CN106653665B - Semi-finished product transferring manipulator - Google Patents
Semi-finished product transferring manipulator Download PDFInfo
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- CN106653665B CN106653665B CN201611088823.XA CN201611088823A CN106653665B CN 106653665 B CN106653665 B CN 106653665B CN 201611088823 A CN201611088823 A CN 201611088823A CN 106653665 B CN106653665 B CN 106653665B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2221/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof covered by H01L21/00
- H01L2221/67—Apparatus for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components; Apparatus not specifically provided for elsewhere
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Abstract
The invention relates to a semi-finished product transferring manipulator. The semi-finished product material rotating shaft is arranged along the vertical direction and is rotatably arranged on a semi-finished product material rotating base, a semi-finished product horizontal material rotating cam and a semi-finished product vertical material rotating cam are sleeved on the semi-finished product material rotating shaft, a semi-finished product material rotating driving part is in material rotating shaft driving connection with the semi-finished product, a semi-finished product material rotating mechanical clamping jaw is installed on the semi-finished product material rotating base, the middle part of a semi-finished product horizontal material rotating connecting rod is hinged on the semi-finished product material rotating base, one end of the semi-finished product horizontal material rotating connecting rod is abutted to the semi-finished product horizontal material rotating cam, the other end of the semi-finished product horizontal material rotating connecting rod is slidably connected with the semi-finished product material rotating mechanical clamping jaw, one end of the semi-finished product vertical material rotating connecting rod is abutted to the semi-finished product vertical material rotating cam. According to the semi-finished product transferring manipulator disclosed by the invention, the mechanical automatic production level is improved by optimizing each structure.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a semi-finished product transferring manipulator.
Background
With the continuous development of society and the continuous progress of science and technology, mechanized, automatic and standardized production gradually becomes a development trend, and gradually replaces the traditional manual labor, and new power is injected for the sustainable development of enterprises. Therefore, battery production enterprises also need to advance with time, and mechanical automation equipment is developed vigorously to replace the traditional manual labor through transformation and upgrading, so that the production benefit of the enterprises is improved, and the sustainable development of the enterprises is realized.
As shown in fig. 1, it is a cylindrical steel-shell lithium battery structure 10, and the cylindrical steel-shell lithium battery structure 10 includes: the battery comprises a shell 11, a tab 12 accommodated in the shell 11, and a top cover 13 welded with the tab 12 and covering the shell 11. The assembly process of the cylindrical steel shell lithium battery structure 10 is that the tab 12 is accommodated in the shell 11 by being connected with a winding core, the tab 12 is welded with the top cover 13 firstly, then liquid is injected into the shell 11, and finally the top cover 13 is covered on the shell 11 to form a closed cavity, so that the welding, liquid injection and assembly processes of the battery are completed.
In the process of realizing the mechanical automatic production of the lithium battery, how to better realize the accurate welding of the tab 12 and the top cover 13, how to better realize the quick liquid injection of the shell 11, and how to better realize the covering of the top cover 13 on the shell 11 are all practical problems to be solved by research and development personnel in the design process.
Particularly, after the tab 12 and the top cover 13 are welded and pass through relevant tests, the tab needs to be transferred to a liquid injection station for injection, and how to transfer the semi-finished product realizes mechanical automatic production is a key ring for enterprise research personnel in developing mechanical automatic production equipment of lithium batteries.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a semi-finished product transferring manipulator for improving the mechanical automatic production level, so as to transfer semi-finished products.
The purpose of the invention is realized by the following technical scheme:
a semi-manufactured goods transfer manipulator includes: a semi-finished product transferring base, a semi-finished product transferring rotating shaft, a semi-finished product horizontal transferring cam, a semi-finished product horizontal transferring connecting rod, a semi-finished product vertical transferring cam, a semi-finished product vertical transferring connecting rod, a semi-finished product transferring mechanical clamping jaw and a semi-finished product transferring driving part,
the semi-finished product transferring rotating shaft is arranged along the vertical direction and is rotatably arranged on the semi-finished product transferring base, the semi-finished product horizontal material transferring cam and the semi-finished product vertical material transferring cam are sleeved on the semi-finished product material transferring rotating shaft, the semi-finished product transferring driving part is in driving connection with the semi-finished product transferring rotating shaft, the semi-finished product transferring mechanical clamping jaw is arranged on the semi-finished product transferring base, the middle part of the semi-finished product horizontal material transferring connecting rod is hinged on the semi-finished product material transferring base, one end of the semi-finished product horizontal material transferring connecting rod is abutted against the semi-finished product horizontal material transferring cam, the other end of the semi-finished product horizontal material transferring connecting rod is connected with the semi-finished product material transferring mechanical clamping jaw in a sliding manner, one end of the semi-finished product vertical material transferring connecting rod is abutted to the semi-finished product vertical material transferring cam, and the other end of the semi-finished product vertical material transferring connecting rod is fixedly connected with the semi-finished product material transferring mechanical clamping jaw.
In one embodiment, the semi-finished product transferring driving part is a motor, and the semi-finished product transferring driving part is connected with the semi-finished product transferring rotating shaft through a conveying belt.
