CN110053962A - A kind of Self adapting fixture of battery modules - Google Patents
A kind of Self adapting fixture of battery modules Download PDFInfo
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- CN110053962A CN110053962A CN201910314201.1A CN201910314201A CN110053962A CN 110053962 A CN110053962 A CN 110053962A CN 201910314201 A CN201910314201 A CN 201910314201A CN 110053962 A CN110053962 A CN 110053962A
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- clamping jaw
- nut
- support
- support base
- support plate
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- 230000008859 change Effects 0.000 claims abstract description 42
- 230000003139 buffering effect Effects 0.000 claims description 40
- 238000000034 method Methods 0.000 abstract description 20
- 230000008569 process Effects 0.000 abstract description 18
- 208000012788 shakes Diseases 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 17
- 238000001514 detection method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 239000000872 buffer Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 238000000354 decomposition reaction Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
- H01M10/0404—Machines for assembling batteries
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of Self adapting fixtures of battery modules, including robot quick change female, further include clamping jaw support base and set of jaws；The robot quick change female can be slidably connected to the clamping jaw support base, and the set of jaws can be slidably connected to the clamping jaw support base.Self adapting fixture of the present invention is mounted in robot, during being grabbed, carrying battery modules, by the way that the robot quick change female and clamping jaw support base are slidably connected, it is buffered, the vibration in robot handling process is absorbed, to reach flexible connection, improves the stationarity of crawl or handling process, and it can prevent original rigid connection from there is the risk of shake bad components, to improve safety.
Description
[technical field]
The present invention relates to the battery assembly equipment technical fields of new-energy automobile, electric bicycle or battery-operated motor cycle, special
It is not a kind of Self adapting fixture of battery modules.
[background technique]
In new-energy automobile, electric bicycle or battery-operated motor cycle field, battery modules will be assembled into battery pack as new
Energy source and power uses.On battery pack assembling line, need to be carried to battery modules on battery pack cabinet.It is often used at present
Semi-automatic fixture is clamped, lifting, the movement such as translation is this by manually using tooling by manually being grabbed using tooling
Mode there are inefficiency, the shortcomings that risk is high and low precision.
Therefore, Chinese Patent Application No. 201710366093.3, publication No. 106981678A, the day for announcing be
2017.07.25, a kind of handgrip fixture for power battery module cartonning, including robot quick change female, branch are specifically disclosed
Fagging, the first driving cylinder, the second driving cylinder and size detection plate etc., can cooperate handgrip fixture using industrial robot
Mould group is grabbed, to improve work efficiency, risk is reduced, improves operating accuracy.But there is also following
Disadvantage: (1) it, since robot in work be itself there is vibration, and in crawl moving process there is also vibration or shake, and grabs
Hand fixture and robot are non-flexible connections, can not buffer or absorb these vibrations, so that crawl and placement movement are inadequate
Steadily, crawl risk is big；(2), it is detected using size detection plate, not enough precisely, crawl mould group identification error is big, and precision is also
It is not high enough；(3), it is driven and is linked up with using cylinder, adjustable range is small, and versatility is low, and position degree of regulation is low, and for difference
Battery modules, need to readjust the travel switch of cylinder to adjust the position of hook, it is inconvenient to adjust；(4), fixture is walked
Line is exposed, and occupied space is big, and structure is not compact, and Yi Yinmo group or remaining workpiece, which link, in use process produces fixture cable itself
The raw risk for loosening or linking workpiece or mould group.
[summary of the invention]
To overcome defect existing for existing equipment, the invention reside in a kind of Self adapting fixture of battery modules is provided, have
Buffering, incabloc function, the position of clamping jaw is adjustable, adapts to different mould groups, and use scope is wide, and the degree of regulation of clamping jaw is more
It is high.
The present invention is implemented as follows: a kind of Self adapting fixture of battery modules, including robot quick change female, further include
Clamping jaw support base and set of jaws；The robot quick change female can be slidably connected to the clamping jaw support base, the clamping jaw
Group can be slidably connected to the clamping jaw support base.
Further, the robot quick change female can be connected to the clamping jaw support base slidingly back and forth.
Further, the robot quick change female can also slidingly be connected to the clamping jaw support base.
It further, further include the first support plate and the second support plate；The robot quick change female is mounted on described
In one support plate, first support plate is connected to second support plate by the first sliding block and the first sliding rail, and described second
Support plate is connected to the clamping jaw support base by the second sliding block and the second sliding rail.
It further, further include connector, first sliding block and the first sliding rail are in described in anterior-posterior horizontal direction is arranged in
Between first support plate and the second support plate；Second sliding block and the second sliding rail are in that left and right horizontal direction is arranged in described first
Between support plate and the second support plate, and second sliding block is fixedly connected on the clamping jaw support base by the connector.
Further, the front and rear sides of first support plate are at least disposed with a first buffering group respectively, and described
First support plate per the first buffering group with second support plate by being flexibly connected；A left side for second support plate
Right two sides are at least disposed with a second buffering group respectively, and second support plate pass through it is per the second buffering group and described
Clamping jaw support base is flexibly connected.
It further, include the first fixing seat, the first bolt and the first spring per the first buffering group；Described first
The front and rear sides of fagging offer the first counterbore respectively, and first counterbore and the first bolt correspond, and described first is fixed
Seat is fixedly connected in second support plate, and first bolt is threadingly attached to first fixing seat, and described
First bolt also sequentially passes through first fixing seat, the first spring is extended back into first counterbore, first spring point
First support plate and first fixing seat are not resisted；
It include the second fixing seat, the second bolt and second spring per the second buffering group；Before second support plate
Two sides offer the second counterbore respectively afterwards, and second counterbore and the second bolt correspond, and second fixing seat is fixed to be connected
It is connected on the clamping jaw support base, second bolt is threadingly attached to second fixing seat, and second bolt
Also sequentially pass through second fixing seat, second spring is extended back into second counterbore, the second spring is respectively held against institute
State the second support plate and second fixing seat.
It further, further include cylinder, lock pin and the first bushing；First bushing is mounted on the clamping jaw support base
On；The cylinder is mounted in first support plate, and the piston rod of the cylinder passes through first support plate and vertical
Downwards；The lock pin is vertically installed on the piston rod of the cylinder, and the lock pin is stretched with the piston rod of the cylinder
After out, the inner hole of first bushing is put in.
