CN115816498A - Clamping jaw device, clamping jaw module and driving device - Google Patents
Clamping jaw device, clamping jaw module and driving device Download PDFInfo
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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
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Abstract
The application relates to a clamping jaw device, including: the clamping jaw mechanism comprises a clamping jaw air cylinder and a clamping jaw, and the clamping jaw air cylinder is configured to drive the clamping jaw to clamp or open; the control assembly is used for providing gas for the clamping jaw cylinder and acquiring a gas pressure value in the clamping jaw cylinder, and when the gas pressure value is higher than the maximum value of a preset range, the control assembly stops supplying gas or controls the clamping jaw cylinder to exhaust gas; when the air pressure value is lower than the minimum value of the preset range, the control assembly stops supplying air to the clamping jaw air cylinder. The clamping force of the clamping jaw can be monitored in real time and judged so as to control air supply and air cutoff of the clamping jaw air cylinder.
Description
Technical Field
The application relates to the technical field of battery manufacturing, in particular to a clamping jaw device, a clamping jaw module and a driving device.
Background
Energy conservation and emission reduction are the key points of sustainable development of the automobile industry, and the electric vehicle becomes an important component of the sustainable development of the automobile industry due to the advantages of energy conservation and environmental protection. For electric vehicles, battery technology is an important factor in their development.
In the development of battery technology, in addition to improving the performance of the battery, the production efficiency is a considerable problem, and how to improve the production efficiency of the battery is still a technical problem to be solved urgently in the battery technology.
Disclosure of Invention
In view of the above problems, the present application provides a clamping jaw device, a clamping jaw module and a driving device, which aims to improve the production efficiency of a battery.
In a first aspect, the present application provides a jaw apparatus comprising: a jaw mechanism comprising a jaw cylinder and a jaw, the jaw cylinder configured to drive the jaw to clamp or open; the control assembly is used for providing gas for the clamping jaw cylinder and acquiring a gas pressure value in the clamping jaw cylinder, and when the gas pressure value is higher than the maximum value of a preset range, the control assembly stops supplying gas or controls the clamping jaw cylinder to exhaust gas; and when the air pressure value is lower than the minimum value of the preset range, the control assembly stops supplying air to the clamping jaw air cylinder.
The clamping jaw device in this application can install to manipulator or servo motor etc. have drive function's device on, the function of clamping jaw device mainly embodies for snatching the article. By adopting the scheme, the pressure of the air cylinder is judged when the clamping jaw grabs the battery core, and if the clamping force of the clamping jaw is too low, an alarm can be given and the clamping jaw stops to wait for manual processing according to a comparison result; if the clamping force of the clamping jaw is too high, the clamping jaw can be controlled to loosen the clamping jaw in time, and equipment alarming and stopping can be carried out according to a comparison result to wait for manual processing.
In some embodiments, the control assembly comprises: the gas supply assembly is used for providing a gas source for the clamping jaw cylinder; the air pressure detection piece is used for acquiring the air pressure value in the clamping jaw air cylinder; and the controller is in communication connection with the air pressure detection piece and the air supply assembly and is used for receiving the air pressure value acquired by the air pressure detection piece. The clamping jaw device of this scheme of adoption can get the size of the clamp power of getting when getting the action automatically when the work piece is got to the clamping jaw cylinder clamp, and then is convenient for get power according to this clamp and judges whether need trouble early warning or whether need carry out the loss reduction processing. The automatic production of the clamping jaw device is improved, and the damage rate of workpieces can be reduced.
In some embodiments, the gas supply assembly comprises: the gas multi-directional control valve comprises a gas multi-directional control valve, a first gas supply branch and a second gas supply branch, wherein the first gas supply branch and the second gas supply branch are communicated with different outlets of the gas multi-directional control valve; the air pressure detection piece is arranged in the first air supply branch; when the air pressure value is higher than the maximum value of the preset range, the controller controls the air multi-directional control valve to ventilate the open-position air inlet hole and simultaneously controls the air multi-directional control valve to exhaust the closed-position air inlet hole; when the air pressure value is lower than the minimum value of the preset range, the controller controls the gas multi-directional control valve to stop ventilating the open-position air inlet, or the controller controls the gas multi-directional control valve to exhaust the closed-position air inlet.
Under the combined action of the controller, the air pressure detection piece and the air supply assembly, when the air pressure value is lower than the minimum value of the preset range, the controller controls the air multi-way control valve to stop ventilating to the open-position air inlet. Or the controller controls the gas multi-directional control valve to exhaust the closed position air inlet hole. To achieve the above effect.
In some embodiments, the air pressure detecting element is a proportional valve in series communication with the first air supply branch, and the proportional valve includes a digital conversion module for obtaining the air pressure value in the gripper cylinder. Illustratively, the air pressure detection piece can be a proportional valve, and the proportional valve is internally provided with a digital conversion module which is mainly used for acquiring real-time data of an air pressure value in the clamping jaw air cylinder. Or, for example, the air pressure detecting element may also be a pressure sensor or the like that can be used to obtain the air pressure value in the clamping jaw air cylinder.
