CN216505116U - Module snatch anchor clamps - Google Patents
Module snatch anchor clamps Download PDFInfo
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- CN216505116U CN216505116U CN202122776210.8U CN202122776210U CN216505116U CN 216505116 U CN216505116 U CN 216505116U CN 202122776210 U CN202122776210 U CN 202122776210U CN 216505116 U CN216505116 U CN 216505116U
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Abstract
The utility model provides a grabbing clamp of a module, which comprises: a main frame; the movable claw hook part comprises a first claw hook mechanism, a first support and a first falling-preventing mechanism; the first falling-preventing mechanism is movably connected to the first support along the transverse direction; the fixed claw hooking part, the second claw hooking mechanism, the second support and the second falling prevention mechanism; the second claw hooking mechanism is connected to the second support and is symmetrically arranged with the first claw hooking mechanism; the second falling prevention mechanism is movably connected to the second support along the transverse direction and is symmetrically arranged with the first falling prevention mechanism; the visual part is fixedly connected with the main frame; and the pocket bottom is movably connected to the main frame along the longitudinal direction and the vertical direction. The module is fixed by adopting the claw hooking mechanism, so that the falling risk caused by shaking and other reasons in the moving process is eliminated; meanwhile, an anti-falling mechanism is arranged to prevent the module from falling off when being hoisted; the bottom pocket structure plays a dual protection role.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a carrying device of a battery module, in particular to a grabbing clamp of the module.
[ background of the utility model ]
Due to the rise of new energy technology, the advantages of the lithium battery are more obvious compared with other batteries, and the technology for assembling the lithium battery is mature. In the battery pack assembling process, an automatic grabbing clamp matched robot needs to be equipped so as to accurately grab the lithium battery module to be assembled. Wherein, the grabbing of the module usually adopts a special fixture for the module.
The defects of the prior art are mainly shown in that: 1. the safety protection mechanism is not provided, the safety in the grabbing process cannot be guaranteed, and the falling risk caused by shaking and the like in the moving process exists; 2. each electric core of the battery module is fixed together by welding; also bind through binding such as steel band and bind together, and to binding the module that the piece was fixed together through steel band etc. in the hoist and mount process, there is not the side to press from both sides tight stop gear, snatchs and unable limited battery form in the transportation, produces the dislocation easily and squints between the electric core of module and the electric core in the handling, leads to the module to take place to warp.
[ Utility model ] content
The utility model aims to solve the technical problem of providing a grabbing clamp of a module, which adopts a claw hooking mechanism for fixing and eliminates the falling risk caused by shaking and other reasons in the moving process; an anti-falling mechanism is arranged on the side of the hook claw simultaneously to prevent the module from falling off when being hoisted; the bottom pocket structure plays a dual protection role.
The utility model is realized by the following steps: a gripping fixture for a module, comprising:
a main frame;
the movable claw hooking part comprises a first claw hooking mechanism, a first support and a first falling-preventing mechanism; the first support is fixedly connected to the main frame; the first claw hooking mechanism is movably connected to the first support along the transverse direction; the first falling prevention mechanism is movably connected to the first support along the transverse direction;
the fixed claw hooking part, the second claw hooking mechanism, the second support and the second falling prevention mechanism; the second support is fixedly connected to the main frame; the second claw hooking mechanism is connected to the second support and is symmetrically arranged with the first claw hooking mechanism; the second falling prevention mechanism is movably connected to the second support along the transverse direction and is symmetrically arranged with the first falling prevention mechanism;
the visual part is fixedly connected with the main frame;
and the pocket bottom is movably connected to the main frame along the longitudinal direction and the vertical direction.
Further, the first claw mechanism includes:
a first mounting support;
the first guide rail is fixedly connected to the first mounting support and is arranged along the transverse direction;
the first sliding block is connected to the first guide rail in a sliding mode and fixedly connected to the first support;
the second mounting support is connected to the first mounting support;
two first hook claws are fixedly connected to the second mounting support;
and the first driving device is fixedly connected to the first support, and the output end of the first driving device is connected to the first mounting support.