In one embodiment, two ends of the semi-finished product horizontal material transferring connecting rod are respectively connected with the semi-finished product horizontal material transferring cam and the semi-finished product material transferring mechanical clamping jaw through rollers.
In one embodiment, one end of the semi-finished product vertical material transferring connecting rod is abutted with the semi-finished product vertical material transferring cam through a roller.
According to the semi-finished product transferring manipulator, the semi-finished product is transferred by arranging the semi-finished product transferring base, the semi-finished product transferring rotating shaft, the semi-finished product horizontal transferring cam, the semi-finished product horizontal transferring connecting rod, the semi-finished product vertical transferring cam, the semi-finished product vertical transferring connecting rod, the semi-finished product transferring mechanical clamping jaw and the semi-finished product transferring driving part, so that the mechanical automation level is improved.
Drawings
FIG. 1 is a structural diagram of a cylindrical steel-shelled lithium battery;
FIG. 2 is a block diagram of a battery welding and liquid injection assembly machine according to an embodiment of the present invention;
fig. 3 is a block diagram of a header tab welding system;
fig. 4 is a structural diagram of a housing fixing jig of a top cover tab welding system;
FIG. 5 is a block diagram of a shell transfer robot of the top cap tab welding system;
fig. 6 is a block diagram of a housing height adjustment assembly of the header tab welding system;
fig. 7 is a block diagram of a tab position adjustment device of a header tab welding system;
fig. 8 is a block diagram of a tab correction device of the header tab welding system;
fig. 9 is a block diagram of a top cap feeder of the top cap tab welding system;
FIG. 10 is a block diagram of a top cover transferring robot of the top cover loading device shown in FIG. 9;
fig. 11 is a block diagram of a tension short circuit testing device of a header tab welding system;
FIG. 12 is a structural diagram of the tension short circuit testing device shown in FIG. 11 from another view angle;
FIG. 13 is a block diagram of a battery replenishment assembly of the top cap tab welding system;
fig. 14 is a block diagram of a semi-finished product transfer robot of the top cap tab welding system;
fig. 15 is a partial configuration view of the intermediate transfer robot shown in fig. 14.
Detailed Description
As shown in fig. 2, a battery welding and liquid injection assembling machine 20 includes a top cap tab welding system 1000, a battery case liquid injection system 2000, and a top cap press-in case system 3000, which are connected in sequence. The top cover tab welding system 1000 is used for welding the top cover and the tabs together, the battery shell liquid injection system 2000 is used for injecting liquid into the shell, and the top cover pressing-in shell system 3000 is used for covering the top cover on the shell to form a whole, so that mechanical automatic production is realized.
As shown in fig. 3, the top cap tab welding system 1000 includes: the semi-finished product shell conveying assembly line 1100, and the shell transferring mechanical arm 1200, the shell height adjusting device 1300, the lug position adjusting device 1400, the lug correcting device 1500, the top cover feeding device 1600, the top cover lug welding device 4000, the tension short circuit testing device 1700, the battery supplementing device 1800 and the semi-finished product transferring mechanical arm 1900 which are sequentially arranged along the conveying direction of the semi-finished product shell conveying assembly line 1100, so that the working procedures of shell feeding, lug and top cover welding and semi-finished product blanking are completed.
As shown in fig. 4, the semi-finished casing transportation line 1100 is provided with a casing fixing jig 1110, the casing fixing jig 1110 is provided with a semi-enclosed casing accommodating groove 1111, the casing accommodating groove 1111 has a semi-cylindrical structure, a casing fixing base 1112 is provided at one end of the casing accommodating groove 1111, and a casing fixing magnet 1113 is provided at a side wall of the casing accommodating groove 1111. The housing receiving slot 1111 of the semi-cylindrical structure is beneficial to semi-surrounding type wrapping of the housing of the cylindrical structure, the housing abuts against the housing fixing base 1112, and the housing fixing magnet 1113 sucks the housing.
The casing accepting groove 1111 of the casing fixing jig 1110 is of a semi-closed structure, so that the manipulator can quickly and accurately load the casing into the casing fixing jig 1110, and can quickly and accurately take out the casing from the casing fixing jig 1110 for blanking. For example, the shell transferring manipulator 1200 can more easily place the shell into the shell receiving slot 1111 by clamping the shell to the shell fixing jig 1110, so that the shell is not jammed, and one end of the shell abuts against the shell fixing base 1112 to prevent the shell from falling. The housing fixing magnet 1113 sucks and fixes the housing in the housing receiving groove 1111, thereby preventing the housing from falling down when it is shaken. For another example, the material transferring and distance reducing manipulator 1900 can take out the housing from the housing fixing jig 1110 more easily, so that the housing is not stuck in the housing accommodating groove 1111, and the production efficiency is improved.
Further, the plurality of shell fixing jigs 1110 are sequentially arranged at intervals along the semi-finished shell conveying line 1100, so that the production efficiency is improved. Further, the housing base 1112 is a semi-enclosed hollow cylindrical structure, and the housing base 1112 has a horizontal housing fixing surface 1114. The housing fixing base 1112 with a semi-enclosed hollow cylindrical structure facilitates the following components to be inserted into the housing fixing base 1112 and abut against the battery in the housing accommodating groove 1111, and the horizontal housing fixing surface 1114 can enable the battery to be placed in the housing accommodating groove 1111 rightly. The semi-finished shell transport stream 1100 is a sprocket-type structure.
