CN211164003U - Module grabbing device and system - Google Patents
Module grabbing device and system Download PDFInfo
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- CN211164003U CN211164003U CN201922024979.7U CN201922024979U CN211164003U CN 211164003 U CN211164003 U CN 211164003U CN 201922024979 U CN201922024979 U CN 201922024979U CN 211164003 U CN211164003 U CN 211164003U
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- clamping jaw
- grabbing device
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Abstract
The utility model relates to a battery manufacturing field discloses a module grabbing device and system, and grabbing device includes: the clamping mechanism, the transmission mechanism and the driving mechanism are arranged on the bracket; the bottom of the bracket is provided with a base plate, and the lower end of the base plate is provided with a horizontal positioning part; the clamping mechanism comprises a clamping jaw, and a vertical positioning part is arranged at the bottom end of the clamping jaw; the driving mechanism is connected with the top end of the clamping jaw through the transmission mechanism and is used for driving the clamping jaw to move in the opposite direction or in the opposite direction, and the clamping jaw has the functions of anti-skidding in grabbing and mistake proofing; the grabbing system comprises a mechanical arm, an image acquisition and recognition device and the module grabbing device, shooting module related information through the image acquisition and recognition device, and controlling the mechanical arm to drive the module grabbing device to realize accurate grabbing and placing of the module.
Description
Technical Field
The utility model relates to a battery manufacturing field especially relates to a module grabbing device and system.
Background
In the manufacturing process of the battery system, the boxing of the modules is a very important process with concentrated working strength, most enterprises still adopt manual assembly, a large amount of manpower is consumed, the efficiency is low, and the working strength is high. Therefore, some battery manufacturing facilities use automated equipment such as robots to complete this process. For the automatic grabbing and boxing work, the module grabbing tool is particularly important, and the design ideas of all manufacturers are different. In the lectotype design of snatching the frock, if go wrong, will cause work efficiency to hang down, the locating place skew, can appear the module even and snatch a series of dangerous risks such as the jail damage of falling, short circuit.
As shown in FIG. 1, the existing module tooling grabbing device is provided, but the device lacks a mistake proofing function for hole positions and module sizes, so that the position of placement is likely to deviate, the hole positions correspond to inaccurate problems, the problem of matching between the module entering a box and a lower box body is also influenced by the adoption of a supporting arm structure, the service environment is limited, and the production efficiency is further influenced.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The embodiment of the utility model provides a module grabbing device and system to the locating position skew that module grabbing device exists among the solution prior art, the hole site corresponds unsafe technical problem.
(II) technical scheme
In order to solve the technical problem, the embodiment of the utility model provides a module grabbing device, include: the clamping mechanism, the transmission mechanism and the driving mechanism are arranged on the support; wherein the content of the first and second substances,
the bottom of the bracket is provided with a base plate, and the lower end of the base plate is provided with a horizontal positioning part;
the clamping mechanism comprises a clamping jaw, and a vertical positioning part is arranged at the bottom end of the clamping jaw;
the driving mechanism is connected with the top end of the clamping jaw through the transmission mechanism and is used for driving the clamping jaw to move oppositely or oppositely.
The support is fixed on the support, the moving end of the first cylinder unit is connected with the lower pressing head, and the lower pressing head is driven to move along the vertical direction.
The vertical positioning part is a positioning screw, a positioning column or a positioning pin arranged along the horizontal direction.
The horizontal positioning part comprises four positioning screws, positioning columns or positioning pins which are distributed in a rectangular shape and are arranged along the vertical direction.
The transmission mechanism comprises a guide rail and a sliding block, the sliding block is slidably arranged on the guide rail, and the sliding block is respectively connected with the driving mechanism and the clamping jaw.
The driving mechanism comprises a second air cylinder unit, and a moving end of the second air cylinder unit is connected with the sliding block.
The pneumatic control system further comprises an electromagnetic valve, wherein the electromagnetic valve is respectively connected with the first air cylinder unit and the second air cylinder unit and used for controlling the first air cylinder unit and the second air cylinder unit to work and stop.
The utility model also discloses a module grasping system, including arm, image acquisition and recognition device and if the utility model discloses a module grasping device, the arm is fixed in module grasping device's top, image acquisition and recognition device are fixed in on the support, and with the arm is connected.
The device also comprises a distance measuring sensor, wherein the distance measuring sensor is fixed on the support and connected with the mechanical arm.
(III) advantageous effects
The embodiment of the utility model provides a module grabbing device, through setting up horizontal location portion, correspond to insert in the mounting hole of module, through setting up vertical location portion, correspond and closely cooperate with module both sides end plate aperture for the clamping jaw pinpoints and snatchs the module, have the function of snatching antiskid and mistake proofing;
the embodiment of the utility model provides a still provide a module grasping system, shoot module relevant information through image acquisition and recognition device to control arm drives module grabbing device, realizes accurate snatching and places the module.