Further, the first hook mechanism further comprises:
the second guide rail is fixedly connected to the second mounting support and is arranged along the longitudinal direction;
the second sliding block is fixedly connected to the first mounting support and is connected to the second guide rail in a sliding manner;
and the second driving device is fixedly connected to the first mounting support, and the output end of the second driving device is connected to the second mounting support.
Further, the first fall prevention mechanism includes:
a first anti-falling support;
the third guide rail is fixedly connected to the first anti-falling support and is arranged along the transverse direction;
the third sliding block is connected to the third guide rail in a sliding mode and fixedly connected to the first support;
the first anti-falling plate is convexly provided with a first bolt along the transverse direction, is fixedly connected to the first anti-falling support and is positioned between the two first hook claws;
and the third driving device is fixedly connected to the first support, and the output end of the third driving device is connected to the first anti-falling support.
Further, the second claw mechanism includes:
the third mounting support is fixedly connected to the second support;
the fourth mounting support is connected to the third mounting support;
and two second hook claws are fixedly connected to the fourth mounting support.
Further, the second hook mechanism further comprises:
the fourth guide rail is fixedly connected to the fourth mounting support and is arranged along the longitudinal direction;
the fourth sliding block is fixedly connected to the third mounting support and is connected to the fourth guide rail in a sliding manner;
and the fourth driving device is fixedly connected to the third mounting support, and the output end of the fourth driving device is connected to the fourth mounting support.
Further, the second fall prevention mechanism includes:
a second anti-falling support;
the fifth guide rail is fixedly connected to the second anti-falling support and is arranged along the transverse direction;
the fifth sliding block is connected to the fifth guide rail in a sliding manner and is fixedly connected to the second support;
the second anti-falling plate is convexly provided with a second bolt along the transverse direction, is fixedly connected to the second anti-falling support and is positioned between the two second hook claws;
and the fifth driving device is fixedly connected to the second support, and the output end of the fifth driving device is connected to the second anti-falling support.
Further, also includes
The first detection device is fixedly connected to the main frame and used for detecting whether a preset discharging position is empty or not;
the second detection devices are used for detecting whether the preset emptying is the existence of foreign matters or not; the movable hook part and the fixed hook part are respectively and fixedly connected with one second detection device;
the third detection device is used for detecting whether the module is ultrahigh; the first falling prevention mechanism or the second falling prevention mechanism is fixedly connected with the base;
the robot connecting flange is fixedly connected to the main frame;
and the positioning rod is detachably connected to the main frame.
Further, the visual part includes:
the vision bracket is fixedly connected to the main frame;
the vision camera is fixedly connected to the vision bracket;
and the light source is fixedly connected to the visual support.
Further, the pocket bottom portion includes:
the mounting plate is fixedly connected to the main frame and is positioned between the fixed hook part and the movable hook part;
the first pocket bottom sliding plate is connected to the mounting plate in a longitudinally sliding mode;
the first pocket bottom driving device is fixedly connected to the mounting plate, the output end of the first pocket bottom driving device is connected to the first pocket bottom sliding plate, and the first pocket bottom sliding plate is driven to slide along the longitudinal direction;
the second bottom pocket sliding plate is vertically and slidably connected to the first bottom pocket sliding plate;
the second pocket bottom driving device is fixedly connected to the first pocket bottom sliding plate, the output end of the second pocket bottom driving device is connected to the second pocket bottom sliding plate, and the second pocket bottom sliding plate is driven to vertically slide;
the pocket bottom plate is fixedly connected to the inner side face of the second pocket bottom sliding plate along the longitudinal direction.
The utility model has the advantages that: the module is fixed by adopting a claw hooking mechanism, so that the falling risk caused by shaking and other reasons in the moving process is eliminated; meanwhile, an anti-falling mechanism is arranged to prevent the module from falling off when being hoisted; the bottom pocket structure plays a dual protection role.
