Gripper capable of being compatible with on-line of various water-cooling plates

Abstract

The utility model discloses a gripper capable of being compatible with on-line of various water cooling plates, which comprises a rack, an X-axis variable-pitch mechanism is connected to the rack along the X-axis direction, and two Y-axis variable-pitch mechanisms are connected to the X-axis variable-pitch mechanism at intervals; two clamping jaw assemblies are connected to each Y-axis pitch changing mechanism in a spaced mode. The machine frame is further provided with a blocking assembly. The blocking assembly comprises a first lifting motor with the driving direction in the vertical direction and a lifting rod fixedly connected to the driving end of the lifting motor. The X-axis distance changing mechanism adjusts the movement distance of the clamping jaw assembly in the X-axis direction, and the Y-axis distance changing mechanism adjusts the movement distance of the clamping jaw assembly in the Y-axis direction. According to the utility model, different types of water-cooling plates can be automatically clamped in a variable-pitch manner, and meanwhile, a foam mold can be prevented from being mistakenly taken on line; in addition, the air blowing holes are formed in the clamping jaw assemblies, the clamped position of the water-cooling plate can be cleaned in advance, and the overall cleanliness of the water-cooling plate before assembly is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of automated fixtures for mechanical processing production lines, in particular to a gripper that can be compatible with multiple water-cooling plate production lines. Background Art

[0002] The water cooling plate is a common heat dissipation device that uses water cooling technology to reduce the temperature of the device. Compared with traditional air-cooled radiators, the water cooling plate has higher heat dissipation efficiency and lower noise level. In the Pack battery module assembly industry, the application of water cooling plates is very extensive, and a Pack battery module usually requires multiple different types of water cooling plates.

[0003] On the one hand, the existing water-cooling plate online clamps are usually for water-cooling plates of a single size and cannot be used for grabbing multiple different types of water-cooling plates at the same time, or the clamp mechanism structure for water-cooling plates of different sizes is too large and requires a large-load six-axis robot; on the other hand, on the automatic production line, multiple water-cooling plates are mostly placed on the foam mold at intervals for the water-cooling plate online clamps to grab. When the existing water-cooling plate online clamps are used to clamp the water-cooling plates, firstly, it is easy for the foam mold to be grabbed and put on line together; secondly, the water-cooling plate placement ports on different foam molds are located at different positions, resulting in different spacings between the water-cooling plates. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a gripper that is compatible with a variety of water-cooling plate production lines, which can automatically change the distance to clamp water-cooling plates of different models while also preventing foam molds from being mistakenly brought online.

[0005] The technical solution of the utility model is:

[0006] A gripper compatible with various water cooling plate lines, comprising:

[0007] Define the length direction of the water cooling plate as the X-axis direction, and the horizontal and perpendicular direction of the length direction of the water cooling plate as the Y-axis direction;

[0008] A frame, wherein an X-axis variable pitch mechanism is connected to the frame along the X-axis direction;

[0009] At least two Y-axis variable pitch mechanisms are connected to the X-axis variable pitch mechanism at intervals along the Y-axis direction; and two clamping jaw assemblies are connected to each Y-axis variable pitch mechanism at intervals;

[0010] The frame is also provided with a blocking component, which comprises a first lifting motor (501) whose driving direction is along the vertical direction and a lifting rod fixedly connected to the driving end of the lifting motor;

[0011] The X-axis pitch changing mechanism adjusts the movement distance of the clamping jaw assembly along the X-axis direction, and the Y-axis pitch changing mechanism adjusts the movement distance of the clamping jaw assembly along the Y-axis direction.

[0012] Furthermore, each of the clamping jaw assemblies is connected to a lifting mechanism, and each of the lifting mechanisms includes a second lifting motor with a driving direction along a vertical direction, and a driving end of each of the second lifting motors is connected to the clamping jaw assembly.

[0013] Furthermore, each of the clamping jaw assemblies includes a pneumatic finger, and a blowing hole is provided on the side of each of the pneumatic fingers facing the water cooling plate.