Further, the set of jaws includes the first clamping jaw module, the second clamping jaw module and for detecting whether has electricity
The sensor of Chi Mo group and clamping height；First clamping jaw module and the second clamping jaw module respectively it is slidable be connected to it is described
The bottom surface of clamping jaw support base, and first clamping jaw module and the second clamping jaw module arranged for interval；The sensor is mounted on institute
State the bottom surface of clamping jaw support base.
Further, first clamping jaw module include the first clamping jaw, the first driving motor, the first screw rod, the first nut,
For detecting the first position sensor, the second clamping jaw, the second driving motor, of the spacing of first nut and the second nut
Two screw rods, the second nut, third guide rail, third sliding block and Four-slider；The third guide rail is mounted on the clamping jaw support
The bottom surface of seat；First screw rod and the second screw rod are parallel and are erected at the bottom surface of the clamping jaw support base with being able to rotate, and institute
It is parallel with the third guide rail to state the first screw rod；First screw rod is connected to first driving motor by belt and belt wheel
Output shaft；Second screw rod is connected to the output shaft of second driving motor by belt and belt wheel, and described first drives
Dynamic motor and the second driving motor are mounted on the clamping jaw support base；First nut is connected to first screw rod, institute
It states the first nut and the third guide rail is connected to by the third sliding block, first clamping jaw is fixedly connected on first spiral shell
Mother, the first position sensor are fixedly connected on first nut；Second nut is connected to second screw rod, institute
It states the second nut and the third guide rail is connected to by the Four-slider, second clamping jaw is fixedly connected on second spiral shell
It is female；
Second clamping jaw module include third clamping jaw, the 4th clamping jaw, third driving motor, third screw rod, third nut,
4th nut, the 4th guide rail, the 5th sliding block and the 6th sliding block；The third screw rod includes the first threaded portion, intermediate polished rod portion
And second threaded portion, first threaded portion and second threaded portion are arranged symmetrically with the intermediate polished rod portion, and the two
Screw thread reversed arrangement；4th guide rail is mounted on the bottom surface of the clamping jaw support base；The third screw rod is able to rotate ground frame
It is located at the bottom surface of the clamping jaw support base, and the third screw rod, the 4th guide rail, the first screw rod three are parallel to each other, described
Three screw rods also pass through belt and belt wheel is connected to the output shaft of the third driving motor, and the third driving motor is mounted on institute
It states on clamping jaw support base；The third nut and the 4th nut are connected respectively in first threaded portion and the second screw thread
Portion；The third nut is connected to the 4th guide rail by the 5th sliding block；4th nut is sliding by the described 6th
Block is connected to the 4th guide rail.
It further, further include the first flexible router module and the second flexible router module；Described first flexible cabling mould
Block includes the first hose, the second hose, the first grab, the second grab, first support bar and second support bar；Described first
Strut and second support bar are respectively and fixedly installed to the bottom surface of the clamping jaw support base, and the first support bar, the second support
Bar and the first screw rod parallel arrangement；First hose is mounted in the shape of a spiral in the first support bar；First nut
It is slidably connected to the first support bar by the first grab, and the cable of the first position sensor blocks from described first
Hook and the adjacent position of the first hose penetrate in the first hose, and are pierced by from the Single port of first hose；Described second is soft
Pipe is mounted in the shape of a spiral in the second support bar；Second nut is slidably connected to described second by the second grab
Strut,；
Described second flexible router module includes third hose, the 4th hose, third grab, the 4th grab, third support
Bar and the 4th support rod；The third support rod and the 4th support rod are respectively and fixedly installed to the bottom of the clamping jaw support base
Face, and the third support rod, the 4th support rod and third screw rod parallel arrangement；The third hose is mounted on institute in the shape of a spiral
It states on third support rod；The third nut is slidably connected to the third support rod by third grab；4th hose
It is mounted on the 4th support rod in the shape of a spiral；4th nut is slidably connected to the 4th support by the 4th grab
Bar.
The present invention has the advantages that the present invention provides a kind of Self adapting fixture of battery modules, including robot quick change mother
Head further includes clamping jaw support base and set of jaws；The robot quick change female can be slidably connected to the clamping jaw support base,
The set of jaws can be slidably connected to the clamping jaw support base.Self adapting fixture of the present invention is mounted on robot
On, during being grabbed, carrying battery modules, by the way that the robot quick change female and clamping jaw support base are slided
Dynamic connection, is buffered, and the vibration in robot handling process is absorbed, to reach flexible connection, improve crawl or carry
The stationarity of journey, and can prevent original rigid connection from there is the risk for shaking bad components, to improve safety.
[Detailed description of the invention]
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the perspective view one of Self adapting fixture of the present invention.
Fig. 2 is the decomposition diagram of robot quick change female of the present invention, clamping jaw support base.
Fig. 3 is the perspective view two of Self adapting fixture of the present invention.
Fig. 4 is the perspective view three of Self adapting fixture of the present invention.
Fig. 5 is the decomposition of the robotic vision module, ring flange, vision shield, quick change male connector of the embodiment of the present invention
Schematic diagram.
Fig. 6 is the decomposition diagram that Self adapting fixture of the present invention is connected with robot.
Fig. 7 is an embodiment of the modes of emplacement of Self adapting fixture of the present invention.
Fig. 8 is the perspective view of apparatus for placing of the present invention.
Fig. 9 is the embodiment one of battery modules of the present invention.
Figure 10 is the embodiment two of battery modules of the present invention.
Figure 11 is the partial schematic diagram that cable of the present invention penetrates the first hose.