In some embodiments, the clamping jaw device further includes a first support assembly and a second support assembly, the clamping jaw air cylinder is connected to the first support assembly, and the first support assembly and the second support assembly are matched in a relative movement manner in a first direction, so that the clamping jaw air cylinder drives the first support assembly to move relative to the second support assembly. This application does not restrict the concrete connection form of clamping jaw cylinder and first supporting component, as long as can realize that the removal of clamping jaw cylinder drives first supporting component and removes can. When the clamping jaw of clamping jaw cylinder pressed the article rather than pressing from both sides and getting the article, produced the interact power between article and the clamping jaw, this scheme of adoption can be alleviated the clamping jaw and to the lasting harm of the holding down force of article, and then reduce the rejection rate of article.
In some embodiments, the jaws include pairs of jaw portions, each of which is in relatively movable engagement with the first support assembly in the second direction. The clamping jaw of this application is including two clamping jaw portions that can relative movement, realizes getting and loosen the function of claw at two clamping jaw portion relative movement in-process, further promotes the clamping precision of getting of clamping jaw.
In some embodiments, the jaw apparatus further comprises a first slide block assembly and a second slide block assembly; the first sliding rail sliding block assembly comprises a first sliding rail and a first sliding block, the first sliding rail is arranged on one of the first supporting assembly and the second supporting assembly, the first sliding block is fixed on the other of the first supporting assembly and the second supporting assembly, and the first sliding rail is in sliding fit with the first sliding block in a first direction; the second sliding rail sliding block assembly comprises a second sliding rail and a second sliding block, the second sliding rail is arranged on one of the clamping claw part and the first supporting assembly, the second sliding block is fixed on the other of the clamping claw part and the first supporting assembly, and the second sliding rail is in sliding fit with the second sliding block in a second direction. The structure, the material and the size of each sliding rail and each sliding block are not limited, and the sliding rails and the sliding blocks are matched with each other in a sliding mode. The sliding combination of the sliding rail and the sliding block is convenient to install, and two structures which are in sliding fit with each other can be ensured to perform linear movement on a set sliding rail, so that the movement direction is convenient to limit.
In some embodiments, the first support assembly comprises a first support plate, a first riser and a second riser fixed on both sides of the first support plate; the second support assembly comprises a second support plate, a third vertical plate and a fourth vertical plate which are fixed on two sides of the second support plate; the first supporting plate is positioned below the second supporting plate; the first slide rail and the first slide block are respectively installed on the first vertical plate and the third vertical plate in a matched manner; the second slide rail and the second slide block are respectively installed on the second vertical plate and the fourth vertical plate in a matched mode. Exemplarily, the clamping jaw cylinder in this application can be located first backup pad below, under the combined action of each slide rail sliding block set spare of first backup pad both sides, can make the clamping jaw cylinder remove under steady state.
In some embodiments, the clamping jaw device further includes an elastic component, the elastic component is located between the first support component and the second support component, and the elastic component is configured such that under the action of elastic buffering, the clamping jaw cylinder drives the first support component to move slowly in the first direction relative to the second support plate. Under the elastic component setting, can avoid the collision between first supporting component and the second supporting component, and under the elastic potential energy effect of elastic component, can avoid the clamping jaw to the direct harm on article surface, and then reduce the rejection rate of article.
In some embodiments, the resilient assembly is located between the first support plate and the second support plate; the elastic assembly includes: the guide post and the elastic piece are sleeved on the outer wall of the guide post; the guide post comprises a first end and a second end which are oppositely arranged, and the second end is fixed on the second supporting plate; the first end extends into the first support plate and is configured to be movable relative to the first support plate in a first direction by a first distance; the elastic component comprises a fixed end and a free end, wherein the fixed end and the free end are fixed on the first supporting plate and the second supporting plate respectively. Adopt the structure of the elastic component of guide pillar and elastic component of this application, simple structure, easy to assemble, dismantle and change.
In some embodiments, the jaw apparatus further comprises an inductive component, the inductive component communicatively coupled to the controller; the induction assembly comprises an inductor and an induction detection piece which is in signal transmission with the inductor, the inductor is fixedly arranged on the side wall of the third vertical plate or the fourth vertical plate and is matched with the side wall of the third vertical plate or the fourth vertical plate, and the induction detection piece is fixedly arranged on the side wall of any one of the first vertical plate, the second vertical plate and the first supporting plate; when the clamping jaw cylinder drives the first supporting assembly to move relative to the second supporting plate, the induction detecting piece moves relative to the inductor on the third vertical plate or the fourth vertical plate along with any one of the first vertical plate, the second vertical plate and the first supporting plate, so that the induction detecting piece is communicated with the inductor through signals. Under the effect of response subassembly, the signal that the article broke down is got to the clamping jaw incorrectly to the controller can be received to monitor and maintain whole equipment.
The application provides a clamping jaw module, including the clamping jaw device of above-mentioned arbitrary, the clamping jaw cylinder is provided with a plurality ofly, control assembly respectively with each clamping jaw cylinder keeps gaseous intercommunication. Set up a plurality of clamping jaw cylinders, can press from both sides simultaneously and get a plurality of articles to improve the production efficiency of production line.