[0014] Furthermore, the X-axis pitch-changing mechanism includes: an X-axis pitch-changing motor and a first screw transmission mechanism, wherein the X-axis pitch-changing motor is connected to the frame; and the first screw transmission mechanism includes:

[0015] An X-axis variable pitch lead screw, arranged on the lower surface of the frame facing the water-cooled plate along the X-axis direction, and connected to the driving part of the X-axis variable pitch motor;

[0016] Two first screw nuts are respectively connected to the X-axis variable pitch screw for driving, and each of the first screw nuts is connected to one of the Y-axis variable pitch mechanisms to adjust the distance between the two Y-axis variable pitch mechanisms along the X-axis direction;

[0017] A first slide rail, disposed on the lower surface of the frame and parallel to the X-axis variable pitch lead screw;

[0018] A first sliding block is provided on each of the first screw nut, and the first sliding block can slide in cooperation with the first slide rail under the drive of the first screw nut.

[0019] Furthermore, the X-axis pitch changing mechanism also includes: a first slide seat, each of the first screw nut is connected to a first slide seat, each of the first slide seats is connected to the first sliding block, and each of the first slide seats is connected to a Y-axis pitch changing mechanism.

[0020] Furthermore, the X-axis pitch changing mechanism also includes a transmission assembly, which includes a driving wheel, a driven wheel and a transmission belt. The driving wheel is connected to the X-axis pitch changing motor drive unit, the driven wheel is connected to the X-axis pitch changing screw rod, and the driving wheel and the driven wheel are connected through the transmission belt.

[0021] Further, each of the Y-axis pitch-changing mechanisms comprises a mounting back plate, a Y-axis pitch-changing motor and a second screw transmission mechanism;

[0022] The mounting back plate is connected to the X-axis pitch-changing mechanism, and the Y-axis pitch-changing motor is connected to the mounting back plate;

[0023] The second screw transmission mechanism comprises:

[0024] A Y-axis variable pitch lead screw is arranged on the side of each mounting back plate facing the other mounting back plate along the Y-axis direction and is connected to the driving part of the Y-axis variable pitch motor;

[0025] Two second screw nuts are respectively connected to the variable pitch screw of the Y-axis; each second screw nut is connected to a clamping jaw assembly to adjust the distance between the two clamping jaw assemblies along the Y-axis direction;

[0026] A second slide rail is arranged on the mounting back plate and is parallel to the Y-axis variable pitch lead screw;

[0027] A second slider is provided on each of the second screw nut, and the second slider can slide in cooperation with the second slide rail under the drive of the second screw nut.

[0028] Furthermore, the Y-axis pitch changing mechanism is also provided with a position detection mechanism for locating the position of the water cooling plate.

[0029] Furthermore, the frame is provided with a flange for connecting with the robot arm.

[0030] The beneficial technical effect of the utility model is: the utility model provides a gripper that is compatible with a variety of water-cooled plate lines:

[0031] Firstly, it has an X-axis pitch-changing mechanism, a Y-axis pitch-changing mechanism and a clamping jaw assembly, and the distance between the clamping jaw assemblies is adjusted by the X-axis pitch-changing mechanism to realize the grabbing of water-cooling plates of different models; further, the distance between the clamping jaw assemblies is adjusted by the Y-axis pitch-changing mechanism to realize the simultaneous grabbing of multiple water-cooling plates with different spacing distances; thereby, the online time of the water-cooling plates is shortened, the production efficiency is improved, and the utility model has a simple structure and is easy to operate;

[0032] Secondly, it has a blocking component, which can prevent the foam mold on which the water-cooling plate is placed from being grabbed and put on the line at the same time as the water-cooling plate is grabbed;

[0033] Thirdly, the jaw assembly is provided with a blowing hole, so before clamping the water-cooling plate, the clamped part of the water-cooling plate can be cleaned in advance to ensure the cleanliness of the water-cooling plate before assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the utility model for clamping a water-cooled plate;

[0035] Figure 2 This is a schematic diagram of another angle of the utility model for clamping the water cooling plate;

[0036] Figure 3It is a schematic diagram of the utility model with one clamping claw component removed.