[ description of the drawings ]
The utility model will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a perspective view of a gripping jig of the present invention.
Fig. 2 is a front view of the gripping jig of the present invention.
Fig. 3 is a right side view of the grasping jig of the utility model.
Fig. 4 is a top view of the capture jig of the utility model.
Fig. 5 is a perspective view of a fixed claw portion of the present invention.
FIG. 6 is a rear view of the fixed claw portion of the present invention.
FIG. 7 is an exploded view of the fixed claw portion of the present invention.
FIG. 8 is a first perspective view of the movable hook portion of the present invention.
FIG. 9 is a second perspective view of the movable hook portion of the present invention.
FIG. 10 is an exploded view of the movable claw portion of the present invention.
FIG. 11 is a first perspective view of a pocket bottom of the present invention.
FIG. 12 is a second perspective view of the pocket bottom of the present invention.
Fig. 13 is a schematic diagram illustrating the effect of the grabbing module of the grabbing fixture of the present invention.
Description of reference numerals:
a main frame 1;
the movable claw part 2, the first claw mechanism 21, the first mounting support 211, the first guide rail 212, the first slider 213, the second mounting support 214, the first claw 215, the first driving device 216, the second guide rail 217, the second slider 218, the second driving device 219, the first support 22, the first falling prevention mechanism 23, the first falling prevention support 231, the third guide rail 232, the third slider 233, the first falling prevention plate 234, the first bolt 2341 and the third driving device 235;
the fixed claw part 3, the second claw mechanism 31, the third mounting support 311, the fourth mounting support 312, the second claw 313, the fourth guide rail 314, the fourth slider 315, the fourth driving device 316, the second support 32, the second falling prevention mechanism 33, the second falling prevention support 331, the fifth guide rail 332, the fifth slider 333, the second falling prevention plate 334, the second bolt 3341 and the fifth driving device 335;
a vision part 4, a vision bracket 41, a vision camera 42, a light source 43;
the pocket bottom 5, the mounting plate 51, the first pocket bottom slide 52, the first pocket bottom driving device 53, the second pocket bottom slide 54, the second pocket bottom driving device 55, and the pocket bottom plate 56;
a first detection device 6;
a second detection device 7;
third detection means 8, transmitter 81, receiver 82;
a robot attachment flange 9;
a positioning rod 10;
a module 20;
a proximity sensor 30;
and a hydraulic shock absorber 40.
[ detailed description ] embodiments
In the description of the present invention, it is to be understood that the description indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The general concept of the utility model is as follows:
the module is fixed by adopting a claw hooking mechanism, so that the falling risk caused by shaking and other reasons in the moving process is eliminated; meanwhile, an anti-falling mechanism is arranged to prevent the module from falling off when being hoisted; the bag bottom part 5 plays a double protection role.
Please refer to fig. 1 to 13.
A gripping fixture for a module, comprising:
a main frame 1;
the movable claw part 2 comprises a first claw mechanism 21, a first support 22 and a first falling-preventing mechanism 23; the first support 22 is fixedly connected to the main frame 1; the first claw mechanism 21 is movably connected to the first support 22 along the transverse direction; the first fall prevention mechanism 23 is movably connected to the first support 22 in the transverse direction;
the fixed claw part 3, a second claw hooking mechanism 31, a second support 32 and a second falling-preventing mechanism 33; the second support 32 is fixedly connected to the main frame 1; the second claw hooking mechanism 31 is connected to the second support 32 and is symmetrically arranged with the first claw hooking mechanism 21, and the first claw hooking mechanism 21 and the second claw hooking mechanism 31 hook and clamp the module at two sides, so that the falling risk caused by shaking and other reasons in the moving process is eliminated; the second anti-falling mechanism 33 is movably connected to the second support 32 along the transverse direction and is symmetrically arranged with the first anti-falling mechanism 23, and the module is further clamped and limited at two sides by the first anti-falling mechanism 23 and the second anti-falling mechanism 33, so that the module is prevented from falling off when being lifted, and a safety protection effect is achieved; simultaneously, second collude claw mechanism 31 and be fixed, with pocket bottom 5 cooperation plays location and limiting displacement when lifting by crane, and the module form is ajusted when transversely and vertically being convenient for lift by crane, prevents in the handling that the module from producing the skew, avoids the module to produce the deformation in the clamping process simultaneously.
