Variable-pitch clamping jaw device
By using multiple screws and driving mechanisms to drive the movement of multiple sets of jaw units, the problem of high cost of jaw pitch adjustment and inability to achieve equal distance and gap variation in the prior art is solved, and an efficient and low-cost jaw pitch variation method is achieved.
Patent Information
- Application Number
- CN202421732696.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-22
- Publication Date
- 2025-05-23
- Estimated Expiration
- 2034-07-22
AI Technical Summary
The prior art is a high cost, complex structure, and cannot achieve equal and differential variation method when adjusting the jaw spacing on the square lithium battery production line.
Multiple screws and driving mechanisms are used to drive the movement of multiple sets of jaw units. Each screw is equipped with a positive thread and a reverse thread. The movement of the jaw unit is driven by the rotation of the screw, so as to achieve equal distance and differential variable distance between jaws.
The flexible spacing of the jaw spacing is achieved, which reduces costs, simplifies the structure, and improves the clamping accuracy of the jaws.
Smart Images
Figure CN222891257U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of material clamping mechanical equipment, in particular to a variable-distance clamping claw device. Background Art
[0002] With the rapid development of the lithium battery industry, square lithium batteries are being used more and more widely, and have become the main target of new energy vehicles. At present, in the actual production of square lithium batteries, it is sometimes necessary to use a manipulator to clamp lithium batteries from the production line to the carrier. The manipulator is usually equipped with multiple claws arranged in a straight line, which can grab multiple lithium batteries at the same time. For carriers of different specifications, the positioning spacing of aluminum batteries is also different. If carriers of different specifications are switched, the spacing between the claws also needs to be readjusted. In addition, the spacing between adjacent lithium batteries on the production line cannot be completely consistent. Therefore, it is necessary to perform real-time distance variation processing on the multiple claws on the manipulator to ensure that each claw can clamp the battery, or that the clamped battery can be placed in the appropriate position of the carrier.
[0003] At present, there are two main ways to change the pitch of multiple grippers of a robot. One way is to use multiple drive mechanisms to change the pitch of each gripper separately, but this method is costly, complex in structure, and has a large spatial layout; the other way is to use a standard pitch variable module to change the pitch, but this can only ensure that the grippers are equidistant, and the gap cannot be achieved. Utility Model Content
[0004] The utility model aims at the technical problems existing in the prior art and provides a variable-distance clamping jaw device, which can realize the variable-distance mode of equal distance and gap of the clamping jaws in a relatively simple structure and low cost manner.
[0005] The technical solution adopted by the utility model to solve its technical problems is: a variable-pitch clamping device, comprising a mounting carrier, a variable-pitch mechanism and a plurality of clamping jaws arranged along a preset first direction; the variable-pitch mechanism comprises a plurality of screw rods and a driving mechanism, each screw rod is respectively arranged on the mounting carrier along the first direction, and is driven to rotate by the driving mechanism; each screw rod is respectively provided with a positive thread and a negative thread; the plurality of clamping jaws are grouped in two, forming a plurality of groups of clamping jaw units corresponding to the plurality of screw rods one by one, one of the clamping jaws of each group of clamping jaw units is respectively linked with the positive thread of the corresponding screw rod, and the other clamping jaw of each group of clamping jaw units is respectively linked with the negative thread of the corresponding screw rod, so that when the screw rod rotates, the two clamping jaws of the corresponding group of clamping jaw units are driven to move toward or in the opposite direction along the first direction.
[0006] Furthermore, the plurality of screw rods are arranged along a second direction, the second direction is perpendicular to the first direction, and the two clamping jaws of each group of clamping jaw units are symmetrically positioned among the plurality of clamping jaws.
[0007] Furthermore, the positive thread of each screw rod is threadedly connected to the first connecting piece, and the negative thread of each screw rod is threadedly connected to the second connecting piece, and the first connecting piece and the second connecting piece are respectively slidably connected to the mounting carrier along the first direction; one of the jaws of each group of jaw units is respectively installed on the first connecting piece of the corresponding screw rod, and the other jaw of each group of jaw units is respectively installed on the second connecting piece of the corresponding screw rod.