In some embodiments, the control assembly includes a plurality of gas detectors, the number of gas detectors corresponding to the number of jaw cylinders. So as to realize the whole effects of the clamping jaw module and each clamping jaw device, which is not described herein.
The application still provides a drive arrangement, includes above clamping jaw module, drive arrangement is used for the drive the clamping jaw module carries out the clamp of component and gets. So as to realize the whole technical effects of the clamping jaw module. And will not be described in detail herein.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Moreover, like reference numerals are used to refer to like elements throughout. In the drawings:
fig. 1 is a schematic view of an overall structure of a clamping jaw device in an embodiment of the application;
fig. 2 is a schematic overall structural diagram of a clamping jaw device in an embodiment of the present application;
FIG. 3 is a first schematic structural view of a jaw module according to an embodiment of the present disclosure;
fig. 4 is a second schematic structural view of the clamping jaw module in an embodiment of the present application.
The reference numbers in the detailed description are as follows:
001. a jaw arrangement; 002. a clamping jaw module;
1. a jaw mechanism; 3. a first support assembly; 4. a second support assembly; 5. an inductive component; 6. a first slide rail slider assembly; 7. a second slide rail slider assembly; 8. an elastic component; 9. a fixing plate;
11. a clamping jaw cylinder; 12. a clamping jaw; 21. a proportional valve; 31. a first support plate; 32. a first vertical plate; 33. a second vertical plate; 41. a second support plate; 42. a third vertical plate; 43. a fourth vertical plate; 51. sensing the detection sheet; 52. an inductor; 61. a first slide rail; 62. a first slider; 71. a second slide rail; 72. a second slider; 81. a guide post; 82. an elastic member.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely used to more clearly illustrate the technical solutions of the present application, and therefore are only examples, and the protection scope of the present application is not limited thereby.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing the association object, and means that three relationships may exist, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural pieces" refers to two or more (including two).
In the description of the embodiments of the present application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the directions or positional relationships indicated in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
The applicant notices that the existing clamping jaw device completely depends on a technician to debug the mechanical hard limit to control the opening and closing of the clamping jaw, and before the clamping jaw is used, a stress meter is needed to roughly detect the clamping force of the clamping jaw. In the operation process of the equipment, if the clamping jaw part has an aging phenomenon, the size of the opening and closing range of the clamping jaw in the clamping jaw air cylinder can be influenced. Adopt current clamping jaw device, press from both sides at clamping jaw cylinder and get the action down, the clamping-force size that electric core product was applyed to unable real-time detection, the clamping-force superelevation that may cause the clamping jaw damages electric core, perhaps can cause the clamping-force of clamping jaw to hang off electric core and then damage electric core excessively, injures staff's problem even.
Based on the consideration, in order to solve the problem that the clamping force of the clamping jaw cannot be monitored in real time, the applicant designs a clamping jaw device through deep research, obtains a result that the clamping force is too large or too small through acquiring the clamping force of the clamping jaw and comparing the clamping force with a preset range, and judges whether the clamping jaw cylinder breaks down according to the result, so that the clamping jaw cylinder can be overhauled and maintained according to the fault condition.
By using the clamping jaw device, the breakage rate in the chip clamping process can be reduced, and the production efficiency of the whole production line is further improved.
The clamping jaw device disclosed by the embodiment of the application can be used in driving devices such as servo driving motors and mechanical arms, but not limited to the servo driving motors and the mechanical arms. Mechanical equipment or electrical control equipment that possess the clamping jaw device that this application disclosed, clamping jaw module, drive arrangement etc. and constitute can be used, like this, are favorable to improving the production efficiency of all kinds of production lines.
Referring to fig. 1, the present application provides a gripper apparatus 001 comprising a gripper mechanism 1 and a control assembly. The jaw mechanism 1 includes a jaw cylinder 11 and a jaw 12, and the jaw cylinder 11 is configured to drive the jaw 12 to clamp or open. And the control component is used for providing gas for the clamping jaw cylinder 11 and acquiring the gas pressure value in the clamping jaw cylinder 11. When the air pressure value is higher than the maximum value of the preset range, the control assembly stops supplying air or controls the clamping jaw air cylinder 11 to exhaust air; when the air pressure value is lower than the minimum value of the preset range, the control assembly stops supplying air to the clamping jaw air cylinder 11.
Clamping jaw device 001 in this application can install to manipulator or servo motor etc. have drive function's device on, clamping jaw device 001's function mainly embodies and snatchs the article.
Illustratively, the article may be a product or a fixture or the like.
The control assembly in the clamping jaw device 001 of the application can acquire the air pressure value of the clamping jaw air cylinder 11, compares the air pressure value with the preset range, and stops air supply or controls the clamping jaw air cylinder 11 to exhaust when the air pressure value is higher than the maximum value of the preset range. When the air pressure value is lower than the minimum value of the preset range, the control assembly stops supplying air to the clamping jaw air cylinder 11. Based on this, whether the clamping force of the clamping jaw 12 on the electric core is within a reasonable range can be deduced by comparing the real-time gas pressure value converted from the gas pressure value with a preset range.