A vision part 4 fixedly connected to the main frame 1 for detecting the position of the module;
the pocket bottom part 5 is movably connected to the main frame 1 along the longitudinal direction and the vertical direction, and performs a double protection function on the pocket bottom of the module; meanwhile, the module is longitudinally positioned and limited, so that the module is convenient to vertically position, and the deviation and the deformation are avoided.
The first claw mechanism 21 includes:
a first mounting support 211;
a first guide rail 212 fixedly connected to the first mounting bracket 211 and arranged in a transverse direction;
a first slider 213 slidably coupled to the first guide rail 212 and fixedly coupled to the first support 22;
a second mounting bracket 214 coupled to the first mounting bracket 211;
two first hooks 215 fixedly connected to the second mounting support 214; the first hook claw 215 and the second hook claw 313 are symmetrically arranged, and the module is clamped at two sides of the module, so that the clamping is more stable;
the first driving device 216 is fixedly connected to the first support 22, and the output end is connected to the first mounting support 211. In one implementation, the first driving device 216 may employ an actuator, such as a pneumatic cylinder.
The first claw mechanism 21 further includes:
a second guide rail 217 fixedly connected to the second mounting bracket 214 and arranged in a longitudinal direction;
a second slider 218 fixedly connected to the first mounting seat 211 and slidably connected to the second guide rail 217;
and a second driving device 219 fixedly connected to the first mounting bracket 211, and having an output end connected to the second mounting bracket 214. In a specific implementation, the second driving device 219 may employ an actuator, such as a cylinder.
When other modules occupy the preset placing position, the second driving device 219 drives the second mounting support 214 to move longitudinally, so as to drive the clamped module to move longitudinally, push away the adjacent module, and prevent the adjacent module from blocking the placing position.
The first fall prevention mechanism 23 includes:
a first anti-fall seat 231;
a third guide rail 232 fixedly connected to the first falling prevention support 231 and arranged in a transverse direction;
a third slider 233 slidably coupled to the third rail 232 and fixedly coupled to the first support 22;
the first anti-falling plate 234 is provided with a first bolt 2341 protruding along the transverse direction, fixedly connected to the first anti-falling support 231, and located between the two first hooks 215; the first bolt 2341 and the second bolt 3341 are inserted into predetermined hole positions on two side faces of the module to be positioned and matched, so that the module is hung on two sides of the first falling-prevention plate 234 and the second falling-prevention plate 334, and the module is prevented from falling;
a third driving device 235 fixedly connected to the first support 22, and an output end of the third driving device is connected to the first anti-falling support 231. In one embodiment, the third driving device 235 may be an actuator, such as a pneumatic cylinder.
The second claw mechanism 31 includes:
a third mounting bracket 311 fixedly connected to the second bracket 32;
a fourth mounting bracket 312 connected to the third mounting bracket 311;
two second hooks 313 are fixedly connected to the fourth mounting bracket 312.
The second claw hooking mechanism 31 further includes:
a fourth guide rail 314 fixedly connected to the fourth mounting bracket 312 and arranged in the longitudinal direction;
a fourth slider 315 fixedly connected to the third mounting bracket 311 and slidably connected to the fourth guide rail 314;
and a fourth driving device 316 fixedly connected to the third mounting bracket 311, and having an output end connected to the fourth mounting bracket 312. The working principle is similar to that of the second driving means 219. In a specific implementation, the fourth driving device 316 may employ an actuator, such as a cylinder.