Drawings
FIG. 1 is a schematic structural diagram of a module tooling gripper in the prior art;
fig. 2 is a three-dimensional view of a module gripping device according to an embodiment of the present invention;
fig. 3 is a front view of a module gripping device according to an embodiment of the present invention;
fig. 4 is a left side view of a module gripping device according to an embodiment of the present invention;
fig. 5 is a top view of a module grabbing device according to an embodiment of the present invention.
Reference numerals:
1: a clamping jaw; 2: a vertical positioning part; 3: a horizontal positioning section; 4: a first cylinder unit; 5: a second cylinder unit; 6: an electromagnetic valve; 7: a substrate; 8: a slider; 9: a ranging sensor; 10: a lower pressure head; 11: a camera; 12: and connecting the flanges.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 2 to 5, the embodiment of the utility model discloses a module grabbing device, include: the clamping mechanism, the transmission mechanism and the driving mechanism are arranged on the support.
Wherein, the bottom of the bracket is provided with a base plate 7, and the lower end of the base plate 7 is provided with a horizontal positioning part 3; the clamping mechanism comprises a clamping jaw 1, and a vertical positioning part 2 is arranged at the bottom end of the clamping jaw 1; the driving mechanism is connected with the top end of the clamping jaw 1 through a transmission mechanism and is used for driving the clamping jaw 1 to move towards or away from each other.
Specifically, the support in this embodiment functions as a main body support, and the gripping mechanism, the transmission mechanism, the driving mechanism, and the like are all mounted on the support.
The clamping jaw 1 of the clamping mechanism is used for clamping a module and is provided with two single bodies, the clamping or releasing is realized by adjusting the distance between the two single bodies, and the driving mechanism drives the transmission mechanism to move so that the clamping jaw 1 moves oppositely or reversely, so that the module is clamped or released.
Further, the horizontal positioning part 3 at the lower end of the substrate 7 is a vertically arranged positioning part, and the positioning part is specifically four positioning screws, positioning columns or positioning pins which are distributed in a rectangular shape and are arranged along the vertical direction, and the positioning screws, the positioning columns or the positioning pins are correspondingly inserted into the mounting holes of the module, so that the module is fixed in the horizontal direction.
The vertical positioning part 2 at the bottom end of the clamping jaw 1 is a positioning part horizontally arranged, specifically a positioning screw, a positioning column or a positioning pin horizontally arranged, and is closely matched with small holes of end plates at two sides of the module. Through the positioning function of horizontal positioning portion 3 and vertical positioning portion 2, the module has been realized that the clamping jaw is got in-process antiskid, mistake proofing function.
Wherein, the module grabbing device of this embodiment still includes pushing down the mechanism, and pushing down the mechanism and including first cylinder unit 4 and lower pressure head 10, first cylinder unit 4 is fixed in the support, and the motion end and the lower pressure head 10 of first cylinder unit 4 are connected for the drive is pushed down pressure head 10 and is followed vertical direction and is moved. Specifically, lower pressure head 10 in this embodiment can adopt the rubber material to make, pressure head 10 up-and-down motion under the drive of first cylinder unit 4, when needs place the module in the assigned position, control actuating mechanism earlier and drive mechanism and make and carry and loosen, and control the piston motion in first cylinder unit 4, and drive pressure head 10 rapid downstream down, make this module grabbing device break away from with the module rapidly, drive the module when avoiding horizontal positioning portion 3 to break away from the module and cause the offset, the module risks such as drop. The first cylinder unit 4 in this embodiment includes a cylinder, a piston rod, and a push plate, and the piston moves in the cylinder and is converted into mechanical energy of the push plate, so that the push plate drives the lower pressure head 10 to move up and down, and further the substrate 7 is separated from the module.
Wherein, drive mechanism includes guide rail and slider 8, and slider 8 slidable sets up on the guide rail, and slider 8 is connected with actuating mechanism and clamping jaw 1 respectively. The driving mechanism comprises a second cylinder unit 5, and the moving end of the second cylinder unit 5 is connected with the sliding block 8. The second cylinder unit in this embodiment includes cylinder, piston rod and push pedal, and the piston motion converts the mechanical energy of push pedal into in the cylinder, makes the push pedal drive slider 8 and slides from side to side on the guide rail, and then drives clamping jaw 1 and remove in opposite directions or opposite directions, and then grasps or releases the module.
Wherein, the module grabbing device of this embodiment still includes solenoid valve 6, and solenoid valve 6 is connected with first cylinder unit 4 and second cylinder unit 5 respectively for the work of control first cylinder unit 4 and second cylinder unit 5 and stop. In the present embodiment, the movement and stop of the pistons in the first cylinder unit 4 and the second cylinder unit 5 are controlled by the solenoid valve 6 to control the movement and stop of the clamping jaw 1 and the lower press head 10.
The embodiment of the utility model provides a still disclose a module grasping system, including arm, image acquisition and recognition device and if the utility model discloses the module grasping device, the arm is fixed in module grasping device's top, and image acquisition and recognition device are fixed in on the support, and are connected with the arm.
In particular, the robot arm is connected to the module gripping device via a connecting flange 12 at the top of the module gripping device.
