CN114313978B - Self-adaptive clamping device - Google Patents
Self-adaptive clamping device Download PDFInfo
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- CN114313978B CN114313978B CN202210081297.3A CN202210081297A CN114313978B CN 114313978 B CN114313978 B CN 114313978B CN 202210081297 A CN202210081297 A CN 202210081297A CN 114313978 B CN114313978 B CN 114313978B
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Abstract
The invention discloses a self-adaptive clamping device, which comprises: the driving component comprises a driving piece, a first driving plate and a second driving plate, and the driving piece is respectively connected with the first driving plate and the second driving plate; a plurality of first clamping assemblies mounted on the first drive plate; a plurality of second clamping assemblies mounted on the second drive plate; and an adaptive drive assembly. Because first centre gripping subassembly and/or second centre gripping subassembly are connected with self-adaptation drive assembly, self-adaptation drive assembly can apply an auxiliary force for first centre gripping arm and/or second centre gripping arm all the time, this auxiliary force makes first centre gripping arm and/or second centre gripping arm adjust the removal in the clamping process to can the size of self-adaptation lithium cell, and then a plurality of first centre gripping subassemblies and second centre gripping subassembly respectively with a plurality of lithium cells of stable centre gripping of suitable clamping force simultaneously, can avoid the too big or undersize problem of clamping force.
Description
Technical Field
The invention relates to the technical field of lithium battery production, in particular to a self-adaptive clamping device.
Background
In the prior art, a plurality of clamping jaws are arranged on a clamping device and used for clamping a plurality of lithium batteries simultaneously, and size fluctuation differences exist in the manufacturing process of the lithium batteries; a plurality of lithium cell in-process is got to clamping device's a plurality of clamping jaws simultaneously, and it is too big just to the clamping-force of individual lithium cell probably to appear, produces the centre gripping and warp, damages the battery, perhaps clamping-force undersize, is difficult to press from both sides the problem of getting.
Disclosure of Invention
In one embodiment, an adaptive clamping device is provided, comprising:
the driving component comprises a driving piece, a first driving plate and a second driving plate, the driving piece is respectively connected with the first driving plate and the second driving plate, and the driving piece is used for driving the first driving plate and the second driving plate to be close to each other and far away from each other;
a plurality of first clamping assemblies mounted on said first drive plate, said first clamping assemblies including first clamping arms mounted on said first drive plate;
the second clamping assemblies are mounted on the second driving plate and comprise second clamping arms, the second clamping arms are mounted on the second driving plate, the first clamping arms and the second clamping arms are arranged in a one-to-one correspondence mode, and the first clamping arms and the second clamping arms are used for clamping the lithium battery together; and
the adaptive driving assembly is connected with the first clamping arm and/or the second clamping arm and used for always applying an auxiliary force to the first clamping arm and/or the second clamping arm, and the auxiliary force drives the first clamping arm and/or the second clamping arm to move towards the clamping direction.
In one embodiment, the adaptive driving assembly includes a mounting seat, a connecting rod and an elastic member, the mounting seat is connected to the first driving plate, a middle portion of the connecting rod is rotatably connected to the mounting seat, the connecting rod has a first end and a second end, the first end of the connecting rod is connected to the first clamping arm, one end of the elastic member is connected to the mounting seat, the other end of the elastic member is connected to the second end of the connecting rod, the elastic member always applies a pulling force to the second end of the connecting rod, and the pulling force is an auxiliary force for driving the first clamping arm to move.
In one embodiment, the adaptive driving assembly further includes a first slide rail and a slide block, the first slide rail is mounted on the mounting base, the slide block is slidably mounted on the first slide rail, the other end of the elastic member is connected to the slide block, and the second end of the connecting rod is rotatably connected to the slide block.
In one embodiment, a guide groove inclined relative to the first slide rail is formed in a side surface of the slide block, and the second end of the connecting rod is connected with the guide groove in a sliding and rotating manner.