[0037] in:

[0038] 100-frame, 101-beam;

[0039] 200-X-axis pitch-changing mechanism, 201-X-axis pitch-changing motor, 202-X-axis pitch-changing screw, 203-X-axis screw nut, 204-first slide rail, 205-first slider, 206-first slide seat, 207-transmission assembly, 208-top limit block, 209-middle limit block;

[0040] 300-Y-axis pitch-changing mechanism, 301-mounting back plate, 302-Y-axis pitch-changing motor, 303-Y-axis pitch-changing screw, 304-second screw nut, 305-second slide rail, 306-second slider, 307-second slide seat;

[0041] 400-gripper assembly, 401-second lifting motor, 402-pneumatic finger, 403-blowing hole;

[0042] 500-blocking assembly, 501-first lifting motor, 502-lifting rod; 600-water cooling plate, 700-position detection mechanism, 800-flange. DETAILED DESCRIPTION

[0043] In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the specific implementation methods of the utility model are further described in detail below in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0044] like Figure 1-Figure 3 As shown, the utility model includes a frame 100, and a crossbeam 101 is provided on the frame 100 along the X-axis direction, and the crossbeam 101 is used to connect the X-axis variable pitch mechanism 200, the Y-axis variable pitch mechanism 300, the clamping claw assembly 400 and the blocking assembly 500 of the utility model. The length direction of the water-cooling plate 600 is defined as the X-axis direction, and the horizontal direction perpendicular to the length direction of the water-cooling plate is defined as the Y-axis direction.

[0045] The X-axis pitch-changing mechanism 200 of the utility model includes an X-axis pitch-changing motor 201 and a first screw transmission mechanism. The X-axis pitch-changing motor 201 of the utility model is a rotary motor, which can be reversed and has an adjustable speed. The fixed end of the X-axis pitch-changing motor 201 is connected to the crossbeam 101, and the driving end of the X-axis pitch-changing motor 201 is connected to the first screw transmission mechanism. In the utility model, the X-axis pitch-changing motor 201 is arranged at the middle position of the lower surface of the crossbeam 101, which is conducive to uniform force on the first screw transmission mechanism and saving equipment space.

[0046] The first screw transmission mechanism includes an X-axis variable pitch screw 202 , two first screw nuts 203 , a first sliding block 205 and a first sliding rail 204 .

[0047] The X-axis variable pitch screw 202 is arranged on the lower surface of the beam 101 facing the water-cooled plate 600 along the X-axis direction, and the middle end of the X-axis variable pitch screw 202 is connected to the driving end of the above-mentioned X-axis variable pitch motor 201; the two first screw nuts 203 are symmetrically spaced at both ends of the X-axis variable pitch screw 202, and each first screw nut 203 is connected to a Y-axis variable pitch mechanism 300 to adjust the distance between the two Y-axis variable pitch mechanisms 300 along the X-axis direction.

[0048] The first slide rail 204 is arranged on the lower surface of the crossbeam 101 and is parallel to the X-axis variable pitch screw 202. The number of the first slide rail 204 can be one or more. In the present invention, a first slide rail 204 is arranged on both sides of the X-axis variable pitch screw 202. Further, a first slider 205 is slidably connected to both ends of each first slide rail 204, and the first slider 205 and the first screw nut 203 at the same end are jointly fixed to a first slide seat 206, and a Y-axis variable pitch mechanism 300 is fixed to the lower surface of each slide seat 206 facing the water cooling plate.

[0049] Since the first slider 205 is connected to the first lead screw nut 203 through the first slide seat 206 and slides with the first slide rail 204, the first slider 205 can limit the first lead screw nut 203 to rotate with the X-axis variable pitch lead screw 202, thereby converting the rotation of the X-axis variable pitch lead screw 202 into relative or reverse divergent movement of the two first lead screw nuts 203 along the length direction of the X-axis variable pitch lead screw 202, thereby synchronously driving the relative or reverse divergent movement of the two Y-axis variable pitch mechanisms 300 and the clamping jaw assembly 400 connected to the Y-axis variable pitch mechanism.