As shown in fig. 5, the casing transfer robot 1200 includes: the shell material transferring device comprises a shell material transferring base 1210, a shell material transferring rotating shaft 1220, a shell horizontal material transferring cam 1230, a shell horizontal material transferring connecting rod 1240, a shell vertical material transferring cam 1250, a shell vertical material transferring connecting rod 1260, a shell material transferring mechanical clamping jaw 1270 and a shell material transferring driving part 1280. The shell material rotating shaft 1220 is arranged in the vertical direction and is rotatably arranged on the shell material rotating base 1210, the shell horizontal material rotating cam 1230 and the shell vertical material rotating cam 1250 are sleeved on the shell material rotating shaft 1220, the shell material rotating driving part 1280 is in driving connection with the shell material rotating shaft 1220, the shell material rotating mechanical clamping jaw 1270 is arranged on the shell material rotating base 1210, the middle part of the shell horizontal material rotating connecting rod 1240 is hinged on the shell material rotating base 1210, one end of the shell horizontal material rotating connecting rod 1240 is abutted to the shell horizontal material rotating cam 1230, the other end of the shell horizontal material rotating connecting rod 1240 is in sliding connection with the shell material rotating mechanical clamping jaw 1270, one end of the shell vertical material rotating connecting rod 1260 is abutted to the shell vertical material rotating cam 1250, and the other end of the shell vertical material rotating connecting rod 1260 is fixedly connected with the shell material rotating mechanical clamping jaw 1270.
Further, one end of the shell horizontal material transferring connecting rod 1240 is abutted to the shell horizontal material transferring cam 1230 through a roller, the other end of the shell horizontal material transferring connecting rod 1240 is slidably connected to the shell material transferring mechanical clamping jaw 1270 through a roller, and one end of the shell vertical material transferring connecting rod 1260 is abutted to the shell vertical material transferring cam 1250 through a roller, so that the contact friction force is reduced.
The working principle of the shell transferring manipulator 1200 is as follows: the shell material transferring driving part 1280 drives the shell material transferring rotating shaft 1220 to rotate so as to drive the shell horizontal material transferring cam 1230 and the shell vertical material transferring cam 1250 to rotate; the housing horizontal transfer cam 1230 rotates, causing the housing horizontal transfer link 1240 to rotate around the housing transfer base 1210 and drive the housing transfer mechanical jaw 1270 to reciprocate in the horizontal direction; the housing vertical transfer cam 1250 rotates so that the other end of the housing vertical transfer link 1260 drives the housing transfer mechanical jaw 1270 to reciprocate vertically; the shell horizontal transfer connecting rod 1240 drives the shell transfer mechanical clamping jaw 1270 to reciprocate along the horizontal direction, and the shell vertical transfer connecting rod 1260 drives the shell transfer mechanical clamping jaw 1270 to reciprocate along the vertical direction, so that shell transfer is realized.
Further, a shell material transferring sliding groove 1271 is formed in the shell material transferring mechanical clamping jaw 1270 in the vertical direction, and the other end of the shell horizontal material transferring connecting rod 1240 is slidably arranged in the shell material transferring sliding groove 1271. The horizontal material transferring connecting rod 1240 of the housing drives the mechanical clamping jaw 1270 of the housing to move along the horizontal direction, and the blocking in the vertical direction needs to be overcome, so that the sliding groove 1271 of the housing material transferring can enable the mechanical clamping jaw 1270 of the housing material transferring to independently move in the horizontal direction and the vertical direction respectively, and the interference phenomenon is prevented. Further, a vertical return spring 1211 for transferring the shell is arranged between the clamping jaw 1270 of the shell transferring mechanism and the shell transferring base 1210. The vertical return spring 1211 provides a vertical elastic force to the mechanical clamping jaw 1270, so that one end of the vertical material transferring connecting rod 1260 is tightly attached to the vertical material transferring cam 1250. Further, a housing material transferring horizontal reset spring 1212 is disposed between the housing material transferring horizontal connecting rod 1240 and the housing material transferring base 1210. The housing material transfer horizontal return spring 1212 provides a resilient force to the housing material transfer horizontal link 1240 such that one end abuts the housing material transfer horizontal cam 1230.