In one embodiment, the first slide rail is parallel to the clamping direction of the first clamping arm and the second clamping arm, an included angle between the guide groove and the first slide rail is a first inclined angle, and the first inclined angle is an acute angle.
In one embodiment, the connecting rod is an L-shaped structure, the connecting rod includes a first connecting rod and a second connecting rod, the first end is located on the first connecting rod, the second end is located on the second connecting rod, and the first connecting rod is rotatably connected with the mounting base.
In one embodiment, a connection line between the first connecting rod and the mounting seat rotational connection point and the second end is a warp, an included angle between the warp and the first slide rail is a second inclination angle, and the second inclination angle is an acute angle.
In one embodiment, the difference between the second tilt angle and the first tilt angle is greater than-60 ° and less than 60 °.
In one embodiment, the difference between the second tilt angle and the first tilt angle is zero.
In one embodiment, the second end of the connecting rod is provided with a roller, and the roller is connected in the guide groove.
According to the self-adaptive clamping device of the embodiment, the first clamping assembly and/or the second clamping assembly is/are connected with the self-adaptive driving assembly, the self-adaptive driving assembly can always apply an auxiliary force to the first clamping arm and/or the second clamping arm, the auxiliary force enables the first clamping arm and/or the second clamping arm to be adjusted and moved in the clamping process so as to be self-adaptive to the size of the lithium battery, and then the plurality of first clamping assemblies and the plurality of second clamping assemblies respectively clamp the plurality of lithium batteries stably at the same time with the appropriate clamping force, so that the problem that the clamping force is too large or too small can be avoided.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an adaptive clamping device;
FIG. 2 is a side view of an adaptive clamping device in one embodiment;
FIG. 3 is a side view of an adaptive clamping device in one embodiment;
FIG. 4 is a force analysis diagram of the adaptive clamping device in one embodiment;
FIG. 5 is a force analysis diagram of the adaptive clamping device in one embodiment;
wherein the reference numbers are as follows:
1-a driving component, 11-a driving frame, 12-a driving motor, 13-a second sliding rail, 14-a first driving plate, 15-a second driving plate, 2-a first clamping component, 21-a first clamping arm, 211-a first clamping surface, 3-a second clamping component, 31-a second clamping arm, 311-a second clamping surface, 4-an adaptive driving component, 41-a mounting seat, 42-a connecting rod, 43-an elastic component, 44-a first sliding rail, 45-a sliding block and 5-a lithium battery.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments have been given like element numbers associated therewith. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of clearly describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where a certain sequence must be followed.
The ordinal numbers used herein for the components, such as "first," "second," etc., are used merely to distinguish between the objects described, and do not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). The front end in the text refers to the end close to the human body, and the back end refers to the end far away from the human body, for example, the front end of an endoscope is used for being inserted into the human body, and the back end of the endoscope is used for being connected with a camera.
This embodiment provides a self-adaptation clamping device, the last a plurality of centre gripping arms that are equipped with of self-adaptation clamping device, a plurality of centre gripping arms are used for a plurality of lithium cells of difference centre gripping, this centre gripping arm has self-adaptation ability, at least one is connected with self-adaptation drive assembly in two relative centre gripping arms, and the centre gripping arm of connecting self-adaptation drive assembly is movable part, under self-adaptation drive assembly's effect, mobilizable centre gripping arm can move in the certain limit, with the clamping-force of formation with lithium cell size adaptation. When self-adaptation clamping device was when a plurality of lithium batteries of centre gripping simultaneously, a plurality of centre gripping arms can carry out self-adaptation regulation according to the lithium battery size of respective centre gripping to make every centre gripping arm can both the lithium cell provide suitable clamping-force, can prevent the too big or undersize problem of clamping-force.
In this embodiment, the adaptive driving module is disposed on one of the clamping arms, and in other embodiments, the adaptive driving module is disposed on each of the two opposite clamping arms, so that the lithium battery can be clamped in a self-adaptive manner.