By adopting the scheme of the application, the clamping jaw 12 judges the pressure of the air cylinder when grabbing the battery core, and if the clamping force of the clamping jaw 12 is too low, an alarm can be given and the machine can be stopped to wait for manual processing according to the comparison result; if the clamping force of the clamping jaw 12 is too high, the clamping jaw 12 can be controlled to loosen the clamping jaw 12 in time, and equipment alarming and stopping can be carried out according to a comparison result to wait for manual processing.
Illustratively, the control assembly includes: the gas supply assembly is used for providing a gas source for the clamping jaw cylinder; the air pressure detection piece is used for acquiring the air pressure value in the clamping jaw air cylinder; and the controller is in communication connection with the air pressure detection piece and the air supply assembly and is used for receiving the air pressure value acquired by the air pressure detection piece. The clamping jaw device of this scheme of adoption can get the size of the clamp power of getting when getting the action automatically when the work piece is got to the clamping jaw cylinder clamp, and then is convenient for get power according to this clamp and judges whether need trouble early warning or whether need carry out the loss reduction processing. The automatic production of the clamping jaw device is improved, and the damage rate of workpieces can be reduced.
Further, the control assembly includes: the gas supply assembly comprises a gas multi-directional control valve, a first gas supply branch and a second gas supply branch, wherein the first gas supply branch and the second gas supply branch are communicated with different outlets of the gas multi-directional control valve; and the air pressure detection piece is arranged in the first air supply branch. The clamping jaw device 001 of this scheme of adoption, when atmospheric pressure value is higher than the maximum value of predetermineeing the scope, the gaseous multidirectional control valve of controller control is to opening the position inlet port and ventilate, and gaseous multidirectional control valve of control is to closing the position inlet port exhaust simultaneously. When the air pressure value is lower than the minimum value of the preset range, the controller controls the air multi-directional control valve to stop ventilating the air inlet at the opening position, or the controller controls the air multi-directional control valve to exhaust the air inlet at the closing position.
Illustratively, the air supply assembly is used for supplying air to or exhausting air from the clamping jaw air cylinder 11, the air pressure detection piece is used for acquiring an air pressure value of the clamping jaw air cylinder 11, and the controller is used for receiving the air pressure value.
Under the combined action of the controller, the air pressure detection piece and the air supply assembly, when the air pressure value is lower than the minimum value of the preset range, the controller controls the air multi-directional control valve to stop ventilating to the air inlet at the opening position, or the controller controls the air multi-directional control valve to exhaust to the air inlet at the closing position. To achieve the above effect.
Specifically, with further reference to fig. 1, the air pressure detecting element is a proportional valve 21 connected in series with the first air supply branch, and the proportional valve 21 includes a digital conversion module for obtaining an air pressure value in the clamping jaw air cylinder 11.
Illustratively, the air pressure detecting element may be a proportional valve 21, and since a digital conversion module is disposed in the proportional valve 21, the digital conversion module is mainly used for acquiring real-time data of the air pressure value in the clamping jaw air cylinder 11.
Alternatively, the air pressure detecting device may be a pressure sensor or the like that can be used to acquire the air pressure value in the clamping jaw air cylinder 11.
Specifically, referring to fig. 1, the clamping jaw device 001 further includes a first supporting component 3 and a second supporting component 4, the clamping jaw cylinder 11 is connected to the first supporting component 3, and the first supporting component 3 and the second supporting component 4 are matched with each other in a relatively moving manner in a first direction, so that the clamping jaw cylinder 11 drives the first supporting component 3 to move relative to the second supporting component 4.
For example, the connection between the clamping jaw cylinder 11 and the first support component 3 in the present application may be a direct connection or an indirect connection, and the connection between the clamping jaw cylinder 11 and the first support component 3 may be a fixed connection or a detachable connection of the cylinder body of the clamping jaw cylinder 11 and the first support component 3.
This application does not restrict the specific connection form of clamping jaw cylinder 11 and first supporting component 3, as long as can realize that the removal of clamping jaw cylinder 11 drives first supporting component 3 and removes can.
In addition, the first supporting component 3 and the second supporting component 4 have a relative movement matching relationship, when the clamping jaw 12 of the clamping jaw cylinder 11 presses the object instead of clamping the object, an interaction force is generated between the object and the clamping jaw 12, the interaction force enables the clamping jaw cylinder 11 to have a trend of being far away from the object, and due to the fact that the movable space is formed between the first supporting component 3 and the second supporting component 4, the clamping jaw cylinder 11 drives the first supporting component 3 to move relative to the second supporting component 4 under the action of the trend of the interaction force, continuous damage of the clamping jaw 12 to the downward pressure of the object is relieved, and the rejection rate of the object is reduced.
Specifically, the clamping jaws 12 include pairs of clamping jaw portions each in relatively movable engagement with the first support member 3 in the second direction.
The clamping jaw 12 comprises two clamping jaw parts which can move relatively, and the clamping and loosening functions are realized during the relative movement of the two clamping jaw parts. The two clamping claw parts are configured to be matched with the first supporting component 3 in a relative movement mode in the second direction respectively, so that the two clamping claw parts are further ensured to be always kept moving in the second direction in the relative movement process, and the problem that the two clamping claw parts move in different directions respectively is solved. That is, according to the requirement of the production line, the two clamping jaw portions can clamp the object in the specified direction, and the clamping precision of the clamping jaw 12 is further improved.