As shown in fig. 6, the housing height adjusting apparatus 1300 includes: a housing height adjustment locking portion 1310 and a housing height adjustment pressing portion 1320 engaged with the housing height adjustment locking portion 1310. The housing height adjustment locking portion 1310 includes: a housing height adjustment position retaining base 1311, a housing height adjustment position retaining driving part 1312, a housing height adjustment position retaining rotating shaft 1313, a housing height adjustment position retaining cam 1314, a housing height adjustment position retaining connecting rod 1315 and a housing height adjustment position retaining block 1316. The housing height adjustment clamping rotating shaft 1313 is rotatably disposed on the housing height adjustment clamping base 1311, the housing height adjustment clamping cam 1314 is sleeved on the housing height adjustment clamping rotating shaft 1313, the housing height adjustment clamping driving portion 1312 is in driving connection with the housing height adjustment clamping rotating shaft 1313, the housing height adjustment clamping block 1316 is horizontally slidably disposed on the housing height adjustment clamping base 1311, the middle portion of the housing height adjustment clamping connecting rod 1315 is hinged on the housing height adjustment clamping base 1311, two ends of the housing height adjustment clamping connecting rod 1315 are respectively connected with the housing height adjustment clamping cam 1314 and the housing height adjustment clamping block 1316, and the housing height adjustment clamping block 1316 has a circular arc-shaped housing height adjustment clamping groove 1317. The circular arc-shaped housing height adjustment clamping groove 1317 is used for being matched with the cylindrical housing, so that the side wall of the cylindrical housing can be completely wrapped between the housing height adjustment clamping groove 1317 and the housing accommodating groove 1111, and the housing is not easy to fall from the housing accommodating groove 1111 when the housing height adjustment pressing part 1320 presses the housing downwards.
Further, the housing height adjustment locking link 1315 is connected to the housing height adjustment locking cam 1314 through a roller, and the housing height adjustment locking link 1315 is connected to the housing height adjustment locking block 1316 through a roller.
The housing height adjustment pressing part 1320 includes: a casing height adjusting press-down base 1321, a casing height adjusting press-down rotating shaft 1322, a casing height adjusting press-down cam 1323, a casing height adjusting press-down connecting rod 1324, a casing height adjusting press-down block 1325, a casing height adjusting lift-up cam 1326, a casing height adjusting lift-up connecting rod 1327, a casing height adjusting lift-up block 1328, and a casing height adjusting press-down driving portion 1329. The casing height adjusting push-down rotating shaft 1322 is rotatably arranged on the casing height adjusting push-down base 1321, the casing height adjusting push-down cam 1323 and the casing height adjusting push-up cam 1326 are sleeved on the casing height adjusting push-down base 1321, the casing height adjusting push-down driving portion 1329 is in driving connection with the casing height adjusting push-down rotating shaft 1322, one end of the casing height adjusting push-down connecting rod 1324 is abutted against the casing height adjusting push-down cam 1323, the other end of the casing height adjusting push-down connecting rod 1324 is fixedly connected with the casing height adjusting push-down block 1325, one end of the casing height adjusting push-up connecting rod 1327 is abutted against the casing height adjusting push-up cam 1326, the other end of the casing height adjusting push-up connecting rod 1327 is fixedly connected with the casing height adjusting push-up block 1328, and the casing height adjusting push-down block 1325 and the casing height adjusting push-up block 1328 are arranged on the casing height.
Further, one end of the housing height adjusting push-down link 1324 abuts against the housing height adjusting push-down cam 1323 through a roller, and a return spring is provided between the housing height adjusting push-down link 1324 and the housing height adjusting clamping base 1311. Further, one end of the housing height adjusting jacking link 1327 abuts against the housing height adjusting jacking cam 1326 through a roller, and a return spring is arranged between the housing height adjusting jacking link 1327 and the housing height adjusting clamping base 1311.
The working principle of the housing height adjusting apparatus 1300 is as follows: the housing height adjustment locking cam 1314 rotates to drive the housing height adjustment locking connecting rod 1315 to rotate, and then drives the housing height adjustment locking block 1316 to reciprocate along the horizontal direction, so that the housing height adjustment locking block 1316 can wrap the housing in the housing fixing jig 1110, and the housing is prevented from falling off under the action of the housing height adjustment pressing part 1320; meanwhile, the shell height adjusting press cam 1323 and the shell height adjusting jacking cam 1326 rotate, the shell height adjusting press block 1325 reciprocates along the vertical direction to press down the shell of the shell fixing jig 1110, and the shell height adjusting jacking block 1328 reciprocates along the vertical direction and is in contact with the bottom of the inner shell of the shell fixing jig 1110 to support the shell; the casing is pushed down by the casing height adjustment pushing block 1325, so that the bottom of the casing is tightly attached to the casing fixing base 1112, and a plurality of battery cells are located at the same height.
Further, a buffer spring is arranged between the shell height adjusting pressing block 1325 and the shell height adjusting pressing connecting rod 1324, and the buffer spring provides buffer force for the shell height adjusting pressing block 1325 to prevent the shell from being crushed.
As shown in fig. 7, the tab position adjusting device 1400 includes: a tab position adjusting and locking portion 1410 and a tab position adjusting and rotating portion 1420 coupled to the tab position adjusting and locking portion 1410.
