plate 42, a movable end clamp 27, and a normally closed clamp 28, the first movable plate 26 is located above the elongated openings 24, a second rail groove 29 is fixed to a lower surface of the first movable plate 26, the second rail groove 29 slides on the base plate 1 through the second slide rail 30, the thin cylinder 25 is fixed to an upper surface of the first movable plate 26 through a nut support 41, an output end of the thin cylinder 25 is connected to a first telescopic rod, an end of the first telescopic rod, which is far away from the thin cylinder 25, is fixed to an upper surface of the second movable plate 42 through a fixing seat, a third rail groove 43 is fixed to a lower surface of the second movable plate 42, the third rail groove 43 is fixed to the second movable plate 26 through the second movable plate 30, and the rear clamp 28 is located on both sides of the elongated openings 24, and the second movable plate 26 is fixed to the rear clamp 28. First clamping mechanism 3 can drive second clamping mechanism 4 and open or be close to the electric core module and press from both sides tightly, normally be close to the electric core module when pressing from both sides tightly, the effect of normal closed type clamp 28 prevents that second clamping mechanism 4 from taking place to sideslip at the in-process of snatching, when snatching length at the tongs when not enough, cancels the effect of normal closed type clamp 28, and slim cylinder 25 operates and drives the fly leaf and move on second slide rail 30 to change expansion end splint 27 and carry out the displacement at the in-process of snatching.
Referring to fig. 1 to 13, in an embodiment of the invention, as shown in fig. 13, a fourth inductive proximity sensor 31 capable of detecting that the second clamping mechanism 4 is in the open state is fixed on an upper surface of a rear end of the first movable plate 26, and a fifth inductive proximity sensor 32 capable of detecting that the second clamping mechanism 4 is in the clamping state is fixed on a middle position of a front end of the second movable plate 42. The fourth inductive proximity sensor 31 and the fifth inductive proximity sensor 32 can sense whether the open or clamped state of the second clamping mechanism 4 is in place.
With continued reference to fig. 1 to 14, in an embodiment of the present invention, the connecting mechanism 5 includes a left support frame 33, a right support frame 34, a frame plate 35, a valve island 36 for controlling integrated signal input and output and signal control, a module hanger mounting flange 37, and a tow chain 38, as shown in fig. 14, the left support frame 33 is fixed on the left side of the upper surface of the base plate 1, the right support frame 34 is fixed on the right side of the upper surface of the base plate 1, the frame plate 35 is fixed on the upper ends of the left support frame 33 and the right support frame 34, the module hanger mounting flange 37 is fixed at a middle position of the frame plate 35, the valve island 36 is fixed on the frame plate 35 and is located on the right side of the module hanger mounting flange 37, one end of the tow chain 38 is fixed on the front side of the frame plate 35, and the other end of the tow chain 38 is fixed on the front surface of the nut support 41. The connecting mechanism 5 is mainly used for connecting the gripper and the robot and realizing the integration of signals and circuits on the gripper. The valve island 36 is used for integrating signal input/output and signal control, and realizes unified control on the whole gripper signal; the mounting flange of the module lifting appliance is used for connecting the hand grip and the robot to realize the connection of the whole hand grip; the function of the drag chain 38 is to route wires, collecting all the wires in the hand grip inside the drag chain 38, and connecting to the outside. The module spreader mounting flange 37 and valve island 36 are both attached to the frame plate 35 and the tow chain 38 is attached at one end to the frame plate 35 by a robot and at the other end to the nut support 41.