In figure: 100, Self adapting fixture, 1, robot quick change female, 2, clamping jaw support base, the 21, first bushing, 211, interior
Hole, 3, set of jaws, the 31, first clamping jaw module, the 311, first clamping jaw, 3111, third sliding block, 3112, third guide rail, 3113,
Four-slider, the 312, first driving motor, the 313, first screw rod, the 314, first nut, 315, first position sensor, 316, second
Clamping jaw, the 317, second driving motor, the 318, second screw rod, the 319, second nut, the 32, second clamping jaw module, 321, third clamping jaw,
322, third nut, 323, third screw rod, the 3231, first threaded portion, 3232, intermediate polished rod portion, the 3233, second threaded portion,
324, third driving motor, the 325, the 4th clamping jaw, the 326, the 4th nut, the 327, the 5th sliding block, the 328, the 6th sliding block, the 329, the 4th
Guide rail, 33, sensor, the 34, first flexible router module, the 341, first hose, 342, first support bar, the 343, first grab,
344, the second hose, 345, second support bar, the 346, second grab, the 35, second flexible router module, 351, third hose,
352, third support rod, 353, third grab, the 354, the 4th hose, the 355, the 4th support rod, the 356, the 4th grab, 4, first
Fagging, the 41, first counterbore, the 5, second support plate, the 51, second counterbore, the 6, first sliding block, the 7, first sliding rail, the 8, second sliding block, 9,
Second sliding rail, 10, connector, the 20, first buffering group, the 201, first fixing seat, the 202, first bolt, the 203, first spring, 30,
Second buffering group, the 301, second fixing seat, the 302, second bolt, 303, second spring, the 40, second bushing, 50, cylinder, 60, lock
Shotpin, 70, second position sensor, 80, the third place sensor, the 90, the 4th position sensor, 200, another fixture, 300,
Robot, 3001, vision shield, 3002, ring flange, 3003, vision module, 3004, quick change male connector, 400, apparatus for placing,
4001, limit pin shaft, 4002, lip block, 4003, support plate, 4004, support frame, 500, lifting fixed pin, 600, battery mould
Group, 601, hole for hoist, 700, cable.
[specific embodiment]
It please refers to shown in Fig. 1 to 11, the present invention provides a kind of Self adapting fixture 100 of battery modules, including robot is fast
Female 1 is changed, further includes clamping jaw support base 2 and set of jaws 3；The robot quick change female 1 can be slidably connected to the folder
Pawl support base 2, the set of jaws 3 can be slidably connected to the clamping jaw support base 2.When in use, by it is of the present invention from
In the quick change male connector for adapting to the arm that fixture 100 is mounted on robot by the robot quick change female 1, grabbed,
During carrying battery modules 600, by the way that the robot quick change female 1 and clamping jaw support base 2 are slidably connected, into
Row buffering absorbs the vibration in robot handling process, to reach flexible connection, improve grab or handling process it is steady
Property, and can prevent original rigid connection from there is the risk for shaking bad components, to improve safety.Machine is artificially existing to be set
It is standby, for example, model KUKA KR210R2700, by operation instructions wiring.
In a specific embodiment, the robot quick change female 1 can be connected to the clamping jaw support base slidingly back and forth
2, it absorbs and shakes in front-rear direction by sliding back and forth, buffered, improve the stability and peace of crawl or handling process
Quan Xing.
In another embodiment, the robot quick change female 1 can be connected to the clamping jaw support base 2 slidingly back and forth,
The robot quick change female 1 can also slidingly be connected to the clamping jaw support base 2, be existed by robot quick change female 1
Front-rear direction and left and right directions sliding are buffered, and shock-proof effect is compared to only in the square upward sliding in back and forth or left and right one, effect
Fruit is more preferable.
It further include the first support plate 4 and the second support plate 5 in a specific embodiment；The robot quick change female 1 is pacified
In first support plate 4, first support plate 4 is connected to described second by the first sliding block 6 and the first sliding rail 7
Fagging 5 slides back and forth to realize, second support plate 5 is connected to the clamping jaw by the second sliding block 8 and the second sliding rail 9
Support base 2 horizontally slips to realize.Certainly, realize that the mode of sliding is not limited only to sliding block and sliding rail cooperation, such as other
In embodiment, sliding block and sliding slot, or other sliding type connections can also be passed through.
It further include connector 10, first sliding block 6 and the first sliding rail 7 are in that anterior-posterior horizontal direction is arranged in described first
Between fagging 4 and the second support plate 5, for example, first sliding block 6 is fixedly connected on institute in the embodiment provided in the accompanying drawings
The bottom surface of the first support plate 4 is stated, first sliding rail 7 is fixedly connected in second support plate 5, certainly in other embodiments
In the position of the first sliding block 6 and the first sliding rail 7 can also exchange or the first sliding block 6 and the first sliding rail 7 be arranged in side can also
To be slid back and forth as long as can be realized；Second sliding block 8 and the second sliding rail 9 are arranged in described in left and right horizontal direction
Between first support plate 4 and the second support plate 5, and second sliding block 8 is fixedly connected on the folder by the connector 10
Pawl support base 5, the embodiment provided in attached drawing of the present invention, the connector 10 are L-type, and the connector, which rises, is fixedly connected with the
The effect of two sliding blocks 8 and clamping jaw support base 5, the connector can be designed to other shapes, be not limited in attached drawing offer
Embodiment, second sliding block 8, first support plate 4 of getting along well has connection, and second sliding rail 8 is fixedly mounted on described
In two support plates 5, so that the second sliding block 8 and clamping jaw support base 5 are remain stationary, and 9 phase of the second sliding rail when horizontally slipping
Second sliding block 8 is slid left and right, to realize buffering in the lateral direction, incabloc function.Why the present invention is by institute
State the first sliding block 6, the first sliding rail 7, the second sliding block 8, the second sliding rail 9 be simutaneously arranged the first support plate 4 and the second support plate 5 it
Between, be because be arranged so the center of gravity that can reduce by the 1 opposing fingers support base 5 of robot quick change female so that
Horizontally slip or slide back and forth buffered, shock-absorbing when, will not because of robot quick change female 1 center of gravity it is excessively high, before reduction
The risk inclined, thus stability when guaranteeing buffering, shock-absorbing.Certainly in other embodiments, first sliding block 6, first is sliding
Rail 7, the second sliding block 8, the second sliding rail 9 can also have other arrangements, such as first sliding block 6, the first sliding rail 7 arrangement
Between first support plate 4 and the second support plate 5, second sliding block 8, the second sliding rail 9 are arranged in second support
Between plate 5 and clamping jaw support base 2, but the center of gravity of robot quick change female 1 in this way is compared to the implementation that attached drawing of the present invention provides
Regular meeting is higher, or setting is ok in side.On the other hand, the embodiment that attached drawing provides, first sliding block 6, first are sliding
Rail 7, the second sliding block 8, the second sliding rail 9, connector 10 respectively there are two, be respectively arranged symmetrically so that movement it is more stable, smart
Really.