Utmost point ear position adjustment screens portion 1410 includes: the tab position adjusting and clamping device comprises a tab position adjusting and clamping base 1411, a tab position adjusting and clamping rotating shaft 1412, a tab position adjusting and clamping cam 1413, a tab position adjusting and clamping connecting rod 1414, a tab position adjusting and clamping block 1415, a tab position adjusting and clamping driving part 1416 and a tab position adjusting sensor 1417. The tab position adjusting clamping rotating shaft 1412 is rotatably arranged on the tab position adjusting clamping base 1411, the tab position adjusting clamping cam 1413 is sleeved on the tab position adjusting clamping rotating shaft 1412, the tab position adjusting clamping driving portion 1416 is in driving connection with the tab position adjusting clamping rotating shaft 1412, the tab position adjusting clamping block 1415 is arranged on the tab position adjusting clamping base 1411 in a sliding manner along the horizontal direction, the middle part of the tab position adjusting clamping connecting rod 1414 is hinged on the tab position adjusting clamping base 1411, two ends of the tab position adjusting clamping connecting rod 1414 are respectively connected with the tab position adjusting clamping cam 1413 and the tab position adjusting clamping block 1415, and the tab position adjusting sensor 1417 is arranged on the tab position adjusting clamping base 1411.
The tab position adjustment rotating portion 1420 includes: a tab position adjusting rotary base 1421, a tab position adjusting rotary shaft 1422, a tab position adjusting rotary cam 1423, a tab position adjusting rotary connecting rod 1424, a tab position adjusting rotary wheel 1425, and a tab position adjusting rotary driving part 1426. The tab position adjusting rotating shaft 1422 is rotatably disposed on the tab position adjusting rotating base 1421, the tab position adjusting rotating cam 1423 is sleeved on the tab position adjusting rotating shaft 1422, the tab position adjusting rotating driving portion 1426 is drivingly connected to the tab position adjusting rotating shaft 1422, the tab position adjusting rotating wheel 1425 is slidably disposed on the tab position adjusting rotating base 1421 in the horizontal direction, the middle of the tab position adjusting rotating connecting rod 1424 is hinged to the tab position adjusting rotating base 1421, and both ends of the tab position adjusting rotating connecting rod 1424 are respectively connected to the tab position adjusting rotating cam 1423 and the tab position adjusting rotating wheel 1425.
The working principle of the tab position adjusting device 1400 is as follows: the tab position adjusting and clamping cam 1413 rotates to drive the tab position adjusting and clamping connecting rod 1414 to rotate, and then drives the tab position adjusting and clamping block 1415 to slide in a reciprocating manner along the horizontal direction, so that the tab position adjusting and clamping block 1415 wraps the shell in the shell fixing jig 1110; meanwhile, the rotary cam 1423 for adjusting the tab position rotates, and then the rotary connecting rod 1424 for adjusting the tab position is driven to rotate, and then the rotary wheel 1425 for adjusting the tab position is driven to slide back and forth along the horizontal direction, the rotary wheel 1425 for adjusting the tab position touches the housing in the housing fixing jig 1110, the rotary wheel 1425 for adjusting the tab position rotates, thereby enabling the housing in the housing fixing jig 1110 to rotate, the housing rotates to enable the tab in the housing to rotate, when the tab rotates in place, the sensor 1417 for adjusting the tab position sends out a sensing signal, and the rotary wheel 1425 stops rotating.
Further, the lug position adjusting and rotating wheel 1425 is sleeved with a rubber sleeve, and the lug position adjusting and rotating wheel 1425 is in contact with the shell in the fixed jig 1110 through the rubber sleeve, so that the shell can be prevented from being scratched, and the friction force in contact with the shell can be improved. Further, the tab position adjustment locking driving portion 1416 is a motor, and the conveyor belt is connected to the tab position adjustment locking rotating shaft 1412, further, is a servo motor. Further, the tab position adjusting rotation driving part 1426 is a motor, and is connected to the tab position adjusting rotation shaft 1422 through a conveyor belt, and further is a servo motor.
As shown in fig. 8, the tab correcting device 1500 includes: tab correction clamping portions 1510 and tab correction bending portions 1520.
The tab correction clamping portion 1510 includes: lug correction screens base 1511, lug correction screens pivot 1512, lug correction screens cam 1513, lug correction screens connecting rod 1514, lug correction screens piece 1515, lug correction screens drive division 1516. The tab correction clamping rotating shaft 1512 is rotatably arranged on the tab correction clamping base 1511, the tab correction clamping cam 1513 is sleeved on the tab correction clamping rotating shaft 1512, the tab correction clamping driving portion 1516 is in driving connection with the tab correction clamping rotating shaft 1512, the tab correction clamping block 1515 is arranged on the tab correction clamping base 1511 in a reciprocating sliding manner along the horizontal direction, the middle of the tab correction clamping connecting rod 1514 is hinged on the tab correction clamping base 1511, and two ends of the tab correction clamping connecting rod 1514 are respectively connected with the tab correction clamping cam 1513 and the tab correction clamping block 1515.
The tab correcting bent portion 1520 includes: the tab correcting and bending device comprises a tab correcting and bending base 1521 and a tab correcting and bending clamping jaw 1522 arranged on the tab correcting and bending base 1521, wherein the tab correcting and bending clamping jaw 1522 is provided with two correcting and bending rods 1523 which are close to or far away from each other along the horizontal direction, and an inclined contact surface 1524 is formed between the two correcting and bending rods 1523.
Furthermore, two ends of the tab correction clamping connecting rod 1514 are respectively connected with the tab correction clamping cam 1513 and the tab correction clamping block 1515 through rollers. Furthermore, the tab calibration position-clamping driving portion 1516 is a motor, and the motor is connected to the tab calibration position-clamping rotating shaft 1512 through a conveyor belt, specifically, the tab calibration position-clamping driving portion 1516 is a servo motor.