The second fall prevention mechanism 33 includes:
a second drop prevention support 331;
a fifth guide rail 332 fixedly connected to the second anti-falling seat 331 and arranged in a transverse direction;
a fifth slider 333 slidably connected to the fifth rail 332 and fixedly connected to the second support 32;
the second anti-falling plate 334 is provided with a second bolt 3341 in a protruding manner along the transverse direction, is fixedly connected to the second anti-falling support 331, and is located between the two second hooks 313;
and a fifth driving device 335 fixedly connected to the second support 32, and having an output end connected to the second anti-falling support 331. In one embodiment, the fifth driving device 335 may be an actuator, such as a pneumatic cylinder.
Also comprises
The first detection device 6 is fixedly connected to the main frame 1 and used for detecting whether a preset discharging position is empty or not, namely whether foreign matters exist or not; in a specific embodiment, the first detecting device 6 may adopt a distance measuring sensor, if the predetermined material is a foreign material, the measured distance is inconsistent with the predetermined distance, and the predetermined material loading position on the surface has a foreign material; it should be explained that: when the modules are stacked, the modules can be deviated due to the existence of the glue, namely the adjacent modules can invade the discharging positions of other modules; therefore, whether the predetermined discharge is empty is detected by the first detection device 6; when the first detection device 6 detects that foreign matters exist, the second driving device 219 and the fourth driving device 316 work to drive the second mounting support 214 and the fourth mounting support 312 to move longitudinally, so that the clamped modules can be driven to move longitudinally, adjacent modules are pushed away, and the material placing position is left;
two second detection devices 7 are provided for detecting whether the predetermined discharge is a foreign matter; the movable claw part 2 and the fixed claw part 3 are respectively and fixedly connected with one second detection device 7; in a specific embodiment, the second detecting device 7 may employ a distance setting type photoelectric sensor; two second detection device 7 are at the both ends range finding of module, if predetermined blowing position has the foreign matter, then after the module puts down, two measured distances are inconsistent, and the module takes place to incline, and the module both ends are not high enough promptly, and predetermined blowing is whether has the foreign matter promptly. In the actual production process, other objects such as tools or spare parts may fall on the module in an upstream process, and at the moment, when other modules are stacked on the module, the module is inclined due to foreign matters; therefore, when the second detection device 7 detects that the foreign matter exists, the alarm device of the production line sends out an alarm prompt so as to facilitate the handling of workers;
the third detection device 8 is used for detecting whether the module 20 is ultrahigh; fixedly connected to the first fall prevention mechanism 23 or the second fall prevention mechanism 33; in a specific embodiment, the third detecting device 8 may be a correlation photoelectric sensor, and includes a transmitter 81 and a receiver 82, the transmitter 81 may be fixed to the first fall prevention plate 234, and the receiver 82 may be fixed to the second fall prevention plate 334; and vice versa. When the module is too high, the signal sent by the transmitter 81 is blocked, and the receiver 82 cannot receive the signal, which indicates that the module is too high; the top of the battery cell is possibly contacted with the grabbing clamp when the module is ultrahigh, and because the battery cell is electrified, even if the grabbing clamp can perform insulation measures, hundreds of safety cannot be guaranteed, and potential safety hazards still exist, whether the module is ultrahigh or not needs to be detected, and when the module is ultrahigh, an alarm prompt is sent out so that a worker can conveniently handle the ultrahigh module;
the robot connecting flange 9 is fixedly connected to the main frame 1; the robot is used for docking with a robot;
and a positioning rod 10 detachably connected to the main frame 1. The positioning rod 10 is used as a calibration rod of the robot, and is used for determining a coordinate system after the grabbing fixture and the robot are connected, namely, the positioning rod is used as a preset datum point for determining the coordinate system, and when the coordinate system is determined, the positioning rod 10 is detached, so that interference in the process of clamping the module is avoided.
The visual portion 4 includes:
a vision bracket 41 fixedly connected to the main frame 1;
a vision camera 42 fixedly connected to the vision bracket 41; in a specific embodiment, the lens of the vision camera is arranged vertically downwards and used for shooting the actual feeding position of the module, and determining the error between the actual feeding position and the preset feeding position of the module, so that the module can be finely adjusted when being put down, and the feeding position is more accurate.