Referring to fig. 1, fig. 2 and fig. 3, in the present embodiment, the adaptive clamping device includes a driving assembly 1, a first clamping assembly 2, a second clamping assembly 3 and an adaptive driving assembly 4. The first clamping assembly 2 and the second clamping assembly 3 are respectively provided with a plurality of one-to-one correspondence modules, each first clamping assembly 2 is correspondingly connected with an adaptive driving assembly 4, the first clamping assembly 2 is movably connected with the driving assembly 1, the second clamping assembly 3 is fixedly connected with the driving assembly 1, and the driving assembly 1 is used for driving at least one of the first clamping assembly 2 and the second clamping assembly 3 to move along a clamping direction, so that the first clamping assembly 2 and the second clamping assembly 3 are close to or far away from each other. Because first centre gripping subassembly 2 is connected with self-adaptation drive assembly 4, the centre gripping interval between first centre gripping subassembly 2 and the second centre gripping subassembly 3 can carry out the self-adaptation fine setting through first centre gripping subassembly 2, and self-adaptation drive assembly 4 can provide an auxiliary force for first centre gripping subassembly 2 for can form stable clamping-force with second centre gripping subassembly 3 after the activity is finely tuned to first centre gripping subassembly 2.
The driving assembly 1 comprises a driving frame 11, a driving motor 12, a second sliding rail 13, a first driving plate 14 and a second driving plate 15, the driving motor 12 is installed on the driving frame 11, the second sliding rail 13 is installed at the lower end of the driving frame 11, the first driving plate 14 and the second driving plate 15 are respectively in sliding connection with the second sliding rail 13 through a sliding block, the driving motor 12 is respectively connected with the first driving plate 14 and the second driving plate 15, and the driving motor 12 is used for simultaneously driving the first driving plate 14 and the second driving plate 15 to move towards each other or move away from each other.
In other embodiments, the driving motor 12 may be connected with only one of the first driving plate 14 and the second driving plate 15, and the first driving plate 14 or the second driving plate 15 of the driving motor 12 is not directly fixed on the driving frame 11, and the driving motor 12 can also drive the first driving plate 14 and the second driving plate 15 to approach or move away from each other.
In this embodiment, the first driving plate 14 and the second driving plate 15 are long strips parallel to each other, and the length direction of the first driving plate 14 and the length direction of the second driving plate 15 are perpendicular to the length direction of the second slide rail 13. The plurality of first clamping assemblies 2 are sequentially arranged on the first driving plate 14 along the length direction of the first driving plate 14, the second clamping assemblies 3 are sequentially arranged on the second driving plate 15 along the length direction of the second driving plate 15, the first clamping assemblies 2 and the second clamping assemblies 3 are in one-to-one correspondence, each pair of the first clamping assemblies 2 and the second clamping assemblies 3 is used for clamping one lithium battery, and then the whole clamping device can simultaneously clamp the plurality of lithium batteries.
The first clamping assembly 2 comprises a first clamping arm 21, a first clamping surface 211 is arranged at the lower end of the first clamping arm 21, and an anti-skid elastic pad is arranged on the first clamping surface 211. The second clamping assembly 3 comprises a second clamping arm 31, the lower end of the second clamping arm 31 is provided with a second clamping surface 311, and an anti-skid elastic pad is also arranged on the second clamping surface 311. First clamping face 211 and second clamping face 311 set up in opposite directions, and first clamping face 211 and second clamping face 311 are used for the clamping lithium cell simultaneously, and the antiskid elastic pad on first clamping face 211 and the second clamping face 311 can play antiskid and improve the effect of centre gripping stability to and elastic deformation prevents to press from both sides and hinders the battery.
Each of the first clamping assembly 2 and the second clamping assembly 3 may further include a driving motor or a driving cylinder to drive the first clamping arm 21 and the second clamping arm 31 to move up and down, so that the first clamping assembly 2 and the second clamping assembly 3 can be adapted to clamp different lithium batteries.