The front and rear sides of first support plate 4 are at least disposed with a first buffering group 20, and described first respectively
Fagging 4, which passes through, to be flexibly connected per the first buffering group 20 with second support plate 5, and the first buffering group 20 is passed through
Limiting buffer is carried out in the front and rear sides of first support plate 4, to absorb crawl or carry the shake of 600 process of battery modules
It is dynamic, it avoids buffering course from generating new impact, realizes that entire buffering course is flexible motion；Similarly, second support plate 5
The left and right sides is at least disposed with a second buffering group 30 respectively, and second support plate 5 passes through per the second buffering group
30 and the clamping jaw support base 5 be flexibly connected, so that the sliding to left and right directions buffers, realization entirely horizontally slips
For flexible operation.The embodiment provided in attached drawing of the present invention, the first buffering group 20 and the second buffering group 30 have two respectively
It is a, it is arranged in diagonal line, so that it is more compact-sized, without increasing the volume of second support plate 5.
It include the first fixing seat 201, the first bolt 202 and the first spring 203 per the first buffering group 20；Described first
The front and rear sides of support plate 4 offer the first counterbore 41 respectively, and first counterbore 41 and the first bolt 202 correspond, institute
It states the first fixing seat 201 to be fixedly connected in second support plate 5, first bolt 202 is threadingly attached to described
First fixing seat 201, and first bolt 202 also sequentially passes through first fixing seat 201, the first spring 203 extend back into
In first counterbore 41, first spring 203 is respectively held against first support plate 4 and first fixing seat 201, rises
Buffering, the effect resetted, to guarantee to reset after buffering, it is ensured that the accuracy of movement；
It include the second fixing seat 301, the second bolt 302 and second spring 303 per the second buffering group 30；Described second
The front and rear sides of support plate 5 offer the second counterbore 51 respectively, and second counterbore 51 and the second bolt 302 correspond, institute
It states the second fixing seat 301 to be fixedly connected on the clamping jaw support base 2, second bolt 302 is threadingly attached to described
Second fixing seat 301, and second bolt 302 also sequentially passes through second fixing seat 301, second spring 303 extend back into
In second counterbore 51, the second spring 303 is respectively held against second support plate 5 and second fixing seat 301, rises
Buffering and reset response guarantee the accuracy of movement.Certainly, the first buffering group 20 and the second buffering group 30 can use it
Its elastic material substitutes, and only needs to play buffering and reset response.The present invention uses the combination of spring and bolt, first is that taking
Material is convenient, at low cost, while facilitating maintenance, after spring breaking down, only need to screw out corresponding bolt, the spring more renewed,
It is easy to maintenance, and maintenance cost is low.
It in another embodiment, further include cylinder 50, lock pin 60 and the first bushing 21；First bushing 21 is mounted on
On the clamping jaw support base 2；The cylinder 50 is mounted in first support plate 4, and the piston rod of the cylinder 50 passes through
First support plate 4 and straight down；The lock pin 60 is vertically installed on the piston rod of the cylinder 50, thus by institute
Cylinder 50 is stated to drive the lock pin 60 to carry out stretching motion up and down, cylinder 50 need to be only electrically connected to the control system of robot
After system, can be realized and carried out automatically controlling by robot, and the lock pin 60 is stretched out with the piston rod of the cylinder 50, put in
The inner hole of first bushing 21, to drive lock pin 60 by first support plate 4 and clamping jaw support base 2 by cylinder 50
It further limited, fixed, while playing Auxiliary support or hanging, it is ensured that battery modules 600 are carried in crawl
The safety of process, because in the process for grabbing or carrying battery modules 600, the movement of the arm of robot may rotate,
Or inclination, at this point, the weight of entire battery modules 600 and the weight of the Self adapting fixture agree meeting due to tilting or revolving
Turn, the first buffering group 20 or the support of the second buffering group 30 of side can only be leaned on, be easy to cause unbalance stress in this way, and suffered
Power can exceed that the elastic limit of spring, to cause the risk of spring failure, therefore, drive lock pin by the cylinder 50
60 carry out auxiliary stopper, support, play the function of Auxiliary support or auxiliary hanging, reduce the pressure or pulling force to spring, thus
Ensure crawl or the safety of handling process, the service life of spring can also be extended.Specifically used mode, when the set of jaws
After 3 have grabbed battery modules 600, the control system of robot controls cylinder 50, stretches out the piston rod of cylinder 50, and then drive
Lock pin 60 is inserted into the inner hole of first bushing 21, and first support plate 4 and clamping jaw support base 5 are limited, electricity is worked as
Chi Mo group 600 is transported to appointed place, and after set of jaws 3 unclamps battery modules 600, the control system of robot controls cylinder 50,
It retracts the piston rod of cylinder 50 to reset, whole process, which is realized, to be automatically controlled.It certainly in other embodiments, can also be straight
It connects and opens up limit hole on the clamping jaw support base and the lock pin 60 is cooperated, without installing first bushing
21, but in this case, limit hole is prone to wear after a period of use, after abrasion to a certain extent limit hole failure, only
Entire clamping jaw support base 2 can be replaced, such maintenance cost is high, and the present invention is using increasing by first bushing 21, can be the
After wear-out failure occurs for the inner hole of one bushing 21, the first bushing 21 is only needed to change, maintenance cost substantially reduces.