[0008] Furthermore, the first connecting member includes a first nut and a first connecting seat, the first nut is threadedly connected to the positive thread, the first connecting seat is fixedly connected to the first nut and slidably connected to the mounting carrier; one of the clamps is installed on the first connecting seat.
[0009] Furthermore, the second connecting member includes a second nut and a second connecting seat, the second nut is threadedly connected to the counter-thread, the second connecting seat is fixedly connected to the second nut and slidably connected to the mounting carrier; the other clamp is installed on the first connecting seat.
[0010] Furthermore, the first connecting member and the second connecting member are respectively slidably connected to the mounting carrier by a sliding assembly, the sliding assembly includes a guide rail and a sliding member, the guide rail is arranged on the mounting carrier along the first direction, the sliding member is slidably connected to the guide rail along the first direction, and is connected to the first connecting member or the second connecting member.
[0011] Furthermore, the clamp is a pneumatic clamp, and the opening and closing direction of the clamping part is perpendicular to the first direction.
[0012] Furthermore, the number of the screw rods is greater than or equal to two, and the number of the clamping jaws is an even number and greater than or equal to four; the driving mechanism includes at least two motors, and the motors correspond to the screw rods one by one, so that each screw rod is driven by the corresponding motor respectively; or, the driving mechanism includes a motor and a transmission assembly, and the motor is connected to each screw rod through the transmission assembly to drive each screw rod to rotate.
[0013] Furthermore, the mounting carrier is installed with a position detection mechanism, and the position detection mechanism includes an industrial camera and a visual light source.
[0014] Furthermore, the mounting carrier is equipped with a plurality of sponge suction cups.
[0015] Furthermore, the multiple clamps are located below the mounting carrier, the first direction is a horizontal direction, the visual light sources are respectively installed on both sides of the mounting carrier in the first direction, and the sponge suction cups are respectively installed on the other two sides of the mounting carrier; the industrial camera is located at the bottom of the mounting carrier; and a robot mounting seat is arranged on the top of the mounting carrier.
[0016] Compared with the prior art, the utility model has the following beneficial effects:
[0017] 1. Since the variable pitch clamp of the utility model adopts multiple screws to drive multiple groups of clamp units to move, and each screw has a positive thread and a negative thread, each screw can drive the two clamps of the corresponding group of clamp units to move toward or in the opposite direction when rotating. Therefore, the utility model can drive multiple clamps to achieve equal and differential variable pitch in a relatively simple structure and low cost manner.
[0018] 2. The multiple screw rods are arranged along a second direction, which is perpendicular to the first direction. The two jaws of each group of jaw units are symmetrically positioned among the multiple jaws, so that the utility model can make the overall structure more compact, facilitate the layout of the jaws, and provide more distance variation methods between the multiple jaws.
[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments; however, the variable-pitch clamping jaw device of the present invention is not limited to the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;
[0021] Figure 2 It is a bottom view of the utility model (partially shown);
[0022] Figure 3 It is a structural schematic diagram of the screw rod of the utility model (including the first nut and the second nut);
[0023] Figure 4 It is a front view of the utility model in an isometric state;
[0024] Figure 5 It is a front view of the utility model in a variable distance state;
[0025] In the figure, 1. mounting carrier, 2. clamping claw, 3. square lithium battery, 4. screw rod, 5. motor, 6. first nut, 7. first connecting seat, 8. second nut, 9. second connecting seat, 10. guide rail, 20. sliding part, 30. industrial camera, 40. visual light source, 50. sponge suction cup. DETAILED DESCRIPTION
[0026] In the present utility model, the terms "first", "second", etc. are only used to distinguish similar objects, rather than to describe a specific order or sequence, and cannot be understood as indicating or implying relative importance. In the description, the directions or positional relationships indicated by "upper", "lower", "left", "right", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model, rather than indicating or implying that the device referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.