In this embodiment, the second clamping arm 31 is fixedly connected to the second driving plate 15, the second clamping arm 31 cannot move along the clamping direction relative to the second driving plate 15, and the second clamping arm 31 can move along the clamping direction along with the second driving plate 15. The first clamping arm 21 is movably connected with the first driving plate 14, and the first clamping arm 21 rotates relative to the first driving plate 14, so that the first clamping arm 21 can independently adjust the clamping distance between the first clamping arm 21 and the second clamping arm 31.
Specifically, the first clamping arm 21 is movably connected with the first driving plate 14 through the adaptive driving assembly 4, the adaptive driving assembly 4 is fixedly mounted on the first driving plate 14, the first clamping arm 21 is rotatably mounted on the adaptive driving assembly 4, and then the first clamping arm 21 can move relative to the first driving plate 14.
The adaptive driving assembly 4 comprises a mounting seat 41, a connecting rod 42, an elastic element 43, a first slide rail 44 and a slide block 45, wherein the mounting seat 41 is mounted on one side of the first driving plate 14, which faces away from the second driving plate 15, the first slide rail 44 is mounted on the mounting seat 41, the first slide rail 44 is parallel to the second driving slide rail 13, and the first slide rail 44 and the mounting seat 41 can also be of an integrated structure. Slider 45 slidable installs on first slide rail 44, and slider 45 can be along first slide rail 44 reciprocating sliding, and first slide rail 44 and slider 45 are forked tail structure or T type structure, can form the spacing of perpendicular slip direction between first slide rail 44 and the slider 45, improve gliding stability.
The elastic member 43 is of an elastic structure such as a spring, one end of the elastic member 43 is connected with the mounting base 41, the other end of the elastic member 43 is connected with the sliding block 45, and the elastic member 43 is always in a stretching state and provides a pulling force for the sliding block 45.
The connecting rod 42 is an L-shaped structure, the connecting rod 42 comprises a first connecting rod 421 and a second connecting rod 422 which are vertically connected with each other, the first connecting rod 421 is in a vertical or vertical inclined state, the second connecting rod 422 is in a horizontal or horizontal inclined state, one end of the first connecting rod 421 away from the second connecting rod 422 is one end of the connecting rod 42, one end of the second connecting rod 422 away from the first connecting rod 421 is a second end of the connecting rod 42, the first end of the connecting rod 42 is connected with the first clamping arm 21, the second end of the connecting rod 42 is connected with the sliding block 45, the middle position of the first connecting rod 421 is rotatably connected with the mounting base 41 through a rotating shaft, the connecting rod 42 forms a lever structure, the pulling force provided by the elastic member 43 is transmitted to the first clamping arm 21 through the connecting rod 42 to form a clamping force, the pulling force provided by the elastic member 43 is an auxiliary force for the first clamping arm 21 to adjust the spacing in a self-adaptive manner, so that the first clamp arm 21 can maintain the clamping force after fine-tuning the pitch with respect to the second clamp arm 31.
The upper side of the slider 45 is provided with a guide groove 451, the guide groove 451 is arranged obliquely relative to the first slide rail 44, one end of the guide groove 451 close to the elastic member 43 is located at the upper end of the incline, and one end of the guide groove 451 far away from the elastic member 43 is located at the lower end of the incline. The second end of the link 42 is provided with a roller which is in rolling contact with the guide groove 451 such that the second end of the link 42 is in sliding and rotating contact with the guide groove 451.
In this embodiment, the principle of adaptively adjusting the clamping of the first clamping arm 21 by the adaptive driving assembly 4 is as follows:
in an unclamped state, because the elastic member 43 always provides a pulling force for the slider 45, the slider 45 will move to the upper end of the guide groove 451, the slider 45 drives the second end of the connecting rod 42 to move to the limit position in the direction away from the second clamping arm 31, the first end of the connecting rod 42 is driven to move to the limit position in the direction close to the second clamping arm 31, and then the first end of the connecting rod 42 drives the first clamping arm 21 to be close to the second clamping arm 31;
in the clamped state, the first and second clamp arms 21 and 31 clamp the lithium battery. When the width of the lithium battery is slightly smaller than the standard width, under the action of the pulling force of the elastic piece 43, the first clamping arm 21 moves towards the direction close to the second clamping arm 31, and the clamping distance between the first clamping arm 21 and the second clamping arm 31 is reduced, so that the first clamping arm 21 and the second clamping arm 31 can just clamp the lithium battery and keep the same clamping force as that when the lithium battery with the standard width is clamped; when the width of the lithium battery is slightly larger than the standard width, the first clamping arm 21 will rotate away from the second clamping arm 31 under the driving of the lithium battery to form a larger clamping distance, so that the clamping distance matches with the actual width of the lithium battery and remains the same as the clamping force when clamping the lithium battery with the standard width.