[0050] Preferably, a top limit block 208 is respectively provided at the two top ends of the X-axis variable pitch screw 202, and two middle limit blocks 209 are spaced apart on the middle end of the X-axis variable pitch screw 202. The two top limit blocks 208 limit the maximum distance that the two first screw nuts 203 move away in the opposite direction, and the two middle limit blocks 209 limit the minimum distance that the two first screw nuts move close to each other relative to each other.

[0051] Preferably, the X-axis pitch-changing mechanism 200 further includes a transmission assembly 207, which includes a driving wheel, a driven wheel and a transmission belt, wherein the driving wheel is connected to the driving part of the X-axis pitch-changing motor 201, the driven wheel is connected to the X-axis pitch-changing screw rod 202, and the driving wheel and the driven wheel are connected via the transmission belt. The transmission assembly can improve the transmission accuracy and prevent the X-axis pitch-changing motor from being damaged due to overload.

[0052] Each of the above-mentioned Y-axis pitch-changing mechanisms 300 includes a mounting back plate 301 , a Y-axis pitch-changing motor 302 and a second screw transmission mechanism.

[0053] Each Y-axis variable pitch motor 302 can rotate forward and reverse, and its speed is adjustable. The fixed end of the Y-axis variable pitch motor 302 is connected to the mounting back plate 301, and the driving end is connected to the second screw transmission mechanism.

[0054] Each of the above-mentioned second transmission mechanisms includes a Y-axis variable pitch screw 303, two second screw nuts 304, two second slide rails 305, a plurality of second sliders 306, two second slide seats 307 and a transmission assembly 207. Among them, except that the Y-axis variable pitch screw 303 and the second slide rail 305 are arranged on the side of the mounting back plate 301 facing the other mounting back plate 301 along the Y-axis direction, the connection mode and function mode of the second screw nut 304, the second slider 306 and the second slide seat 307 are the same as those of the above-mentioned first screw transmission mechanism, which will not be repeated here. A clamping claw assembly 400 is connected to each of the above-mentioned second slide seats 307.

[0055] At this point, the utility model has an X-axis pitch changing mechanism 200, two Y-axis pitch changing mechanisms 300, and each Y-axis pitch changing mechanism 300 is connected to two clamping jaw assemblies 400. The two clamping jaw assemblies 400 located on the same side of the X-axis direction form a pair of water-cooled plate clamps, which respectively clamp the two ends of the length direction of the same water-cooled plate. That is, the utility model has two pairs of water-cooled plate clamps, namely the first water-cooled plate clamp and the second water-cooled plate clamp. In actual production, the number of water-cooled plate clamps can be increased by increasing the number of X-axis pitch changing mechanisms 200, Y-axis pitch changing mechanisms 300 and clamping jaw assemblies 400 according to actual conditions.

[0056] The clamping jaw assembly 400 of the present invention is a pneumatic finger 402 , and the clamping distance of the pneumatic finger 401 can be adjusted according to the thickness of the water-cooling plate 600 , thereby clamping the water-cooling plate 600 .

[0057] Preferably, each pneumatic finger 402 is also connected to a lifting mechanism. The lifting mechanism includes a second lifting motor 401. The second lifting motor 401 in the utility model is a pen-shaped cylinder with a driving direction along the vertical direction, whose fixed end is connected to the second slide seat 307, and whose driving end is connected to the pneumatic finger 402. The provision of the lifting mechanism is conducive to the utility model to control the first water-cooling plate clamp and the second water-cooling plate clamp to extend and retract independently, so as to facilitate scanning and recording of each water-cooling plate 600.