The embodiment also utilizes the controller to receive the module image of the image acquisition and recognition device and control the mechanical arm to move. The image acquisition and recognition device can adopt the camera 11 to acquire the images of the module mounting holes, the master-slave module, the module bar codes and the positive and negative electrodes, and judge the images through an image recognition technology, and the controller controls the motion of the mechanical arm according to the recognized images.
When the module mounting hole is identified, the module mounting hole can be identified due to different textures of the module mounting hole and the surrounding of the module mounting hole, for example, in the existing patent, "a target tracking method of a binocular vision-based live working robot", with the application number of CN201710204543.9, a color texture fusion characteristic description target area is disclosed, and a camera is used for acquiring a mechanical arm operation scene image and sending the operation scene image to a data processing and control system; and the data processing and control system generates a 3D virtual operation scene or plans a mechanical arm space path according to the operation scene image.
When the master module and the slave module are identified, the master module can identify the M character and the slave module can identify the S character, so that the judgment can be carried out by a character identification technology. When identifying the module bar code, the judgment can be made according to the bar code identification technology. When the positive and negative electrodes are identified, the positive and negative electrodes can be identified by the aid of the + marks and the-marks on the positive and negative electrodes through a character identification technology.
Wherein, still include range sensor 9, range sensor 9 is fixed in on the support, and is connected with the arm. In this embodiment, the controller controls the motion of the robot arm according to the distance between the module grabbing system and the module measured by the distance measuring sensor 9, which is the prior art, for example, the prior patent "visual servo robot based on image uncalibrated and control method thereof", application number CN201610901571.1, can complete grabbing of the target according to the distance between the robot arm and the target measured by the distance sensor. Therefore, it can be known that the robot arm is controlled to grasp according to the distance judgment.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A module grabbing device, its characterized in that includes: the clamping mechanism, the transmission mechanism and the driving mechanism are arranged on the support; wherein the content of the first and second substances,
the bottom of the bracket is provided with a base plate, and the lower end of the base plate is provided with a horizontal positioning part;
the clamping mechanism comprises a clamping jaw, and a vertical positioning part is arranged at the bottom end of the clamping jaw;
the driving mechanism is connected with the top end of the clamping jaw through the transmission mechanism and is used for driving the clamping jaw to move oppositely or oppositely.
2. The module grabbing device according to claim 1, further comprising a pressing mechanism, wherein the pressing mechanism comprises a first cylinder unit and a pressing head, the first cylinder unit is fixed on the support, and a moving end of the first cylinder unit is connected with the pressing head for driving the pressing head to move in a vertical direction.
3. The module grabbing device of claim 1, wherein the vertical positioning part is a positioning screw, a positioning column or a positioning pin arranged along a horizontal direction.
4. The module grabbing device of claim 1, wherein the horizontal positioning part comprises four positioning screws, positioning columns or positioning pins which are distributed in a rectangular shape and are arranged in the vertical direction.
5. The module gripping device of claim 2, wherein the transmission mechanism includes a rail and a slider, the slider being slidably disposed on the rail, and the slider being connected to the driving mechanism and the jaw, respectively.
6. The module grabbing device according to claim 5, wherein the driving mechanism comprises a second cylinder unit, and a moving end of the second cylinder unit is connected with the sliding block.
7. The module grabbing device according to claim 6, further comprising solenoid valves respectively connected with the first cylinder unit and the second cylinder unit for controlling the operation and stop of the first cylinder unit and the second cylinder unit.
8. A modular gripping system, comprising a robot arm, an image capture and recognition device and a modular gripping device according to any of claims 1 to 7, the robot arm being secured to the top of the modular gripping device, the image capture and recognition device being secured to the support and connected to the robot arm.
9. The module grasping system according to claim 8, further comprising a ranging sensor fixed to the bracket and coupled to the robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922024979.7U CN211164003U (en) | 2019-11-21 | 2019-11-21 | Module grabbing device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922024979.7U CN211164003U (en) | 2019-11-21 | 2019-11-21 | Module grabbing device and system |
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| CN211164003U true CN211164003U (en) | 2020-08-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676808A (en) * | 2020-12-15 | 2021-04-20 | 深圳德龙激光智能有限公司 | Mechanism and method for grabbing frame by quasi-module |
| CN115351584A (en) * | 2022-08-31 | 2022-11-18 | 珞璜(重庆)机器人有限公司 | Automatic cylinder head machining system |
| CN116000908A (en) * | 2023-03-24 | 2023-04-25 | 中科摩通(常州)智能制造股份有限公司 | Gripping device and gripping method based on new energy battery production |
-
2019
- 2019-11-21 CN CN201922024979.7U patent/CN211164003U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676808A (en) * | 2020-12-15 | 2021-04-20 | 深圳德龙激光智能有限公司 | Mechanism and method for grabbing frame by quasi-module |
| CN115351584A (en) * | 2022-08-31 | 2022-11-18 | 珞璜(重庆)机器人有限公司 | Automatic cylinder head machining system |
| CN116000908A (en) * | 2023-03-24 | 2023-04-25 | 中科摩通(常州)智能制造股份有限公司 | Gripping device and gripping method based on new energy battery production |
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