And the light source 43 is fixedly connected to the vision bracket 41. The light source 43 is used for illumination.
The pocket bottom 5 includes:
a mounting plate 51 fixedly connected to the main frame 1 and positioned between the fixed hook part 3 and the movable hook part 2;
a first bottom pocket sliding plate 52 slidably connected to the mounting plate 51 in a longitudinal direction;
the first pocket bottom driving device 53 is fixedly connected to the mounting plate 51, the output end of the first pocket bottom driving device is connected to the first pocket bottom sliding plate 52, and the first pocket bottom sliding plate 53 is driven to slide along the longitudinal direction; in one embodiment, the first pocket bottom driving device 53 may be an actuator, such as a cylinder.
A second bottom pocket sliding plate 54 vertically slidably connected to the first bottom pocket sliding plate 52; the second pocket bottom sliding plate 54 can be used as a longitudinal positioning and limiting baffle of the module, so that the shape of the module can be conveniently adjusted when the module is clamped;
the second pocket bottom driving device 55 is fixedly connected to the first pocket bottom sliding plate 52, and the output end of the second pocket bottom driving device is connected to the second pocket bottom sliding plate 54 and drives the second pocket bottom sliding plate 54 to slide vertically; in particular implementations, the second pocket drive device 55 may employ an actuator, such as a cylinder.
And a pocket bottom plate 56 fixedly connected to an inner side surface of the second pocket bottom sliding plate 54 in a longitudinal direction. The pocket floor 56 is used to pocket the module at the bottom.
The specific use mode is as follows:
connecting the robot connecting flange 9 to a robot, determining a coordinate system through the positioning rod 10, and then detaching the positioning rod 10;
the first driving device 216, the second driving device 219, the third driving device 235, the fourth driving device 316, the fifth driving device 335, the first bottom driving device 53, the second bottom driving device 55, the first detecting device 6, the second detecting device 7, the third detecting device 8, the vision camera 42, the light source 43, and the robot may be respectively connected to a control device in a communication manner, and the control device may adopt a PLC for unified control.
Each driving device adopts a cylinder.
The first detection device 6 adopts a distance measurement sensor.
The second detection device 7 is a distance setting type photoelectric sensor.
The third detection device 8 adopts a correlation type photoelectric sensor.
As shown in fig. 7, 8 and 12, in a specific implementation, a travel switch or a sensor provided in each cylinder may be used to detect whether a piston rod moves, and on this basis, a proximity sensor 30 may be further added to detect whether each cylinder moves in place, which may be used to absorb errors and play a role of double insurance, so as to prevent a misalignment condition that the travel switch provided in the cylinder detects that the cylinder has moved in place but is not actually in place;
and an oil pressure buffer 40 can be additionally arranged for limiting each moving part, so that collision caused by failure of the air cylinder due to power failure or air failure is avoided, and a buffer protection effect is realized.