The invention has the following working principle: the robot is connected with the gripper through a module lifting appliance mounting flange plate in the connecting mechanism and carries the gripper to reach an appointed position, the gripper reaches the position above the stacking table, a first thin locking cylinder and a second thin locking cylinder move outwards, the clamping mechanism is controlled to be opened under the matching of a first sliding rail, a movable end clamping plate is controlled to move outwards by a thin cylinder in a second clamping mechanism, whether the thin cylinders are in place or not is judged through a fourth inductive proximity sensor, then the robot drives the gripper to move downwards, a reference plate of the first clamping mechanism is abutted against the end face of the module, then the first thin locking cylinder and the second thin locking cylinder move inwards, the side face of the module is clamped through a side insulating plate, the movable end clamping plate is controlled to move inwards again through the thin cylinder, the module is completely clamped, whether the gripper is in place is judged through the detection of the fourth inductive proximity sensor in the clamping process, finally the robot carries the module, an insulating anti-falling plate plays an anti-falling role in the carrying process, a servo motor drives a ball coupler and a ball screw rod to rotate to drive the second clamping mechanism to move to a specified position to move and prevent the cable from moving backwards and moving through a second clamping mechanism, and a dragging mechanism, and a cable moving mechanism is prevented from moving after the specified position and the clamp mechanism moves to move to a specified position, and a cable is compatible clamping mechanism, and a cable is moved to move, and a cable clamping mechanism, and a cable is prevented from moving mechanism.
The above description is only a preferred embodiment of the present invention, and should not be construed as limiting the present invention, and all equivalent variations and modifications made in the claims of the present invention should be covered by the present invention.
Claims (9)
1. The utility model provides a pile up module transport tongs which characterized in that: including the base board, with double electric core module embrace double of pressing from both sides embrace press from both sides mechanism, press from both sides the first clamping mechanism of double electric core module front side, with first clamping mechanism cooperation is removed and is pressed from both sides the second clamping mechanism of pressing from both sides double electric core module rear side, first clamping mechanism fixes the upper surface of base board, double is embraced press from both sides the mechanism and is in through first slide rail activity respectively the left and right sides of the lower surface of base board, second clamping mechanism sets up coupling mechanism with clamping mechanism is between to be in through the second slide rail the left and right sides of the upper surface of base board slides.
2. The stack module handling gripper of claim 1, wherein: double embrace and press from both sides mechanism includes that first embrace clamp assembly, second embrace clamp assembly, first embrace clamp assembly to pass through first slide rail is fixed the left side of the lower surface of base board, the second is embraced clamp assembly and is passed through first slide rail is fixed the right side of the lower surface of base board, first embrace clamp assembly and second embrace clamp assembly and all include left side insulation board, right side insulation board, control the left side insulation board with the right side insulation board is embraced the power component who presss from both sides to electric core module, the left side insulation board with right side insulation board position opposition sets up, the left side insulation board with the upper surface of right side insulation board is fixed with a plurality of first track grooves respectively, first track groove passes through first slide rail is in the lower surface of base board carries out the horizontal slip, the left side insulation board with the right side insulation board is kept away from the internal surface of the one end of base board is fixed with the insulating of can holding in the support electric core module prevents falling the electric core module and falls the sensor, the inboard surface of right side insulation board is fixed with the first electric core module that can detect whether correct position is close the sensor, power component is fixed to be set up in the left side with the right side in the middle of insulation board.
3. The stack module handling gripper of claim 2, wherein: the lower surface of the base plate is fixed with a second inductive proximity sensor and a third inductive proximity sensor, the second inductive proximity sensor is located in the front of the position where the left insulating plate and the right insulating plate are in an open state, and the third inductive proximity sensor is located in the front of the position where the left insulating plate and the right insulating plate are in a clamping state.
4. The stack module handling gripper of claim 2, wherein: the first rail is fixed through the lock and attaches the bolt respectively the left side insulation board with the upper surface of right side insulation board, the left side insulation board with the internal surface of right side insulation board is located the side of lock and attaches the bolt is fixed with L type panel beating, the one end of L type panel beating extends to the below of lock and attaches the bolt.
5. The stacking module handling grip of claim 2, wherein: power component includes first slim locking cylinder, the slim locking cylinder of second, connecting plate, the connecting plate is fixed the lower surface of base board, and be located the left side insulation board with the centre of right side insulation board, the left side rear end of the latter half of connecting plate is fixed with first L template, the right side front end of the latter half of connecting plate is fixed with second L template, first slim locking cylinder is fixed on the internal surface of right side insulation board, the output of first slim locking cylinder is connected with the second telescopic link, the second telescopic link is kept away from the one end of first slim locking cylinder with the right side fixed surface of first L template is connected, the slim locking cylinder of second is fixed on the internal surface of left side insulation board, the output of the slim locking cylinder of second is connected with the third telescopic link, the third telescopic link is kept away from the one end of the slim locking cylinder of second with the left side fixed surface of second L template is connected.