The working principle of the tab correcting device 1500 is as follows: the lug correction clamping cam 1513 rotates to drive the lug correction clamping connecting rod 1514 to rotate and drive the lug correction clamping block 1515 to reciprocate along the horizontal direction, and the lug correction clamping block 1515 is used for wrapping the shell in the shell fixing jig 1110 to prevent the shell from falling; simultaneously, crooked clamping jaw 1522 action is rectified to utmost point ear, and two crooked poles 1523 of rectifying are close to each other and are got utmost point ear clamp, and at the in-process of pressing from both sides, owing to form the contact surface 1524 of slope between two crooked poles 1523 of rectifying, the contact surface 1524 of slope can make utmost point ear take place to buckle and the edge of erroneous tendency casing, does benefit to the welding of follow-up top cap and utmost point ear.
As shown in fig. 9, the top cover loading device 1600 includes: the top cover feeding vibration disc 1610, the top cover material transferring manipulator 1620 and the top cover material transferring turntable 1630 are arranged in the box body, and the top cover material transferring manipulator 1620 is connected between the top cover feeding vibration disc 1610 and the top cover material transferring turntable 1630.
As shown in fig. 10, the top cover transferring robot 1620 includes: the top cover changes material drive division 1621, top cover commentaries on classics material base 1622, top cover commentaries on classics material rail board 1623, top cover commentaries on classics material gripper 1624, top cover commentaries on classics material pivot 1625, top cover commentaries on classics material connecting rod 1626. The top cap changes material pivot 1625 and rotates to locate on the top cap changes material base 1622, the top cap changes material drive division 1621 and top cap changes material pivot 1625 drive connection, top cap changes material track board 1623 is fixed in on the top cap changes material base 1622, the top cap has been seted up on the top cap changes material track board 1623 and has been changeed material track groove 1627, the one end that the top cap changes material gripper 1624 slides and locates in the top cap changes material track groove 1627, the top cap changes material connecting rod 1626 both ends and changes material pivot 1625 and top cap and change material gripper 1624 articulated with the top cap respectively.
The working principle of the top cover feeding device 1600 is as follows: the top cap changes material drive division 1621 and changes material pivot 1625 drive top cap through the top cap and change material connecting rod 1626 and rotate, and the top cap changes material connecting rod 1626 and drives the one end that the top cap changes material gripper 1624 and slide along top cap commentaries on classics material rail groove 1627 to make the other end that the top cap changes material gripper 1624 make the swing motion, and then shift the top cap of discharge gate department to the top cap and change in the material carousel 1630.
Further, a horizontal adjusting screw 1628 and a vertical adjusting screw 1629 are arranged on the top cover transferring base 1622. Horizontal adjusting screw 1628 changes material rail board 1623 butt and provides the horizontal direction effort with the top cap, and vertical adjusting screw 1629 changes material rail board 1623 butt and provides vertical direction effort with the top cap, can change material rail board 1623 to the top cap and carry out the regulation of position, and then reaches the purpose that changes material gripper 1624 to the top cap and carry out the regulation, reduces the deviation when pressing from both sides and getting or placing the top cap. It should be noted that the top cover material transferring turntable 1630 rotates to transfer the top cover to the welding station, the top cover and the tab are attached together, and the top cover and the tab are welded under the action of the laser welding device. Further, the top cover material transferring driving part 1621 is driven by a motor.
As shown in fig. 11 and 12, the tensile short circuit testing apparatus 1700 includes: a tension short circuit testing tension part 1710 and a tension short circuit testing clamping part 1720 matched with the tension short circuit testing tension part 1710.
The tension short circuit test tension portion 1710 includes: a tension short circuit testing tension base 1711, a tension short circuit testing tension rotating shaft 1712, a tension short circuit testing tension cam 1713, a tension short circuit testing tension connecting rod 1714, a tension short circuit testing tension clamping jaw 1715 and a tension short circuit testing tension driving part 1716. Pulling force short circuit test pulling force pivot 1712 rotates and locates on pulling force short circuit test pulling force base 1711, pulling force short circuit test pulling force cam 1713 cup joints on pulling force short circuit test pulling force pivot 1712, pulling force short circuit test pulling force drive division 1716 and pulling force short circuit test pulling force pivot 1712 drive connection, pulling force short circuit test pulling force clamping jaw 1715 locates on pulling force short circuit test pulling force base 1711 along the reciprocal slip of vertical direction, pulling force short circuit test pulling force connecting rod 1714's one end and pulling force short circuit test pulling force cam 1713 butt joint, pulling force short circuit test pulling force connecting rod 1714's the other end and pulling force short circuit test pulling force clamping jaw 1715 fixed connection.