Further, referring to fig. 2, the clamping jaw device 001 further comprises a first slide rail 61 and a second slide rail 71, and a slide assembly 6 and a slide assembly 7; the first slide rail 61 and the slide block assembly 6 comprise a first slide rail 61 and a first slide block 62, the first slide rail 61 is arranged on one of the first support assembly 3 and the second support assembly 4, the first slide block 62 is fixed on the other one of the first support assembly 3 and the second support assembly 4, and the first slide rail 61 and the first slide block 62 are in sliding fit in a first direction; the second slide rail 71 and the slide block assembly 7 comprise a second slide rail 71 and a second slide block 72, the second slide rail 71 is arranged on one of the clamping claw part and the first support assembly 3, the second slide block 72 is fixed on the other of the clamping claw part and the first support assembly, and the second slide rail 71 and the second slide block 72 are in sliding fit in the second direction.
The structure, the material and the size of each sliding rail and each sliding block are not limited, and the sliding rails and the sliding blocks are matched with each other in a sliding mode.
The sliding combination of the sliding rail and the sliding block is convenient to install, and two structures which are in sliding fit with each other can be ensured to perform linear movement on a set sliding rail, so that the movement direction is convenient to limit.
Specifically, with further reference to fig. 1 and 2, the first supporting assembly 3 includes a first supporting plate 31, a first vertical plate 32 and a second vertical plate 33 fixed on two sides of the first supporting plate 31; the second supporting assembly 4 comprises a second supporting plate 41, a third vertical plate 42 and a fourth vertical plate 43 which are fixed on two sides of the second supporting plate 41; the first support plate 31 is located below the second support plate 41; the first slide rail 61 and the first slide block 62 are respectively installed on the first vertical plate 32 and the third vertical plate 42 in a matching manner; the second slide rail 71 and the second slide block 72 are respectively installed on the second vertical plate 33 and the fourth vertical plate 43 in a matching manner.
The present application specifies each structure of the first support member 3 and the second support member 4.
Illustratively, each upright plate may be a plate-like structure extending in the thickness direction of each conveyor line.
The thickness of each vertical plate is not limited, and the vertical plates can be installed on the spot in a matching mode and cannot interfere with corresponding parts.
The vertical plates are arranged on two sides of the first support plate 31 and the second support plate 41, so that the slide rail and slide block assemblies can be limited in direction on two sides of the first support plate 31 and the second support plate 41. Further, clamping jaw cylinder 11 is located first backup pad 31 below, under the combined action of each slide rail sliding block set spare of first backup pad 31 both sides, can make clamping jaw cylinder 11 remove under steady state.
Specifically, with further reference to fig. 2, the clamping jaw apparatus 001 further includes an elastic component 8, the elastic component 8 is located between the first supporting component 3 and the second supporting component 4, and the elastic component 8 is configured such that under the action of elastic buffering, the clamping jaw cylinder 11 drives the first supporting component 3 to move slowly in the first direction relative to the second supporting plate 41. Further exemplarily, the elastic assembly is located between the first support plate 31 and the second support plate 41 under the action of the elastic assembly 8, and an elastic buffer space is provided between the first support plate 31 and the second support plate 41, that is, when the clamping jaw 12 presses down the surface of the object, an acting force between the clamping jaw 12 and the surface of the object can act on the clamping jaw cylinder 11, so that the clamping jaw cylinder 11 has a tendency to move toward the second support plate 41, and under the action of the acting force, the clamping jaw cylinder 11 drives the first support plate 31 to move relative to the second support plate 41. Under the arrangement of the elastic component 8, the collision between the first support plate 31 and the second support plate 41 can be avoided, and under the action of the elastic potential energy of the elastic component 8, the elastic potential energy can be neutralized with the acting force, so that the direct damage of the clamping jaw 12 to the surface of the object is avoided, and the rejection rate of the object is reduced.
Illustratively, the elastic component 8 includes a guide post 81 and an elastic member 82 sleeved on an outer wall of the guide post 81; the guide post 81 includes a first end and a second end oppositely disposed, and the second end is fixed on the second support plate 41; the first end extends into the first support plate 31 and is configured to be movable a first distance in a first direction relative to the first support plate 31; the elastic member 82 includes a fixed end and a free end, which are fixed to the first support plate 31 and the second support plate 41, respectively.
The structure of the elastic assembly 8 adopting the guide pillar 81 and the elastic part 82 is simple in structure and convenient to install, detach and replace. And, the guide post 81 has a guiding function, and the elastic element 82 can provide a buffering elastic potential energy for neutralizing the acting force.
Illustratively, the elastic member 82 may be any one of a tension spring, a compression spring, or a torsion spring.
For example, the elastic member 82 may be a hollow cylindrical structure made of a material having compression elasticity so as to be installed around the guide post 81. For example, the elastic member 82 may be made of rubber under the condition that the moving distance of the jaw cylinder 11 is small. For example, the elastic member 82 may be made of polyurethane.