6. The stack module handling gripper of claim 1, wherein: first clamping mechanism includes ball screw, benchmark board, servo motor, drives the several style of calligraphy mountings that second clamping mechanism removed, servo motor fixes the rear end of the upper surface of base board, servo motor's output is connected with the shaft coupling, ball screw with the shaft coupling is kept away from servo motor's one end is connected, ball screw keeps away from the one end of shaft coupling is fixed the front side of base board upper surface, the benchmark board is fixed the left and right sides of the lower surface front end of base board, the cover is equipped with the axle sleeve on the ball screw, the axle sleeve is along with ball screw rotates and the back-and-forth movement, several style of calligraphy mountings are fixed the upper surface of axle sleeve.
7. The stack module handling gripper of claim 6, wherein: the utility model discloses a servo motor, including base board, servo motor, base board rear end, base board rear end, second clamping mechanism, second slide rail, expansion end splint, normal close type clamping device, the base board rear end's both sides with the relative place in base board position has seted up rectangular shape opening, rectangular shape opening is located servo motor's the left and right sides, second clamping mechanism includes slim cylinder, first fly leaf, second fly leaf, expansion end splint, normal close type clamping device, first fly leaf is located rectangular shape open-ended top, the lower fixed surface of first fly leaf has second track groove, second track groove passes through the second slide rail is in slide on the base board, the upper surface of first fly leaf is fixed through the fixing base to the output of slim cylinder, first telescopic link is kept away from the one end of slim cylinder is fixed through the fixing base second fly leaf upper surface, the lower fixed surface of second fly leaf has third track groove, third track groove passes through the second slide rail is in slide on the base board, the expansion end splint are fixed on the lower surface of first fly leaf rear end, and be located in rectangular shape opening, normal close type clamping device is fixed in the right and right branch shape opening of second fly leaf, the two sides of the fixed plate are located the right branch shape opening.
8. The stack module handling gripper of claim 7, wherein: a fourth inductive proximity sensor capable of detecting that the second clamping mechanism is in an open state is fixed on the upper surface of the rear end of the first movable plate, and a fifth inductive proximity sensor capable of detecting that the second clamping mechanism is in a clamping state is fixed in the middle of the front end of the second movable plate.
9. The stack module handling gripper of claim 7, wherein: still include coupling mechanism, coupling mechanism includes valve terminal, module hoist mounting flange dish, the tow chain of the control of left branch strut, right branch strut, frame plate, the integrated signal input of control and output and signal, the left branch strut is fixed the left side of base board upper surface, the right branch strut is fixed the right side of base board upper surface, the frame plate is fixed the left branch strut with the upper end of right branch strut, module hoist mounting flange dish is fixed the intermediate position of frame plate, the valve terminal is fixed on the frame plate, and be located on the right side of module hoist mounting flange dish, the one end of tow chain is fixed the front side of frame plate, the other end of tow chain is fixed on the front surface of nut support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211552605.2A CN115806181A (en) | 2022-12-05 | 2022-12-05 | Stacking module carrying gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211552605.2A CN115806181A (en) | 2022-12-05 | 2022-12-05 | Stacking module carrying gripper |
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| Publication Number | Publication Date |
|---|---|
| CN115806181A true CN115806181A (en) | 2023-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211552605.2A Pending CN115806181A (en) | 2022-12-05 | 2022-12-05 | Stacking module carrying gripper |
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| CN115123818A (en) * | 2021-03-25 | 2022-09-30 | 上海君屹工业自动化股份有限公司 | Double-module gripper |
| CN217801669U (en) * | 2022-07-20 | 2022-11-15 | 上海成途自动化工程股份有限公司 | A tongs device for carrying battery module |
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| WO2018077584A1 (en) * | 2016-10-25 | 2018-05-03 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Battery gripper |
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