The pull short test locator 1720 includes: the tension short circuit testing clamping base 1721, a tension short circuit testing clamping rotating shaft 1722, a tension short circuit testing clamping cam 1723, a tension short circuit testing clamping connecting rod 1724, a tension short circuit testing clamping block 1725 and a tension short circuit testing clamping driving part 1726. Tensile short circuit test screens pivot 1722 rotates and locates on tensile short circuit test screens base 1721, tensile short circuit test screens cam 1723 cup joints on tensile short circuit test screens pivot 1722, tensile short circuit test screens drive division 1726 and tensile short circuit test screens pivot 1722 drive connection, tensile short circuit test screens piece 1725 locates on tensile short circuit test screens base 1721 along the reciprocal slip of horizontal direction, the middle part of tensile short circuit test screens connecting rod 1724 articulates on tensile short circuit test screens base 1721, the both ends of tensile short circuit test screens connecting rod 1724 are connected with tensile short circuit test screens cam 1723 and tensile short circuit test screens piece 1725 respectively.
The working principle of the tension short circuit testing device 1700 is as follows: the tension short circuit test clamping cam 1723 rotates and drives the tension short circuit test clamping connecting rod 1724 to rotate, so that the tension short circuit test clamping block 1725 moves in a reciprocating mode in the horizontal direction, and the tension short circuit test clamping block 1725 clamps the shell in the shell fixing jig 1110 to prevent the shell from moving; meanwhile, the tension short circuit test tension cam 1713 rotates, and then the tension short circuit test tension clamping jaw 1715 is driven by the tension short circuit test tension connecting rod 1714 to move back and forth along the vertical direction, so that the top cover is clamped and lifted upwards, the top cover is pulled, and the welding stability of the top cover and the lug is tested; tension short circuit test tension clamping jaw 1715 contacts with the top cap, and tension short circuit test screens piece 1725 contacts with the casing to the circular telegram to the battery short circuit test.
Further, the tension short circuit test tension driving part 1716 is driven by a motor, the tension short circuit test tension driving part 1716 is connected with a tension short circuit test tension rotating shaft 1712 through a conveyor belt, and one end of a tension short circuit test tension connecting rod 1714 is connected with a tension short circuit test tension cam 1713 through a roller. Furthermore, the pull short circuit test clamping driving part 1726 is driven by a motor and is connected with the pull short circuit test clamping rotating shaft 1722 through a conveyor belt, and two ends of the pull short circuit test clamping connecting rod 1724 are respectively connected with the pull short circuit test clamping cam 1723 and the pull short circuit test clamping block 1725 through rollers.
As shown in fig. 13, the battery replenishing apparatus 1800 includes: battery supplement base 1810, battery supplement rotating shaft 1820, battery supplement horizontal cam 1830, battery supplement horizontal link 1840, battery supplement vertical cam 1850, battery supplement vertical link 1860, battery supplement mechanical clamping jaw 1870, and battery supplement driving part 1880. The battery supplementing rotating shaft 1820 is arranged in the vertical direction and is rotatably arranged on the battery supplementing base 1810, the battery supplementing horizontal cam 1830 and the battery supplementing vertical cam 1850 are sleeved on the battery supplementing rotating shaft 1820, the battery supplementing driving part 1880 is in driving connection with the battery supplementing rotating shaft 1820, the battery supplementing mechanical clamping jaw 1870 is arranged on the battery supplementing base 1810, the middle part of the battery supplementing horizontal connecting rod 1840 is hinged to the battery supplementing base 1810, one end of the battery supplementing horizontal connecting rod 1840 is abutted to the battery supplementing horizontal cam 1830, the other end of the battery supplementing horizontal connecting rod 1840 is in sliding connection with the battery supplementing mechanical clamping jaw 1870, one end of the battery supplementing vertical connecting rod 1860 is abutted to the battery supplementing vertical cam 1850, and the other end of the battery supplementing vertical connecting rod 1860 is fixedly connected with the battery supplementing mechanical clamping jaw 1870.
The operation principle of the battery replenishing device 1800 is as follows: the battery supplementing horizontal cam 1830 rotates, so that the end, abutted by the battery supplementing horizontal connecting rod 1840, of the battery supplementing horizontal connecting rod realizes high-low motion, the battery supplementing horizontal connecting rod 1840 rotates around the battery supplementing base 1810, and the other end of the battery supplementing horizontal connecting rod 1840 drives the battery supplementing mechanical clamping jaw 1870 to reciprocate in the horizontal direction; the battery supplement vertical cam 1850 rotates to enable one end, abutted against the battery supplement vertical connecting rod 1860, of the battery supplement vertical connecting rod 1860 to move vertically, and then the other end of the battery supplement vertical connecting rod 1860 drives the battery supplement mechanical clamping jaw 1870 to reciprocate in the vertical direction; the battery supplementing mechanical clamping jaw 1870 reciprocates in the horizontal direction, and the battery supplementing vertical cam 1850 drives the battery supplementing mechanical clamping jaw 1870 to reciprocate in the vertical direction through the battery supplementing vertical connecting rod 1860, so that the shells are transferred from one shell fixing jig 1110 to the other shell fixing jig 1110; for example, when one of the batteries for welding the top cover and the tab is detected as a defective product, the corresponding device takes out the battery currently in the casing fixing jig 1110, so that the battery vacancy occurs in the current casing fixing jig 1110, the battery supplementing device 1800 is used for taking out and waiting for the battery adjacent to the casing fixing jig 1110 in which the battery vacancy occurs currently, and when the next casing fixing jig 1110 in which the battery vacancy occurs arrives at the battery supplementing device 1800, the battery is supplemented in the casing fixing jig 1110, so that the phenomenon of a single vacant battery is prevented. Or a plurality of continuously arranged casing fixing jigs 1110 are all fully distributed with the batteries, or a plurality of continuously arranged casing fixing jigs 1110 have two continuous adjacent batteries.