[0058] Preferably, a plurality of blowing holes 403 are provided on the side of each pneumatic finger 401 facing the water-cooling plate 600, and the blowing holes 403 are electrically connected to the air supply device. When the pneumatic finger 401 moves to the clamping part of the water-cooling plate 600, the clamping part of the water-cooling plate 600 can be cleaned in advance, which solves the problem in the prior art that the clamping part of the water-cooling plate 600 cannot be cleaned after the water-cooling plate 600 is clamped and then cleaned, thereby ensuring the overall cleanliness of the water-cooling plate 600 before assembly.

[0059] Furthermore, a blocking assembly 500 is also provided on the lower surface of the above-mentioned crossbeam 101. The blocking assembly 500 includes a first lifting motor 501 with a driving direction in the vertical direction and a lifting rod 502. In order to save equipment space, the fixed end of the first lifting motor 501 is connected to a bracket at the middle end of the crossbeam 101 and is located below the X-axis variable pitch motor 201, and the driving end of the first lifting motor 501 is connected to the lifting rod 502. When clamping the water-cooled plate 600, start the first lifting motor 501 and control the lifting rod 502 to descend to the foam mold on which the water-cooled plate is placed to prevent the foam mold from being entrained together with the water-cooled plate 600. After the water-cooled plate 600 is completely taken away from the foam mold by the clamping claw assembly, the lifting rod 502 retracts.

[0060] Preferably, each Y-axis pitch changing mechanism 300 is also provided with a position detection mechanism 700. The position detection mechanism 700 may be a CCD module, but is not limited thereto. The position detection mechanism 700 is used to take a picture of the water-cooling plate, locate the position of the water-cooling plate 600, and then transmit the position information of the water-cooling plate 600 to the control system to control the X-axis pitch changing mechanism and the Y-axis pitch changing mechanism to adjust the distance between the clamping jaw assemblies.

[0061] Preferably, a flange 800 is provided on the upper surface of the crossbeam 101 for connecting with a robot arm, so that the present invention can be moved to a preset position under the movement of the robot arm.

[0062] The operating principle and operation process of this new experimental model are as follows:

[0063] The robotic arm carries the present invention to a preset position, starts the X-axis variable pitch motor 201, and adjusts the distance between the two clamp assemblies on the first water-cooled plate clamp and the second water-cooled plate clamp along the X-axis according to the length of the water-cooled plate 600; starts the Y-axis variable pitch motor 302, and adjusts the distance between the first water-cooled plate clamp and the second water-cooled plate clamp along the Y-axis according to the spacing between the two water-cooled plates 600; starts the first lifting motor 501, so that the lifting rod 502 is against the foam mold equipped with the water-cooled plate 600, and then the clamp assembly clamps the water-cooled plate 600. After the water-cooled plate 600 is separated from the foam mold, the lifting rod 502 is controlled to reset, and the clamp assembly carries the water-cooled plate 600 to the assembly station.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A gripper compatible with multiple water-cooling plate lines, characterized in that: include: The length direction of the water cooling plate (600) is defined as the X-axis direction, and the direction horizontally perpendicular to the length direction of the water cooling plate (600) is defined as the Y-axis direction; A frame (100), wherein an X-axis variable pitch mechanism (200) is connected to the frame (100) along the X-axis direction; At least two Y-axis distance changing mechanisms (300) are connected to the X-axis distance changing mechanism (200) at intervals along the Y-axis direction; and two clamping jaw assemblies (400) are connected to each Y-axis distance changing mechanism (300) at intervals; The frame (100) is also provided with a blocking assembly (500), and the blocking assembly (500) comprises a first lifting motor (501) whose driving direction is along the vertical direction and a lifting rod (502) fixedly connected to the driving end of the lifting motor; The X-axis pitch changing mechanism (200) adjusts the movement distance of the clamping jaw assembly (400) along the X-axis direction, and the Y-axis pitch changing mechanism (300) adjusts the movement distance of the clamping jaw assembly (400) along the Y-axis direction.