Presetting a working program, and working:
firstly, the control device controls the robot to drive the grabbing fixture to move above a preset material placing position, and then controls the visual camera 42 to take a picture to determine the actual position of the material placing position; the purpose of this step is: due to the fact that machining errors exist in the manufacturing and assembling processes, certain errors exist between the preset discharging position and the actual discharging position when the working procedure is preset, the actual discharging position and the preset discharging position are compared, the module can be placed at the preset discharging position, and the module can be placed more accurately;
secondly, controlling the robot to drive the grabbing clamp to move to the upper part of the module by the control device according to a preset program;
thirdly, the control device controls the robot to move transversely to drive the second hook claw 313 to move, the second hook claw 313 is embedded into a preset hole on the side face of the module, the control device controls the first driving device 216 to work again to drive the first mounting support 211 to move transversely, the second mounting support 214 is driven to move transversely, and finally the first hook claw 215 is driven to move transversely and hook into a preset hole on the other side of the module;
the control device controls the third driving device 235 and the fifth driving device 335 to synchronously move, and respectively drives the first falling-prevention plate 234 and the second falling-prevention plate 334 to synchronously close and clamp in place;
the control device controls the first pocket bottom driving device 53 and the second pocket bottom driving device 55 to work again, the pocket bottom plate 56 is driven to move downwards to the bottom of the module, the second pocket bottom sliding plate 54 is attached to the rear end face of the module, finally the second pocket bottom driving device 55 is controlled to lift upwards, the pocket bottom part 56 is driven to lift upwards to the proper position, the bottom of the module is held, and the proximity switch detects that the pocket bottom plate 56 is tightly held in the proper position;
sixthly, the control device controls the third detection device 8 to detect whether the module 20 is over high or not, if not, the next action is carried out, and if the module is over high, the operation is stopped, and the alarm device is controlled to give an alarm prompt;
seventhly, the control device controls the robot to plant the grabbing clamp above the material placing position;
controlling a first detection device 6 to detect whether the preset emptying is empty or not by a control device, namely whether foreign matters exist or not; if not, the module is put down; if the module is not empty, controlling the second driving device 219 and the fourth driving device 316 to work, and driving the second mounting support 214 and the fourth mounting support 312 to move longitudinally, so that the clamped module can be driven to move longitudinally, an adjacent module is pushed away, and the material placing position is emptied;
ninthly, controlling the second detection device 7 to detect whether the module is inclined, namely whether the bottom is provided with a foreign body, and controlling the third detection device 8 to detect whether the module is ultrahigh:
if the bag is not ultrahigh and has no foreign matters, the control device controls the bag bottom 5 to withdraw from the module 20, then controls the first hook claw 215 and the second hook claw 313 to loosen the module 20, and finally controls the robot to drive the grabbing clamp to reset to return to the original point of the material taking position;
if the height is too high or foreign matters exist, the alarm device is controlled to give an alarm prompt, the work is stopped, and the abnormal condition is treated by the worker.
Although specific embodiments of the utility model have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the utility model, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the utility model, which is to be limited only by the appended claims.
Claims (10)
1. The utility model provides a snatch anchor clamps of module which characterized in that: the method comprises the following steps:
a main frame;
the movable claw hooking part comprises a first claw hooking mechanism, a first support and a first falling-preventing mechanism; the first support is fixedly connected to the main frame; the first claw hooking mechanism is movably connected to the first support along the transverse direction; the first falling prevention mechanism is movably connected to the first support along the transverse direction;
the fixed claw hooking part, the second claw hooking mechanism, the second support and the second falling prevention mechanism; the second support is fixedly connected to the main frame; the second claw hooking mechanism is connected to the second support and is symmetrically arranged with the first claw hooking mechanism; the second falling prevention mechanism is movably connected to the second support along the transverse direction and is symmetrically arranged with the first falling prevention mechanism;
the visual part is fixedly connected with the main frame;
and the pocket bottom is movably connected to the main frame along the longitudinal direction and the vertical direction.
2. The module gripping jig of claim 1, wherein: the first claw hooking mechanism comprises:
a first mounting support;
the first guide rail is fixedly connected to the first mounting support and is arranged along the transverse direction;
the first sliding block is connected with the first guide rail in a sliding manner and fixedly connected with the first support;
the second mounting support is connected to the first mounting support;
two first hook claws are fixedly connected to the second mounting support;
and the first driving device is fixedly connected to the first support, and the output end of the first driving device is connected to the first mounting support.
3. A module pick jig as claimed in claim 2, wherein: the first claw mechanism further comprises:
the second guide rail is fixedly connected to the second mounting support and is arranged along the longitudinal direction;
the second sliding block is fixedly connected to the first mounting support and is connected to the second guide rail in a sliding manner;
and the second driving device is fixedly connected to the first mounting support, and the output end of the second driving device is connected to the second mounting support.