[0027] In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more. In the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "setting", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0028] See also Figure 1-Figure 5As shown, a variable pitch clamping device of the utility model comprises a mounting carrier 1, a variable pitch mechanism and a plurality of clamping jaws 2 arranged along a first direction, each clamping jaw 2 is used to clamp an object, specifically a square lithium battery 3. The mounting carrier 1 is a plate-like structure, which can also be called a mounting plate or a mounting seat. The variable pitch mechanism is mounted on the mounting carrier 1, and comprises a plurality of screw rods 4 and a driving mechanism. The driving mechanism specifically comprises a plurality of motors 5 corresponding to the plurality of screw rods 4. Each screw rod 4 is respectively arranged on the mounting carrier 1 along the first direction, and is driven to rotate by the corresponding motor 5. In other embodiments, the driving mechanism comprises a motor and a transmission assembly, and the motor is connected to each screw rod through the transmission assembly to drive each screw rod to rotate synchronously. Each screw rod 4 is respectively provided with a positive thread and a negative thread. The number of the clamping jaws 2 is an even number and is more than two, and two of the even number of clamping jaws 2 form a group, forming a plurality of groups of clamping jaw units corresponding to the plurality of screw rods 4 one by one, one of the clamping jaws 2 of each group of clamping jaw units is respectively linked with the positive thread of the corresponding screw rod 4, and the other clamping jaw 2 of each group of clamping jaw units is respectively linked with the negative thread of the corresponding screw rod 4, so that when the screw rod 4 rotates, the two clamping jaws 2 of the clamping jaw unit of the corresponding group are driven to move toward or in the opposite direction along the first direction, so that the plurality of clamping jaws 2 can achieve an equidistant and gapped pitch change mode. The pitch of the positive thread and the negative thread on the same screw rod is the same, and the pitch of the positive thread / negative thread on different screw rods is different. In this embodiment, the plurality of screw rods 4 are arranged along the second direction, which is perpendicular to the first direction, and the second direction and the first direction are both horizontal directions, and in this embodiment, the first direction is the left-right direction, and the second direction is the front-back direction. The two clamping jaws 2 of each group of clamping jaw units are symmetrically positioned in the plurality of clamping jaws 2. In other embodiments, a plurality of screw rods 4 are arranged along the first direction, and two clamping jaws 2 of each group of clamping jaw units are disposed adjacent to each other.
[0029] In this embodiment, the number of screw rods 4 is two, and the number of jaws 2 is specifically four, but it is not limited thereto. In other embodiments, the number of screw rods 4 is three or four, and the number of jaws 2 is six or eight. The four jaws 2 form two groups of jaw units. Since the two jaws 2 of each group of jaw units are symmetrical in position among the multiple jaws 2, the positions of the two outermost jaws 2 of the four jaws 2 are symmetrical and form one group of jaw units, and the positions of the two middle jaws 2 are symmetrical and form another type of jaw unit. Since the number of screw rods 4 is two, the number of motors 5 is also two.
[0030] In this embodiment, the two clamping jaws 2 of each clamping jaw unit are linked with the positive thread and the negative thread of the corresponding screw rod 4 in the following manner: the positive thread of each screw rod 4 is respectively threadedly connected with a first connecting member, and the negative thread of each screw rod 4 is respectively threadedly connected with a second connecting member, and the first connecting member and the second connecting member are respectively slidably connected to the mounting carrier 1 along the first direction. Specifically, the first connecting member and the second connecting member are respectively slidably connected to the mounting carrier 1 by a sliding assembly, and the sliding assembly includes a guide rail 10 and a sliding member 20, the guide rail 10 is arranged on the mounting carrier 1 along the first direction, and the sliding member 20 is slidably connected to the guide rail 10 along the first direction and connected to the first connecting member or the second connecting member. The number of guide rails 10 is specifically two, and the two guide rails 10 are arranged along the second direction, and the two screw rods 4 are located between the two guide rails 10. Each first connecting member and each second connecting member share two guide rails 10, and the sliding member 20 is plate-shaped, which can also be called a sliding plate, and each sliding member 20 is slidably matched with the two guide rails 10 at both ends in the second direction.