Further, referring to fig. 1, the clamping jaw device 001 further includes a sensing assembly 5, and the sensing assembly 5 is in communication connection with the controller; the sensing assembly 5 comprises a sensor 52 and a sensing detection sheet 51 which is in signal transmission with the sensor 52, the sensor 52 is fixedly arranged on the side wall of the third vertical plate 42 or the fourth vertical plate 43, and the sensing detection sheet 51 is fixedly arranged on the side wall of any one of the first vertical plate 32, the second vertical plate 33 and the first supporting plate 31; in the process that the clamping jaw cylinder 11 drives the first supporting assembly 3 to move relative to the second supporting plate 41, the induction detecting piece 51 moves relative to the inductor 52 on the third vertical plate 42 or the fourth vertical plate 43 along with any one of the first vertical plate 32, the second vertical plate 33 and the first supporting plate 31, so that the induction detecting piece 51 is in signal communication with the inductor 52.
Under the effect of response subassembly 5, combine aforementioned elastic component 8's scheme, when the clamping jaw 12 of clamping jaw cylinder 11 pushed down the article surface, clamping jaw cylinder 11 drove first supporting component 3 and removes towards second supporting component 4, promptly, response detects piece 51 and removes towards inductor 52, when signal intercommunication each other between the two, response subassembly 5 with signal transmission to controller, at this moment, the controller can receive clamping jaw 12 and do not correctly press from both sides the signal that article broke down to monitor and maintain whole equipment.
When the clamping jaw 12 may cause a problem that the clamping jaw 12 is directly pressed on the top surface of the battery cell due to a coordinate error, in this case, the pressure between the clamping jaw 12 and the top surface of the battery cell is often very large, and the battery cell is directly damaged. Based ON the above structure, the clamping jaw device 001 further has a flexible detection function, when the clamping jaw 12 is driven to start by the servo module or the robot arm, and the clamping jaw 12 and the clamping jaw cylinder 11 move upwards along the first slide rail 61 when pressing the top surface of the battery cell, so as to drive the first support plate 31 to move towards the second support plate 41, and further because the elastic component 8 is arranged between the first support plate 31 and the second support plate 41, as the distance between the first support plate 31 and the second support plate 41 decreases, the elastic component 82 in the elastic component 8 compresses to generate elastic potential energy, which can be used for offsetting the downward pressure of the servo module or the robot arm, when the pressure is too large, the flexible detection piece triggers the flexible inductor 52 to be turned OFF by ON, which indicates that the pressure of the clamping jaw 12 ON the upper surface of the battery cell is too large, and further controls the clamping jaw 12 to lift up in time, so as to avoid the damage of the battery cell. And then the equipment can be alarmed and shut down to wait for manual maintenance.
For example, the initial state of the clamping jaw 12 is open, and when a signal for clamping the battery cell is received, the clamping jaw 12 moves downwards to the position right above the battery cell in the bearing movement of the servo module or the robot arm, and then descends; when the horizontal coordinate of the clamping jaw 12 is positioned wrongly, and the clamping jaw 12 is pressed ON the top surface of the battery cell in the descending process, the clamping jaw 12 can move relative to the robot arm along the first sliding rail 61 by the resistance of the battery cell surface to offset a part of pressure, and meanwhile, after the flexible detection sheet triggers the flexible sensor 52 to be turned OFF from ON, the PLC (controller) can control the clamping jaw 12 to be lifted up, and then the device alarms and stops to wait for the maintenance of workers.
Illustratively, when the clamping jaw 12 is accurately positioned and normally descends to a specified position, after the proximity switch on the clamping jaw device 001 senses the battery cell, it means that the clamping jaw 12 has reached the grabbing position, and the battery cell can be grabbed.
The gas multi-directional control valve in the application can be a three-position five-way electromagnetic valve which leads compressed air to the air inlet hole at the closed position of the clamping jaw cylinder 11, and the compressed air flows through the proportional valve 21 and the pilot check valve from each air supply branch and then enters the air inlet hole at the closed position of the clamping jaw cylinder 11 through the pneumatic connector (connected with each air inlet hole of the clamping jaw cylinder 11); the clamping jaw cylinder 11 starts to be closed, the two clamping jaw parts of the clamping jaw 12 are driven by the clamping jaw cylinder 11 to move relatively through the guide sliding rail (second sliding rail 71) of the clamping jaw 12 to clamp the battery cell, and meanwhile, the PLC detects the pressure of compressed air in real time through the proportional valve 21; if the parameter exceeds the maximum value of the preset range, the pressure applied to the surface of the battery cell by the clamping jaw 12 is over-high, the PLC immediately sends an instruction to enable the three-position five-way solenoid valve to enable the clamping jaw cylinder 11 to open the position air inlet hole to be communicated with compressed air, and exhaust treatment is performed on the position air inlet hole at the closing position of the clamping jaw cylinder 11, so that the clamping jaw 12 can be opened in time when the clamping jaw 12 does not substantially damage the battery cell, and damage to the battery cell is avoided; then, the induction detection sheet 51 is in signal communication with the inductor 52, after the inductor 52 is turned ON from OFF, the clamping jaw 12 is shown in a completely closed state, and at the moment, the PLC detects the pressure of the compressed air in real time through the proportional valve 21; if the parameter is lower than the preset range, the pressure applied to the electric core surface by the clamping jaw 12 is too small, at the moment, the PLC sends out an instruction for stopping grabbing, and the equipment is alarmed to be stopped, and a worker waits for checking and maintaining the clamping jaw device 001.