The set of jaws 3 includes the first clamping jaw module 31, the second clamping jaw module 32 and for detecting whether has battery mould
The sensor 33 of group 600 and clamping height；First clamping jaw module 31 and the second clamping jaw module 32 distinguish slidable connection
In the bottom surface of the clamping jaw support base 5, so that set of jaws 3 can grab various sizes of battery modules 600, use scope
Extensively, and 32 arranged for interval of first clamping jaw module 31 and the second clamping jaw module；The sensor 33 is mounted on the clamping jaw branch
The bottom surface of seat 2 is supportted, in a specific embodiment, the sensor 33 can use photoelectric sensor.In specific implementation, it will pass
The control system that sensor 33 is connected to robot is controlled by it, and the first clamping jaw module 31 and the second clamping jaw module 32 also connect
It is connected to the control system of robot, is controlled by it, when the set of jaws 3 docks crawl battery modules 600, is passed through
The sensor 33 has first detected whether battery modules 600, and signal is fed back to the control system of robot, when not detecting
When having battery modules 600, the arm of robot is without movement；After having detected battery modules 600, control system controls machine
The arm of device people is moved by the motion profile being previously set, and controls the first clamping jaw module 31 and the second clamping jaw module 32
It is moved, is docked by the track set in advance, and by the clamping height of the 33 real-time detection set of jaws 3 of sensor,
When the height detected is consistent with the height being previously set, then show to grab successfully, robot is moved, by battery mould
Group 600 is transported to specified place, and to after designated place, control system controls the first clamping jaw module 31 and the second clamping jaw module 32
Folder is moved back, and controls the arm of robot far from battery modules 600, the next battery modules of control system control robot progress
600 carrying.
First clamping jaw module 31 includes the first clamping jaw 311, the first driving motor 312, the first screw rod 313, the first spiral shell
Mother 314, the first position sensor 315 of spacing for detecting first nut 314 and the second nut, the second clamping jaw 316,
Second driving motor 317, the second screw rod 318, the second nut 319, third guide rail 3112, third sliding block 3111 and Four-slider
3113；The third guide rail 3112 is mounted on the bottom surface of the clamping jaw support base 2；First screw rod 313 and the second screw rod 318
Parallel and be erected at the clamping jaw support base 2 with being able to rotate bottom surface, and first screw rod 313 and the third guide rail 3112
In parallel；In the embodiment that attached drawing provides, first screw rod 313 is connected to first driving motor by belt and belt wheel
312 output shaft；Second screw rod 318 is connected to the output shaft of second driving motor 317, institute by belt and belt wheel
It states the first driving motor 313 and the second driving motor 317 is mounted on the clamping jaw support base 2, may be used also in other embodiments
To there is other arrangements, effect is to respectively correspond control first by the first driving motor 313 and the second driving motor 317
Clamping jaw 311 and the respective self-movement of the second clamping jaw 316, thus realize that the position of the first clamping jaw 311 and the second clamping jaw 316 is adjustable,
And eccentric adjusting may be implemented, adjustable range is wider, to adapt to different battery modules 600；First nut 314 connects
It is connected to first screw rod 313, first nut 314 is connected to the third guide rail by the third sliding block 3111
3112, first clamping jaw 311 is fixedly connected on first nut 314, to be driven by first driving motor 312
The movement of first screw rod 313, and then the rotation of the first nut 314 is driven, it is final that the first clamping jaw 311 is driven to move along a straight line, it adjusts
The position of first clamping jaw 311, the first position sensor are fixedly connected on first nut 314, for detecting the first folder
Pawl 311 and the direct spacing of the second clamping jaw 316 prevent the two from colliding when opposite close, play safety protection function；It is described
Second nut 319 is connected to second screw rod 318, and second nut 319 is connected to institute by the Four-slider 3113
Third guide rail 3112 is stated, second clamping jaw 316 is fixedly connected on second nut 319, to drive by described second
Motor 317 drives the movement of the second screw rod 318, and then drives the rotation of the second nut 319, final that the second clamping jaw 316 is driven to carry out directly
Line movement, adjusts the position of the second clamping jaw 316.The present invention is by carrying out respective independence for the first clamping jaw 311 and the second clamping jaw 316
Control, makes it possible to achieve position eccentric adjusting, to increase the spacing and position adjustable range of two clamping jaws, and passes through the
One screw rod 313 and the first nut 314 form feed screw nut pair, control compared to using cylinder, degree of regulation of the invention is more
Height, it is more accurate in the position adjusting of crawl process, so that crawl is more stable, safety, and similarly, the second screw rod 318 and the second nut
319 also functions having the same.In specific implementation, the position of the first clamping jaw 311 passes through the first screw rod 311 and the first nut
Whether in place the ballscrew nut fittings of 314 compositions included second position sensors 70 detects its position, the second clamping jaw 316
The included the third place sensor 80 of the ballscrew nut fitting that is made up of the second screw rod 318 and the second nut 319 of position
Whether in place to detect its position, the first driving motor 312, the second driving motor 317, the first screw rod 311 and the first nut
314, the second screw rod 318 and the first nut 319 can use ballscrew nut fitting, these are all existing equipments, on the market directly
Connecing can purchase, and here no longer be described in detail.By the first driving motor 311, the second driving motor 317, first when use
Position sensor 315, second position sensor 70, the third place sensor 80 be electrically connected in robot control system i.e.
Can, it is controlled by control system.
Second clamping jaw module 32 includes third clamping jaw 321, the 4th clamping jaw 325, third driving motor 324, third silk
Bar 323, third nut 322, the 4th nut 326, the 4th guide rail 329, the 5th sliding block 327 and the 6th sliding block 328；The third
Screw rod 323 includes the first threaded portion 3231, intermediate polished rod portion 3232 and the second threaded portion 3233, first threaded portion 3231
It is arranged symmetrically with second threaded portion 3233 with the intermediate polished rod portion 3232, and the screw thread reversed arrangement of the two, thus real
After present third driving motor 324 drives the third screw rod 323 to rotate, the third clamping jaw 321 and third clamping jaw 325 are opposite
Or away from moving synchronously, to realize that position is adjusted；4th guide rail 327 is mounted on the bottom surface of the clamping jaw support base 5；Institute
State the bottom surface that third screw rod 324 is erected at the clamping jaw support base 2 with being able to rotate, and the third screw rod 323, the 4th guide rail
329,313 three of the first screw rod is parallel to each other, and the third screw rod 323 is also connected to the third by belt and belt wheel and drives
The output shaft of motor 324, the third driving motor 324 are mounted on the clamping jaw support base 2；322 He of third nut
4th nut 326 is connected respectively in first threaded portion 3231 and the second threaded portion 3233, in a preferable embodiment
In, the third nut 322 and the 4th nut 326 are arranged symmetrically, it is ensured that third clamping jaw 321 and the 4th clamping jaw 325 also for pair
Claim arrangement；The third nut 322 is connected to the 4th guide rail 329 by the 5th sliding block 327；4th nut
326 are connected to the 4th guide rail 329 by the 6th sliding block 328.Third clamping jaw 321 and the 4th clamping jaw 325 use ball
Matched 4th position sensor 90 of feed screw nut pair detects position, and when use is also electrically connected to the control system of robot.