[0031] One of the jaws 2 of each group of jaw units is respectively mounted on the first connecting piece of the corresponding screw rod 4, and the other jaw 2 of each group of jaw units is respectively mounted on the second connecting piece of the corresponding screw rod 4. In other embodiments, a component of one of the jaws 2 of each group of jaw units is directly threadedly connected to the positive thread of the corresponding screw rod 4, and a component of the other jaw 2 of each group of jaw units is directly threadedly connected to the negative thread of the corresponding screw rod 4, and the two jaws 2 of each group of jaw units are respectively slidably connected to the mounting carrier 1 along the first direction.
[0032] In this embodiment, the first connecting member includes a first nut 6 and a first connecting seat 7, the first nut 6 is threadedly connected to the positive thread of the screw rod 4, the first connecting seat 7 is fixedly connected to the first nut 6, and is slidably connected to the mounting carrier 1 using the above-mentioned sliding assembly, and one of the clamping jaws 2 is installed on the first connecting seat 7. The second connecting member includes a second nut 8 and a second connecting seat 9, the second nut 8 is threadedly connected to the negative thread of the screw rod 4, the second connecting seat 9 is fixedly connected to the second nut 8, and is slidably connected to the mounting carrier 1 using the above-mentioned sliding assembly, and the other clamping jaw 2 is installed on the first connecting seat 7. Therefore, the first connecting seat 7 and the second connecting seat 9 are fixedly connected to the corresponding sliding members 20, respectively.
[0033] In this embodiment, the clamping jaw 2 is a pneumatic clamping jaw, and the opening and closing direction of the clamping part thereof is perpendicular to the first direction and consistent with the second direction.
[0034] The mounting carrier 1 of the present invention is equipped with a position detection mechanism to achieve accurate positioning of the clamping jaw 2. The position detection mechanism includes an industrial camera 30 and a visual light source 40. The mounting carrier 1 of the present invention is also equipped with a plurality of sponge suction cups 50, which can be used to absorb a carrier for loading square lithium batteries to achieve station conversion of the carrier.
[0035] In this embodiment, a plurality of clamps 2 are located below the mounting carrier 1, and visual light sources 40 are respectively installed on both sides of the mounting carrier 1 in the first direction, and sponge suction cups 50 are respectively installed on the remaining two sides of the mounting carrier 1 (i.e., both sides of the mounting carrier 1 in the second direction). The industrial camera 30 is located at the bottom of the mounting carrier 1; a robot mounting seat is provided on the top of the mounting carrier 1. A variable-pitch clamp device of the utility model works as follows: when one of the screw rods 4 rotates forward or reversely, the two clamps 2 on the screw rod 4 move toward or in reverse directions. Similarly, when the other screw rod 4 rotates forward or reversely, the two clamps 2 on the other screw rod 4 move toward or in reverse directions. Therefore, by controlling the rotation direction and amount of the two screw rods 4, the four clamps 2 can achieve equidistant variable pitch or differential variable pitch. Equidistant variable pitch means that the distances between the four clamps 2 are equal, such as Figure 4 As shown; the gap distance is such as Figure 5 As shown: the spacing between the two left clamping jaws 2 is equal to the spacing between the two right clamping jaws 2, but is not equal to the spacing between the two middle clamping jaws 2.
[0036] The utility model can not only realize the variable pitch mode of equal distance and gap, but also the number of the driving units adopted (the matching motor 5 and the screw rod 4 constitute a set of driving units) is only half the number of the clamping jaws 2. Therefore, compared with the prior art, the utility model has a simpler structure and lower cost.
[0037] The variable-distance clamping jaw device of the utility model does not involve parts (such as the structure of the driving component and its working principle, etc.) that are the same as those in the prior art or can be implemented by using the prior art.
[0038] The above embodiments are only used to further illustrate a variable-distance clamping jaw device of the utility model, but the utility model is not limited to the embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the utility model fall within the protection scope of the technical solution of the utility model.