Illustratively, the cell length dimension may be 305 ± 0.2mm; the clamping jaw 12 of the clamping jaw cylinder 11 is used for clamping the battery cell of the specification, and specifically, the clamping jaw 12 is adjusted by using a standard sample battery cell 1 (305 mm long), so that the clamping force of the clamping jaw is enough to grasp the battery cell; a clamping jaw 12 is used for clamping a standard sample cell 2 (with the length of 304.8 mm), and a parameter value A of the proportional valve 21 is recorded after the clamping is stable, such as 0.526MPa; grabbing a standard sample cell 3 (305.2 mm long) by using the clamping jaw 12, and recording a parameter value B of the proportional valve 21 after the grabbing is stable, such as 0.512MPa; when the clamping jaw 12 grabs the electric core, the range of the compressed air value of the air inlet side of the closing position of the air jaw air cylinder detected by the proportional valve 21 is C, such as 0.512MPa-0.526MPa; if the clamping jaw 12 is damaged and becomes a loose state and cannot successfully grab the battery core, the compressed air value D detected by the proportional valve 21 is below the range C value, such as 0.500 MPa; if the clamping jaw 12 is damaged and becomes too large in clamping force or clamps a wrong battery cell, the compressed air value E detected by the proportional valve 21 is above the range C value, such as 0.540 MPa. With the above judgment example, it is possible to perform troubleshooting on the gripper cylinder 11 to achieve all the technical effects of the present application.
This application still provides a clamping jaw module 002, refers to fig. 3 and fig. 4, and clamping jaw module 002 includes foretell clamping jaw device 001, and clamping jaw cylinder 11 is provided with a plurality ofly, and control assembly keeps gaseous intercommunication with each clamping jaw cylinder 11 respectively. The clamping jaw module 002 of this application sets up a plurality of clamping jaw cylinders 11, can press from both sides simultaneously and get a plurality of articles to improve the production efficiency of production line. And the control assembly is respectively communicated with the clamping jaw cylinders 11 in a gas mode, so that the control assembly can respectively control the air inflow of the clamping jaw cylinders 11, respectively control the clamping force of the clamping jaws 12, improve the production efficiency, simultaneously ensure the independent on-off of the clamping jaw cylinders 11, and facilitate the respective monitoring and maintenance. Referring to fig. 3, the clamping jaw module 002 includes a structure of two clamping jaw devices 001, wherein the second supporting plates 41 of the two clamping jaw devices 001 can be fixed on the lower surface of the fixing plate 9, the proportional valves 21 of the two pseudo-devices can be fixed on the upper surface of the fixing plate 9, the fixing plate 9 can be used for supporting and installing the proportional valves 21, and the two clamping jaw devices 001 can be simultaneously fixed on the same fixing plate 9, so that the structure is simple, and the installation and the disassembly are convenient. According to the actual production requirement of production, further referring to fig. 4, the gripper module 002 may also include 4 gripper devices 001, and 4 gripper devices 001 may also be fixed on the same fixing plate 9 at the same time, so as to achieve the above-mentioned effects.
Further, the control assembly may include a plurality of gas detecting members, the number of which corresponds to the number of the gripper cylinders 11. So as to achieve the whole effects of the above-mentioned clamping jaw module 002 and each clamping jaw device 001, which will not be described herein.
The application still provides a drive arrangement, including clamping jaw module 002 as above, drive arrangement is used for driving clamping jaw module 002 to carry out the clamp of component and gets. So as to achieve the whole technical effects of the clamping jaw module 002. And will not be described in detail herein.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A jaw apparatus, comprising:
a jaw mechanism comprising a jaw cylinder and a jaw, the jaw cylinder configured to drive the jaw to clamp or open;
the control assembly is used for providing gas for the clamping jaw cylinder and acquiring a gas pressure value in the clamping jaw cylinder, and when the gas pressure value is higher than the maximum value of a preset range, the control assembly stops supplying gas or controls the clamping jaw cylinder to exhaust gas; and when the air pressure value is lower than the minimum value of the preset range, the control assembly stops supplying air to the clamping jaw air cylinder.
2. The jaw apparatus of claim 1, wherein said control assembly comprises:
the gas supply assembly is used for providing a gas source for the clamping jaw cylinder;
the air pressure detection piece is used for acquiring the air pressure value in the clamping jaw air cylinder;
and the controller is in communication connection with the air pressure detection piece and the air supply assembly and is used for receiving the air pressure value acquired by the air pressure detection piece.
3. Gripper apparatus according to claim 2, characterized in that said gas supply assembly comprises: the clamping jaw air cylinder is provided with a clamping jaw air cylinder, a gas multi-directional control valve, a first gas supply branch and a second gas supply branch, wherein the first gas supply branch is communicated with different outlets of the gas multi-directional control valve; the air pressure detection piece is arranged in the first air supply branch;
when the air pressure value is higher than the maximum value of the preset range, the controller controls the gas multi-directional control valve to ventilate the open-position air inlet hole and simultaneously controls the gas multi-directional control valve to exhaust the closed-position air inlet hole;
when the air pressure value is lower than the minimum value of the preset range, the controller controls the gas multi-directional control valve to stop ventilating the open-position air inlet hole, or the controller controls the gas multi-directional control valve to exhaust the closed-position air inlet hole.