In the embodiment that attached drawing provides, first clamping jaw 311, the second clamping jaw 316, third clamping jaw 321, the 4th clamping jaw 325 difference
It is convexly equipped with a lifting fixed pin 500, the lifting fixed pin 500 on first clamping jaw 311 and the second clamping jaw 316 is arranged symmetrically in
The lifting fixed pin 500 of the one side that the two is away from each other, the third clamping jaw 321 and the 4th clamping jaw 325 is also arranged symmetrically in two
500 cocurrent and parallel of lifting fixed pin of the one side that person is away from each other, first clamping jaw 311 and third clamping jaw 321 is arranged, described
500 cocurrent and parallel of lifting fixed pin of second clamping jaw 316 and the 4th clamping jaw 325 arrangement, is arranged in battery modules 600 when in use
There is corresponding hole for hoist 601, lifting fixed pin 500 passes through hole for hoist 601 from inside outward, and then battery modules 600 are lifted
Get up, it is this by interior lifting fixed pin design method outward, so that lifting is stronger, it is not easy to fall off.Certainly in other realities
It applies in example, the mode that clamping jaw embraces folder can be directlyed adopt so that lifting fixed pin 500 is not arranged, but when due to battery modules
There are a plurality of single battery serial or parallel connections, be then bonded, embracing clip process, there may be the wind for pressing from both sides battery modules 600
Danger.
It further include the first flexible router module 34 and the second flexible router module 35；Described first flexible router module 34 wraps
Include the first hose 341, the second hose 344, the first grab 343, the second grab 346, first support bar 342 and second support bar
345；The first support bar 342 and second support bar 346 are respectively and fixedly installed to the bottom surface of the clamping jaw support base 2, and institute
First support bar 342, second support bar 346 and the first screw rod 313 parallel arrangement are stated, guarantees the first grab 343 and the second grab
346 moving direction and the first clamping jaw 311, the second clamping jaw 316 are parallel, so that electric wire will not generate interference after guaranteeing wiring；Institute
It states the first hose 341 to be mounted in the shape of a spiral in the first support bar 346, helical form arrangement, so that when cable penetrates the
It after one hose, is carried out under the promotion of the first grab 343, when the cable in the first hose 341 follows mobile, cable has foot
Enough surpluses are stretched or are compressed, and without being pulled off, generate interference, can be according to specifically used demand, to be arranged first
The circle number of 341 spiral winding of hose, to guarantee the surplus for having sufficient length；First nut 314 is sliding by the first grab 343
It is dynamic to be connected to the first support bar 342, and the cable of the first position sensor 315 is from 343 He of the first grab
The adjacent position of first hose 341 penetrates in the first hose, soft in first grab 343 and first in a specific embodiment
A mouth is opened in the adjacent position of pipe 341, is pierced by for wearing cable, and from the Single port of first hose, so that electric
Cable is wrapped in the first hose, and 341 this section of the 315 to the first hose of first position sensor be apart from exposed cable, can
To be fixed on the first grab 343 with band or line card, thus in the process of the first clamping jaw 311 movement, 341 He of the first hose
Its internal cable follows the first movement in the same direction of clamping jaw 311, will not interfere with the movement of clamping jaw to guarantee cable not only, but also not
It can be pulled off, certainly when wiring, the cable of other electronic components can also be penetrated in the first hose, so that cable
The not exposed risk for causing interfering movement outside of line；Similarly, second hose 344 is mounted on second support in the shape of a spiral
On bar 345；Second nut 319 is slidably connected to the second support bar 345 by the second grab 346, can be by second
The cable of electronic component in 316 moving region of clamping jaw penetrates in the second hose 346, can specifically carry out according to the actual situation
Wear arrangement；
Described second flexible router module 35 includes third hose 351, the 4th hose 354, the card of third grab the 353, the 4th
Hook 356, third support rod 352 and the 4th support rod 355；The third support rod 352 and the 4th support rod 355 are fixed respectively
It is mounted on the bottom surface of the clamping jaw support base 2, and the third support rod 352, the 4th support rod 353 and third screw rod 323 are flat
Row arrangement；The third hose 351 is mounted in the shape of a spiral on the third support rod 352；The third nut 322 passes through the
Three grabs 353 are slidably connected to the third support rod 352；4th hose 354 is mounted on described 4th in the shape of a spiral
On strut 355；4th nut 326 is slidably connected to the 4th support rod 355 by the 4th grab 356.Described second
Hose 344, third hose 351, third hose 354 usage mode and function lead to first hose 341 principle it is identical, this
While being not repeated to describe, referring to the description of above-mentioned first hose.
A specific embodiment: including an apparatus for placing 400, apparatus for placing is for placing Self adapting fixture of the present invention
100, while other folders are also placed, such as another fixture 200 in the embodiment of attached drawing offer, each fixture is placed on one
It rises, robot docking is facilitated to use；Apparatus for placing includes support plate 4003 and support frame 4004, is arranged in support plate 4003 limited
Position pin shaft 4001, lip block 4002, the bottom of the clamping jaw support base 2 of the Self adapting fixture 100 is provided with and spacer pin
The second bushing 40 that axis 4001 matches pierces into the second lining by limit pin shaft 4001 when placing the Self adapting fixture 100
Set 40 is placed, and is supported by lip block 4002, is fixedly mounted on other objects by support frame 4004.It uses
When, the robot docking Self adapting fixture, according to product, docks other fixtures, after the completion of use so as to shorten machine
The mobile stroke of device people, improves working efficiency；
Further include vision module 3003, robot 300, vision shield 3001, and view are installed on the arm of robot 300
Feel that the ring flange 3002 that shield 3001 is connected, ring flange 3002 are connected to quick change male connector 3004, vision module 3003 includes CCD
Sight surveymeter and matched light bulb, the two are also existing equipment, are directly bought on the market, and vision module 3003 is installed
In vision shield 3001, and camera lens is arranged downwards, and robot and CCD sight surveymeter are all existing equipment, wherein robot
Model KUKA KR210 R2700.