It can be seen that first centre gripping arm 21 has self-adaptation clamping capacity, can adapt different size lithium cell to when making a plurality of lithium cells of whole clamping device centre gripping simultaneously, every first centre gripping arm 21 can be according to the lithium cell self-adaptation regulation centre gripping interval of centre gripping, and then a plurality of lithium cells can both be respectively by firm stable centre gripping.
In this embodiment, an included angle between the guide groove 451 and the first slide rail 44 is a first inclination angle α, the first inclination angle α is an acute angle, a connecting line between the second end of the connecting rod 42 and a rotational connection point of the first connecting rod 421 and the mounting base 41 is a meridian line, an included angle between the meridian line and the first slide rail 44 is a second inclination angle β, and the second inclination angle β is also an acute angle.
The first inclination angle α is set to an acute angle, and the difference between the second inclination angle β and the first inclination angle α is greater than-60 ° and less than 60 °, which is advantageous to reduce the required elastic force of the elastic member 43. The force analysis was as follows:
referring to fig. 4 and 5, the clamping force of the first clamping arm 21 is F1, the tilting force generated between the second end of the connecting rod 42 and the guiding-out groove 45 is F2, and the pulling force provided by the elastic member 43 is F3. Wherein, the tilting force F2 on the second end of the connecting rod 42 can be divided into two components F21 and F22, F21 is perpendicular to the warp, F22 is perpendicular to the warp; meanwhile, F2 can also be divided into two force components, i.e., F23 and F24, where F23 is parallel to the first slide rail 44 (horizontal force component), and F24 is perpendicular to the first slide rail 44 (vertical force component). The distance from the first end of the first link 421 to the rotation connection point is L2, the distance from the rotation connection point of the first link 421 to the second link 422 is L2, and the length of the second link 422 is L3.
It can be seen that when the first inclination angle α is an acute angle, the inclination force F2 has a component F21 perpendicular to the warp threads, thereby reducing the required spring force and improving the reliability of the clamping. And when-60 ° < beta-alpha < -60 °, F21 can be as close as possible to F2, i.e., F21 is much larger than F22, which can provide stability of clamping.
In other embodiments, the difference between the second inclination angle β and the first inclination angle α may be further narrowed according to the clamping requirement to further improve the stability of the clamping. In the range of-30 ° < β - α <30 °, -15 ° < β - α <15 °, or β - α ═ 0 (the guide groove 451 is parallel to the warp thread), the specific gravity of the component force F21 can be further increased, and the stability of the clamping can be further improved.
In other embodiments, the acute angle of the first inclination angle α is further narrowed to further improve the stability of the clamping. If alpha is more than 0 degree and less than 45 degrees, alpha is more than 0 degree and less than or equal to 30 degrees, alpha is more than 0 degree and less than or equal to 15 degrees, the specific gravity of the component force F21 can be further improved, and the clamping stability is further improved.