Claims
1. A variable-pitch clamping device, comprising a mounting carrier, a variable-pitch mechanism, and a plurality of clamping jaws arranged along a preset first direction; characterized in that: The pitch-changing mechanism includes a plurality of screw rods and a driving mechanism, wherein each screw rod is arranged on the mounting carrier along the first direction and driven to rotate by the driving mechanism; each screw rod is provided with a positive thread and a negative thread; the plurality of jaws are grouped in two to form a plurality of groups of jaw units corresponding to the plurality of screw rods one by one, and one of the jaws of each group of jaw units is respectively linked with the positive thread of the corresponding screw rod, and the other jaw of each group of jaw units is respectively linked with the negative thread of the corresponding screw rod, so that when the screw rod rotates, the two jaws of the corresponding group of jaw units are driven to move toward or in the opposite direction along the first direction.
2. The variable pitch clamping jaw device according to claim 1, characterized in that: The plurality of screw rods are arranged along a second direction, and the second direction is perpendicular to the first direction; the two clamping jaws of each group of clamping jaw units are symmetrically positioned among the plurality of clamping jaws.
3. The variable pitch clamping jaw device according to claim 1 or 2, characterized in that: The positive thread of each screw rod is threadedly connected to the first connecting piece, and the negative thread of each screw rod is threadedly connected to the second connecting piece. The first connecting piece and the second connecting piece are respectively slidably connected to the mounting carrier along the first direction; one of the jaws of each group of jaw units is respectively installed on the first connecting piece of the corresponding screw rod, and the other jaw of each group of jaw units is respectively installed on the second connecting piece of the corresponding screw rod.
4. The variable pitch clamping jaw device according to claim 3, characterized in that: The first connecting member includes a first nut and a first connecting seat, the first nut is threadedly connected to the positive thread, the first connecting seat is fixedly connected to the first nut and slidably connected to the mounting carrier; one of the clamping jaws is installed on the first connecting seat.
5. The variable pitch clamping jaw device according to claim 3, characterized in that: The second connecting member includes a second nut and a second connecting seat, the second nut is threadedly connected to the counter-thread, the second connecting seat is fixedly connected to the second nut and slidably connected to the mounting carrier; the other clamp is installed on the first connecting seat.
6. The variable pitch clamping jaw device according to claim 3, characterized in that: The first connecting member and the second connecting member are respectively slidably connected to the mounting carrier by a sliding assembly, the sliding assembly includes a guide rail and a sliding member, the guide rail is arranged on the mounting carrier along the first direction, the sliding member is slidably connected to the guide rail along the first direction and connected to the first connecting member or the second connecting member.
7. The variable pitch clamping jaw device according to claim 1, characterized in that: The clamp is a pneumatic clamp, and the opening and closing direction of the clamping part is perpendicular to the first direction.
8. The variable pitch clamping jaw device according to claim 1, characterized in that: The number of the screw rods is greater than or equal to two, and the number of the clamping jaws is an even number and greater than or equal to four; the driving mechanism includes at least two motors, and the motors correspond to the screw rods one by one, so that each screw rod is driven by the corresponding motor respectively; or, the driving mechanism includes a motor and a transmission assembly, and the motor is connected to each screw rod through the transmission assembly to drive each screw rod to rotate.
9. The variable-pitch clamping jaw device according to claim 1, characterized in that: The mounting carrier is equipped with a position detection mechanism, which includes an industrial camera and a visual light source; the mounting carrier is also equipped with a plurality of sponge suction cups.
10. The variable-pitch clamping jaw device according to claim 9, characterized in that: The multiple clamps are located below the mounting carrier, the first direction is a horizontal direction, the visual light sources are respectively installed on both sides of the mounting carrier in the first direction, and the sponge suction cups are respectively installed on the other two sides of the mounting carrier; the industrial camera is located at the bottom of the mounting carrier; and a robot mounting seat is arranged on the top of the mounting carrier.