In use, the first driving motor 311, the second driving motor 317, third of the Self adapting fixture are driven electricity
Machine 324, sensor 33 are using photoelectric sensor, first position sensor 315, second position sensor 70, the third place sensing
Device 80, the 4th position sensor 90, cylinder 50, CCD sight surveymeter, light bulb are electrically connected the control system in robot,
It is controlled by control system.Processing program is set in the control system of robot in use, realizing, control system controls robot
It is mobile, it is connected by quick change male connector 3004 and the robot quick change female 1, so that the Self adapting fixture is connected,
Then control system control robot is moved to above battery modules to be handled, when sensor 33 detects that there is battery mould in lower section
When group 600, the arm that control system controls robot is mobile, adjusts good position, and controls the first driving motor 311, second and drive
Dynamic motor 317, third driving motor 324 rotate, to adjust the position of four clamping jaws, then control robot and move down, so that
Lifting fixed pin 500 on four clamping jaws and the hole for hoist 601 of battery modules 600 are opposite, and then control system control first is driven
Dynamic motor 311, the second driving motor 317, third driving motor 324 rotate, and the position of four clamping jaws are adjusted, so that four be hung
It fills fixed pin 500 to be inserted into the hole for hoist 601 of battery modules 600, when sensor 33 detects that the height of clamping is preset with prior
Height it is consistent when, feedback signal shows lifting in place to control system, and then control system control cylinder 50 works, and will lock
Shotpin 60 is inserted into the inner hole of the first bushing 21, to play auxiliary stopper support or hanging left and right, is improved safety, is then controlled
System control machine device people processed is moved to target area, and battery modules 600 are put down, and then controls the first driving motor 311, second
Driving motor 317, third driving motor 324 rotate, and lifting fixed pin 500 is exited out of hole for hoist 601, passes through vision-based detection
Instrument high, quick change male connector and robot quick change female 1 position docking essence come the position position degree of regulation that detects Self adapting fixture
Degree is high, detection Self adapting fixture 100 and the docking of battery modules its detection accuracy use size detection plate compared with the prior art
Precision it is higher, improve the precision of entire crawl process, the stationarity and safety for guaranteeing crawl and carrying, whole process
Vibration is slid back and forth or is moved left and right by clamping jaw support base 2 to realize buffering and shock preventing, and passes through the first buffering group 20 and the
Two buffering groups 30 reset to realize to buffer, and then proceed to the carrying of next battery modules.When needing to change another fixture 200, control
The Self adapting fixture 100 is placed on apparatus for placing 400 by system control machine device people processed, and right by quick change male connector 3004
Connect the robot quick change female of another fixture.
Although specific embodiments of the present invention have been described above, those familiar with the art should be managed
Solution, we are merely exemplary described specific embodiment, rather than for the restriction to the scope of the present invention, it is familiar with this
The technical staff in field should be covered of the invention according to modification and variation equivalent made by spirit of the invention
In scope of the claimed protection.
Claims (11)
1. a kind of Self adapting fixture of battery modules, including robot quick change female, it is characterised in that: further include clamping jaw support base
And set of jaws；The robot quick change female can be slidably connected to the clamping jaw support base, and the set of jaws can be slidably
It is connected to the clamping jaw support base.
2. a kind of Self adapting fixture of battery modules as described in claim 1, it is characterised in that: the robot quick change female
It can be connected to the clamping jaw support base slidingly back and forth.
3. a kind of Self adapting fixture of battery modules as claimed in claim 2, it is characterised in that: the robot quick change female
The clamping jaw support base can also be slidingly connected to.
4. a kind of Self adapting fixture of battery modules as claimed in claim 3, it is characterised in that: further include the first support plate and
Second support plate；The robot quick change female is mounted in first support plate, and first support plate is sliding by first
Block and the first sliding rail are connected to second support plate, and second support plate is connected to institute by the second sliding block and the second sliding rail
State clamping jaw support base.
5. a kind of Self adapting fixture of battery modules as claimed in claim 4, it is characterised in that: it further include connector, it is described
First sliding block and the first sliding rail are arranged between first support plate and the second support plate in anterior-posterior horizontal direction；Described second
Sliding block and the second sliding rail are arranged between first support plate and the second support plate in left and right horizontal direction, and described second is sliding
Block is fixedly connected on the clamping jaw support base by the connector.
6. a kind of Self adapting fixture of battery modules as claimed in claim 5, it is characterised in that: before first support plate
Two sides are at least disposed with a first buffering group respectively afterwards, and first support plate pass through it is per the first buffering group and described
Second support plate is flexibly connected；The left and right sides of second support plate is at least disposed with a second buffering group respectively,
And second support plate per the second buffering group with the clamping jaw support base by being flexibly connected.
7. a kind of Self adapting fixture of battery modules as claimed in claim 6, it is characterised in that: per the first buffering group packet
Include the first fixing seat, the first bolt and the first spring；The front and rear sides of first support plate offer the first counterbore, institute respectively
The first counterbore and the first bolt to be stated to correspond, first fixing seat is fixedly connected in second support plate, and described the
One bolt is threadingly attached to first fixing seat, and first bolt also sequentially passes through first fixing seat,
One spring is extended back into first counterbore, and first spring is respectively held against first support plate and described first and fixes
Seat；
It include the second fixing seat, the second bolt and second spring per the second buffering group；The front and back two of second support plate
Side offers the second counterbore respectively, and second counterbore and the second bolt correspond, and second fixing seat is fixedly connected on
On the clamping jaw support base, second bolt is threadingly attached to second fixing seat, and second bolt also according to
Secondary second fixing seat, the second spring of passing through is extended back into second counterbore, and the second spring is respectively held against described the
Two support plates and second fixing seat.
8. a kind of Self adapting fixture of battery modules as claimed in claim 4, it is characterised in that: further include cylinder, lock pin
With the first bushing；First bushing is mounted on the clamping jaw support base；The cylinder is mounted in first support plate,
And the piston rod of the cylinder passes through first support plate and straight down；The lock pin is vertically installed at the cylinder
On piston rod, and the lock pin with the cylinder piston rod stretch out after, put in the inner hole of first bushing.