4. A module pick jig as claimed in claim 2, wherein: the first fall prevention mechanism includes:
a first anti-falling support;
the third guide rail is fixedly connected to the first anti-falling support and is arranged along the transverse direction;
the third sliding block is connected to the third guide rail in a sliding mode and fixedly connected to the first support;
the first anti-falling plate is convexly provided with a first bolt along the transverse direction, is fixedly connected to the first anti-falling support and is positioned between the two first hook claws;
and the third driving device is fixedly connected to the first support, and the output end of the third driving device is connected to the first anti-falling support.
5. The module gripping jig of claim 1, wherein: the second colludes claw mechanism and includes:
the third mounting support is fixedly connected to the second support;
the fourth mounting support is connected to the third mounting support;
and two second hook claws are fixedly connected to the fourth mounting support.
6. The grip jig for a module set according to claim 5, wherein: the second colludes claw mechanism and still includes:
the fourth guide rail is fixedly connected to the fourth mounting support and is arranged along the longitudinal direction;
the fourth sliding block is fixedly connected to the third mounting support and is connected to the fourth guide rail in a sliding manner;
and the fourth driving device is fixedly connected to the third mounting support, and the output end of the fourth driving device is connected to the fourth mounting support.
7. The grip jig for a module set according to claim 5, wherein: the second fall prevention mechanism includes:
a second anti-falling support;
the fifth guide rail is fixedly connected to the second anti-falling support and is arranged along the transverse direction;
the fifth sliding block is connected to the fifth guide rail in a sliding manner and is fixedly connected to the second support;
the second anti-falling plate is convexly provided with a second bolt along the transverse direction, is fixedly connected to the second anti-falling support and is positioned between the two second hook claws;
and the fifth driving device is fixedly connected to the second support, and the output end of the fifth driving device is connected to the second anti-falling support.
8. The gripping jig for modules set forth in claim 1, wherein: also comprises
The first detection device is fixedly connected to the main frame and used for detecting whether a preset discharging position is empty or not;
the two second detection devices are used for detecting whether the preset emptying is a foreign matter or not; the movable hook part and the fixed hook part are respectively and fixedly connected with one second detection device;
the third detection device is used for detecting whether the module is ultrahigh; the first falling prevention mechanism or the second falling prevention mechanism is fixedly connected with the base;
the robot connecting flange is fixedly connected to the main frame;
and the positioning rod is detachably connected to the main frame.
9. The module gripping jig of claim 1, wherein: the visual portion includes:
the vision bracket is fixedly connected to the main frame;
the vision camera is fixedly connected to the vision bracket;
and the light source is fixedly connected to the visual support.
10. The module gripping jig of claim 1, wherein: the pocket bottom portion includes:
the mounting plate is fixedly connected to the main frame and is positioned between the fixed hook part and the movable hook part;
the first pocket bottom sliding plate is connected to the mounting plate in a longitudinally sliding mode;
the first pocket bottom driving device is fixedly connected to the mounting plate, the output end of the first pocket bottom driving device is connected to the first pocket bottom sliding plate, and the first pocket bottom sliding plate is driven to slide along the longitudinal direction;
the second bottom pocket sliding plate is vertically and slidably connected to the first bottom pocket sliding plate;
the second pocket bottom driving device is fixedly connected to the first pocket bottom sliding plate, the output end of the second pocket bottom driving device is connected to the second pocket bottom sliding plate, and the second pocket bottom sliding plate is driven to vertically slide;
the pocket bottom plate is fixedly connected to the inner side face of the second pocket bottom sliding plate along the longitudinal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122776210.8U CN216505116U (en) | 2021-11-12 | 2021-11-12 | Module snatch anchor clamps |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122776210.8U CN216505116U (en) | 2021-11-12 | 2021-11-12 | Module snatch anchor clamps |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216505116U true CN216505116U (en) | 2022-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122776210.8U Active CN216505116U (en) | 2021-11-12 | 2021-11-12 | Module snatch anchor clamps |
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| Country | Link |
|---|---|
| CN (1) | CN216505116U (en) |
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2021
- 2021-11-12 CN CN202122776210.8U patent/CN216505116U/en active Active
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