4. A jaw apparatus as claimed in claim 3, wherein said air pressure detector is a proportional valve in series communication with said first air supply branch, said proportional valve including a digital conversion module for obtaining said air pressure value within said jaw cylinder.
5. The jaw apparatus of claim 1, further comprising a first support assembly and a second support assembly, wherein the jaw cylinder is coupled to the first support assembly, and wherein the first support assembly and the second support assembly are configured to move relative to each other in a first direction such that the jaw cylinder moves the first support assembly relative to the second support assembly.
6. A jaw arrangement according to claim 5, wherein said jaws comprise pairs of jaw portions each in relatively movable engagement with said first support assembly in said second direction.
7. The jaw apparatus of claim 5, further comprising a first slide block assembly and a second slide block assembly;
the first sliding rail and sliding block assembly comprises a first sliding rail and a first sliding block, the first sliding rail is arranged on one of the first supporting assembly and the second supporting assembly, the first sliding block is fixed on the other of the first supporting assembly and the second supporting assembly, and the first sliding rail and the first sliding block are in sliding fit in a first direction;
the second sliding rail sliding block assembly comprises a second sliding rail and a second sliding block, the second sliding rail is arranged on one of the clamping jaw and the first supporting assembly, the second sliding block is fixed on the other of the clamping jaw and the first supporting assembly, and the second sliding rail is in sliding fit with the second sliding block in a second direction.
8. The jaw apparatus of claim 7, wherein the first support assembly comprises a first support plate, a first riser and a second riser secured to either side of the first support plate; the second support assembly comprises a second support plate, a third vertical plate and a fourth vertical plate which are fixed on two sides of the second support plate; the first supporting plate is positioned below the second supporting plate;
the first slide rail and the first slide block are respectively installed on the first vertical plate and the third vertical plate in a matched manner;
the second slide rail and the second slide block are respectively installed on the second vertical plate and the fourth vertical plate in a matched mode.
9. The clamping jaw apparatus as claimed in claim 5, further comprising a resilient assembly disposed between said first support assembly and said second support assembly, said resilient assembly being configured such that under resilient cushioning, said clamping jaw cylinder moves said first support assembly slowly relative to said second support plate in a first direction.
10. The jaw apparatus of claim 9, wherein said resilient assembly is located between said first support plate and said second support plate;
the elastic assembly includes: the guide post and the elastic piece are sleeved on the outer wall of the guide post;
the guide post comprises a first end and a second end which are oppositely arranged, and the second end is fixed on the second supporting plate; the first end extends into the first support plate and is configured to be movable relative to the first support plate in a first direction by a first distance;
the elastic component comprises a fixed end and a free end, wherein the fixed end and the free end are fixed on the first supporting plate and the second supporting plate respectively.
11. The jaw apparatus of claim 8, further comprising a sensing assembly communicatively coupled to said controller;
the induction assembly comprises an inductor and an induction detection sheet which is in signal transmission with the inductor, the inductor is fixedly arranged on the side wall of the third vertical plate or the fourth vertical plate and is matched with the side wall of the third vertical plate or the fourth vertical plate, and the induction detection sheet is fixedly arranged on the side wall of any one of the first vertical plate, the second vertical plate and the first supporting plate;
when the clamping jaw cylinder drives the first supporting assembly to move relative to the second supporting plate, the induction detecting piece moves relative to the inductor on the third vertical plate or the fourth vertical plate along with any one of the first vertical plate, the second vertical plate and the first supporting plate, so that the induction detecting piece is communicated with the inductor through signals.
12. A gripper jaw module comprising a plurality of gripper jaw arrangements according to any of claims 2-11, wherein a plurality of gripper jaw cylinders are provided, and wherein the control assembly is in gas communication with each of the gripper jaw cylinders.
13. A gripper module according to claim 12, wherein said control assembly comprises a plurality of gas detectors, the number of said gas detectors corresponding to the number of said gripper cylinders.
14. A driving device, comprising the gripper module of claim 12 or 13, wherein the driving device is used for driving the gripper module to clamp a component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211171931.9A CN115816498A (en) | 2022-09-26 | 2022-09-26 | Clamping jaw device, clamping jaw module and driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211171931.9A CN115816498A (en) | 2022-09-26 | 2022-09-26 | Clamping jaw device, clamping jaw module and driving device |
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| CN115816498A true CN115816498A (en) | 2023-03-21 |
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| CN202211171931.9A Pending CN115816498A (en) | 2022-09-26 | 2022-09-26 | Clamping jaw device, clamping jaw module and driving device |
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| JPH05305593A (en) * | 1992-04-28 | 1993-11-19 | Toyooki Kogyo Co Ltd | Article nipping device |
| JP2005330034A (en) * | 2004-05-18 | 2005-12-02 | Hitachi Constr Mach Co Ltd | Gripping force controller and dismantling work machine |
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