9. a kind of Self adapting fixture of battery modules as described in claim 1, it is characterised in that: the set of jaws includes first
Clamping jaw module, the second clamping jaw module and for detecting whether there is the sensor of battery modules and clamping height；First folder
Pawl module and the second clamping jaw module slidable bottom surface for being connected to the clamping jaw support base, and first clamping jaw module respectively
With the second clamping jaw module arranged for interval；The sensor is mounted on the bottom surface of the clamping jaw support base.
10. a kind of Self adapting fixture of battery modules as claimed in claim 9, it is characterised in that: first clamping jaw module
Including the first clamping jaw, the first driving motor, the first screw rod, the first nut, for detecting first nut and the second nut
The first position sensor of spacing, the second clamping jaw, the second driving motor, the second screw rod, the second nut, third guide rail, third are sliding
Block and Four-slider；The third guide rail is mounted on the bottom surface of the clamping jaw support base；First screw rod and the second screw rod
Parallel and be erected at the clamping jaw support base with being able to rotate bottom surface, and first screw rod is parallel with the third guide rail；Institute
State the output shaft that the first screw rod is connected to first driving motor by belt and belt wheel；Second screw rod by belt and
Belt wheel is connected to the output shaft of second driving motor, and first driving motor and the second driving motor are mounted on the folder
On pawl support base；First nut is connected to first screw rod, and first nut is connected to by the third sliding block
The third guide rail, first clamping jaw are fixedly connected on first nut, and the first position sensor is fixedly connected on
First nut；Second nut is connected to second screw rod, and second nut is connected by the Four-slider
In the third guide rail, second clamping jaw is fixedly connected on second nut；
Second clamping jaw module includes third clamping jaw, the 4th clamping jaw, third driving motor, third screw rod, third nut, the 4th
Nut, the 4th guide rail, the 5th sliding block and the 6th sliding block；The third screw rod include the first threaded portion, intermediate polished rod portion and
Second threaded portion, first threaded portion and second threaded portion are arranged symmetrically with the intermediate polished rod portion, and the spiral shell of the two
Line reversed arrangement；4th guide rail is mounted on the bottom surface of the clamping jaw support base；The third screw rod is erected at being able to rotate
The bottom surface of the clamping jaw support base, and the third screw rod, the 4th guide rail, the first screw rod three are parallel to each other, the third silk
Bar also passes through belt and belt wheel is connected to the output shaft of the third driving motor, and the third driving motor is mounted on the folder
On pawl support base；The third nut and the 4th nut are connected respectively in first threaded portion and the second threaded portion；Institute
It states third nut and the 4th guide rail is connected to by the 5th sliding block；4th nut is connected by the 6th sliding block
In the 4th guide rail.
11. a kind of Self adapting fixture of battery modules as claimed in claim 10, it is characterised in that: further include that the first flexibility is walked
Wire module and the second flexible router module；The first flexible router module include the first hose, the second hose, the first grab,
Second grab, first support bar and second support bar；The first support bar and second support bar are respectively and fixedly installed to institute
State the bottom surface of clamping jaw support base, and the first support bar, second support bar and the first screw rod parallel arrangement；First hose
It is mounted in the first support bar in the shape of a spiral；First nut is slidably connected to first support by the first grab
Bar, and the cable of the first position sensor penetrates the first hose from the adjacent position of first grab and the first hose
It is interior, and be pierced by from the Single port of first hose；Second hose is mounted in the shape of a spiral in the second support bar；Institute
It states the second nut and the second support bar is slidably connected to by the second grab,；
The second flexible router module include third hose, the 4th hose, third grab, the 4th grab, third support rod with
And the 4th support rod；The third support rod and the 4th support rod are respectively and fixedly installed to the bottom surface of the clamping jaw support base, and
The third support rod, the 4th support rod and third screw rod parallel arrangement；The third hose is mounted on described in the shape of a spiral
On three support rods；The third nut is slidably connected to the third support rod by third grab；4th hose is in spiral shell
Rotation shape is mounted on the 4th support rod；4th nut is slidably connected to the 4th support rod by the 4th grab.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910314201.1A CN110053962B (en) | 2019-04-18 | 2019-04-18 | Self-adaptive clamp of battery module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910314201.1A CN110053962B (en) | 2019-04-18 | 2019-04-18 | Self-adaptive clamp of battery module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110053962A true CN110053962A (en) | 2019-07-26 |
| CN110053962B CN110053962B (en) | 2023-12-08 |
Family
ID=67319549
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910314201.1A Active CN110053962B (en) | 2019-04-18 | 2019-04-18 | Self-adaptive clamp of battery module |
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| Country | Link |
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| CN (1) | CN110053962B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110834186A (en) * | 2019-12-17 | 2020-02-25 | 郑州瑞盛德机械设备有限公司 | Material centralized distribution system for equipment assembly and centralized distribution method thereof |
| CN110902370A (en) * | 2019-12-02 | 2020-03-24 | 杭州德创电子股份有限公司 | Communication module moves and carries device |
| CN113548487A (en) * | 2021-07-22 | 2021-10-26 | 佛山市海天(高明)调味食品有限公司 | Bag unstacking clamp |
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| EP2713444A1 (en) * | 2012-09-28 | 2014-04-02 | Intercable GmbH | Battery clamp with vertical screw connection |
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| CN210150252U (en) * | 2019-04-18 | 2020-03-17 | 福建星云电子股份有限公司 | Self-adaptive clamp of battery module |
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| US4310958A (en) * | 1977-12-07 | 1982-01-19 | Regie Nationale Des Usines Renault | Production-line automatic machine |
| US20150037125A1 (en) * | 2012-03-27 | 2015-02-05 | China University Of Mining And Technology | Mining elevator lapping platform suitable for flexible guide rail and mining elevator lapping method |
| EP2713444A1 (en) * | 2012-09-28 | 2014-04-02 | Intercable GmbH | Battery clamp with vertical screw connection |
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| CN110902370A (en) * | 2019-12-02 | 2020-03-24 | 杭州德创电子股份有限公司 | Communication module moves and carries device |
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| CN113548487A (en) * | 2021-07-22 | 2021-10-26 | 佛山市海天(高明)调味食品有限公司 | Bag unstacking clamp |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110053962B (en) | 2023-12-08 |
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