2. The gripper compatible with various water-cooling plate lines according to claim 1 is characterized in that: Each of the clamping jaw assemblies (400) is connected to a lifting mechanism, and each of the lifting mechanisms comprises a second lifting motor (401) with a driving direction along a vertical direction, and a driving end of each of the second lifting motors (401) is connected to the clamping jaw assembly (400).

3. The gripper compatible with various water-cooling plate lines according to claim 1 is characterized in that: Each of the clamping jaw assemblies (400) comprises a pneumatic finger (402), and a blowing hole (403) is provided on the side of each of the pneumatic fingers (402) facing the water cooling plate (600).

4. The gripper compatible with various water-cooling plate lines according to claim 1 is characterized in that: The X-axis pitch-changing mechanism (200) comprises: an X-axis pitch-changing motor (201) and a first screw transmission mechanism, wherein the X-axis pitch-changing motor (201) is connected to the frame (100); and the first screw transmission mechanism comprises: An X-axis variable pitch lead screw (202) is arranged on the lower surface of the frame (100) facing the water-cooling plate (600) along the X-axis direction and is connected to a driving part of the X-axis variable pitch motor (201); Two first screw nuts (203) are respectively connected to the X-axis variable pitch screw (202) in driving connection, and each of the first screw nuts (203) is connected to one of the Y-axis variable pitch mechanisms (300) to adjust the distance between the two Y-axis variable pitch mechanisms (300) along the X-axis direction; A first slide rail (204) is arranged on the lower surface of the frame (100) and is parallel to the X-axis variable pitch lead screw (202); A first sliding block (205) is provided on each of the first screw nut (203), and the first sliding block (205) can slide in cooperation with the first slide rail (204) under the drive of the first screw nut (203).

5. The gripper compatible with various water-cooling plate lines according to claim 4 is characterized in that: The X-axis pitch changing mechanism (200) further comprises: a first slide seat (206), each of the first screw nut (203) is connected to a first slide seat (206), each of the first slide seats (206) is connected to the first slider (205), and each of the first slide seats (206) is connected to a Y-axis pitch changing mechanism (300).

6. The gripper compatible with various water-cooling plate lines according to claim 4 is characterized in that: The X-axis pitch-changing mechanism (200) further comprises a transmission assembly, the transmission assembly comprising a driving wheel, a driven wheel and a transmission belt, the driving wheel being connected to a driving portion of the X-axis pitch-changing motor (201), the driven wheel being connected to the X-axis pitch-changing screw rod (202), and the driving wheel and the driven wheel being connected via the transmission belt.

7. The gripper compatible with various water-cooling plate lines according to claim 1, characterized in that: Each of the Y-axis pitch-changing mechanisms (300) comprises a mounting back plate (301), a Y-axis pitch-changing motor (302) and a second screw transmission mechanism; The mounting back plate (301) is connected to the X-axis pitch-changing mechanism (200), and the Y-axis pitch-changing motor (302) is connected to the mounting back plate (301); The second screw transmission mechanism comprises: A Y-axis variable pitch lead screw (303) is arranged along the Y-axis direction on the side of each mounting back plate (301) facing the other mounting back plate (301), and is connected to the driving part of the Y-axis variable pitch motor (302); Two second screw nuts (304) are respectively connected to the Y-axis variable pitch screw (303) in driving connection; each second screw nut (304) is connected to a clamping jaw assembly (400) to adjust the distance between the two clamping jaw assemblies (400) along the Y-axis direction; A second slide rail (305) is arranged on the mounting back plate (301) and is parallel to the Y-axis variable pitch lead screw (303); A second slider (306), each of the second screw nut (304) is provided with a second slider (306), and the second slider (306) can slide in cooperation with the second slide rail (305) under the drive of the second screw nut (304).

8. The gripper compatible with various water-cooling plate lines according to claim 1, characterized in that: The Y-axis pitch changing mechanism (300) is also provided with a position detection mechanism (700) for locating the position of the water cooling plate (600).

9. The gripper compatible with various water-cooling plate lines according to claim 1, characterized in that: The frame (100) is also provided with a flange (800) for connecting with a mechanical arm.

Images