In this embodiment, because first centre gripping subassembly 2 is connected with self-adaptation drive assembly 4, self-adaptation drive assembly 4 can apply an auxiliary force for first centre gripping arm 21 all the time, and this auxiliary force makes first centre gripping arm 21 adjust the removal in the clamping process to can the size of self-adaptation lithium cell, and then a plurality of first centre gripping subassemblies 2 and second centre gripping subassembly 3 respectively with a plurality of lithium cells of stable centre gripping of suitable clamping-force simultaneously, can avoid the too big or undersize problem of clamping-force.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (7)
1. An adaptive clamping device, comprising:
the driving component comprises a driving piece, a first driving plate and a second driving plate, the driving piece is respectively connected with the first driving plate and the second driving plate, and the driving piece is used for driving the first driving plate and the second driving plate to approach to each other and move away from each other;
a plurality of first clamping assemblies mounted on said first drive plate, said first clamping assemblies including first clamping arms mounted on said first drive plate;
the second clamping assemblies are mounted on the second driving plate and comprise second clamping arms, the second clamping arms are mounted on the second driving plate, the first clamping arms and the second clamping arms are arranged in a one-to-one correspondence mode, and the first clamping arms and the second clamping arms are used for clamping the lithium battery together; and
the adaptive driving assembly is connected with the first clamping arm and/or the second clamping arm and is used for always applying an auxiliary force to the first clamping arm and/or the second clamping arm, and the auxiliary force drives the first clamping arm and/or the second clamping arm to move towards the clamping direction;
the self-adaptive driving assembly comprises a mounting seat, a connecting rod and an elastic piece, the mounting seat is connected with the first driving plate, the middle part of the connecting rod is rotatably connected with the mounting seat, the connecting rod is provided with a first end and a second end, the first end of the connecting rod is connected with the first clamping arm, one end of the elastic piece is connected with the mounting seat, the other end of the elastic piece is connected with the second end of the connecting rod, the elastic piece always applies pulling force to the second end of the connecting rod, and the pulling force is auxiliary force for driving the first clamping arm to move;
the self-adaptive driving assembly further comprises a first sliding rail and a sliding block, the first sliding rail is mounted on the mounting seat, the sliding block is slidably mounted on the first sliding rail, the other end of the elastic part is connected with the sliding block, and the second end of the connecting rod is rotatably connected with the sliding block; the side of the sliding block is provided with a guide groove which inclines relative to the first sliding rail, and the second end of the connecting rod is connected with the guide groove in a sliding and rotating manner.
2. The adaptive clamping device of claim 1, wherein the first sliding track is parallel to the clamping direction of the first clamping arm and the second clamping arm, and the angle between the guide slot and the first sliding track is a first angle of inclination, wherein the first angle of inclination is an acute angle.
3. The adaptive clamping device as recited in claim 2, wherein the linkage is an L-shaped structure, the linkage comprising a first linkage and a second linkage, the first end being located on the first linkage and the second end being located on the second linkage, the first linkage being pivotally connected to the mounting block.
4. The adaptive clamping device as recited in claim 3, wherein a connection line between the first connecting rod and the mounting seat rotational connection point and the second end is a warp, an included angle between the warp and the first sliding rail is a second tilt angle, and the second tilt angle is an acute angle.
5. The adaptive clamping device of claim 4, wherein the difference between the second angle of inclination and the first angle of inclination is greater than-60 ° and less than 60 °.
6. The adaptive clamping device of claim 4, wherein the difference between the second tilt angle and the first tilt angle is zero.
7. The adaptive clamping device of claim 1, wherein the second end of the connecting rod is provided with a roller, the roller being coupled within the guide slot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210081297.3A CN114313978B (en) | 2022-01-24 | 2022-01-24 | Self-adaptive clamping device |
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| CN202210081297.3A CN114313978B (en) | 2022-01-24 | 2022-01-24 | Self-adaptive clamping device |
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| CN114313978A CN114313978A (en) | 2022-04-12 |
| CN114313978B true CN114313978B (en) | 2022-07-01 |
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| CN215318758U (en) * | 2020-12-05 | 2021-12-28 | 杭州友辉科技有限公司 | Steering engine driven self-adaptation holder |
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| JPH11245186A (en) * | 1998-02-27 | 1999-09-14 | Q P Corp | Space expanding/reducing device for article gripping mechanism |
| CN203820073U (en) * | 2014-05-23 | 2014-09-10 | 佛山市新鹏机器人技术有限公司 | Stacking fixture for single-row wall bricks |
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| CN114313978A (en) | 2022-04-12 |
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