Further, the battery supplement driving part 1880 is a motor, and further, is a servo motor. Furthermore, two ends of the battery supplement horizontal rod 1840 are respectively connected with the battery supplement horizontal cam 1830 and the battery supplement mechanical clamping jaw 1870 through a roller. Further, one end of the battery replenishment vertical link 1860 abuts against the battery replenishment vertical cam 1850 through a roller.
As shown in fig. 14, the semi-finished product transferring robot 1900 includes: the semi-finished product transferring device comprises a semi-finished product transferring base 1910, a semi-finished product transferring rotating shaft 1920, a semi-finished product horizontal transferring cam 1930, a semi-finished product horizontal transferring connecting rod 1940, a semi-finished product vertical transferring cam 1950, a semi-finished product vertical transferring connecting rod 1960, a semi-finished product transferring mechanical clamping jaw 1970 and a semi-finished product transferring driving part 1980. The semi-finished product material transferring rotating shaft 1920 is vertically arranged and rotatably arranged on a semi-finished product material transferring base 1910, the semi-finished product horizontal material transferring cam 1930 and the semi-finished product vertical material transferring cam 1950 are sleeved on the semi-finished product material transferring rotating shaft 1920, the semi-finished product material transferring driving portion 1980 is in driving connection with the semi-finished product material transferring rotating shaft 1920, the semi-finished product material transferring mechanical clamping jaw 1970 is installed on the semi-finished product material transferring base 1910, the middle portion of the semi-finished product horizontal material transferring connecting rod 1940 is hinged to the semi-finished product material transferring base, one end of the semi-finished product horizontal material transferring connecting rod 1940 is abutted against the semi-finished product horizontal material transferring cam 1930, the other end of the semi-finished product horizontal material transferring connecting rod 1940 is slidably connected with the semi-finished product material transferring mechanical clamping jaw 1970, one end of the semi-finished product vertical material transferring connecting rod 1960 is abutted against the semi-finished product vertical material transferring cam 1950, and the other end of the.
The working principle of the semi-finished product transferring manipulator 1900 is as follows: the semi-finished product horizontal material transferring cam 1930 rotates to enable one end, abutted against the semi-finished product horizontal material transferring connecting rod 1940, of the semi-finished product horizontal material transferring connecting rod 1940 to move vertically, further enable the semi-finished product horizontal material transferring connecting rod 1940 to rotate around the semi-finished product material transferring base 1910, and enable the other end of the semi-finished product horizontal material transferring connecting rod 1940 to drive the semi-finished product material transferring mechanical clamping jaw 1970 to reciprocate in the horizontal direction; the semi-finished product vertical material transferring cam 1950 rotates, so that one end, abutted against the semi-finished product vertical material transferring connecting rod 1960, of the semi-finished product realizes high-low motion, and the other end of the semi-finished product vertical material transferring connecting rod 1960 drives the semi-finished product material transferring mechanical clamping jaw 1970 to reciprocate in the vertical direction; the semi-finished product horizontal material transferring cam 1930 drives the semi-finished product material transferring mechanical clamping jaw 1970 to reciprocate in the horizontal direction through the semi-finished product horizontal material transferring connecting rod 1940, and the semi-finished product vertical material transferring cam 1950 drives the semi-finished product material transferring mechanical clamping jaw 1970 to reciprocate in the vertical direction through the semi-finished product vertical material transferring connecting rod 1960, so that the semi-finished product is transferred into the battery shell liquid injection system 2000 from the previous station.
As shown in fig. 15, the semi-finished product transferring manipulator 1900 further includes a semi-finished product distance-increasing track board 1990, wherein two spaced distance-increasing track grooves 1991 are formed in the semi-finished product distance-increasing track board 1990, and the distance-increasing track grooves 1991 have distance-increasing guide surfaces 1992. Semi-manufactured goods transfer machine clamping jaw 1970 includes: a first distance-increasing clamping jaw 1971, a second distance-increasing clamping jaw 1972, and a distance-increasing guide column 1973. The first and second distance-increasing jaws 1971 and 1972 are connected by an elastic member, the first and second distance-increasing jaws 1971 and 1972 are slidably provided on a distance-increasing guide column 1973 in a horizontal direction so as to be close to or away from each other, the first distance-increasing jaw 1971 is provided with a first distance-increasing roller 1974, the second distance-increasing jaw 1972 is provided with a second distance-increasing roller 1975, the first distance-increasing roller 1974 is engaged with one of the distance-increasing track grooves 1991 and rolls along a distance-increasing guide surface 1992, and the second distance-increasing roller 1975 is engaged with the other distance-increasing track groove 1991 and rolls along the distance-increasing guide surface 1992.
It can be understood that when the semi-finished product transferring manipulator 1900 takes out the semi-finished product battery to the next station, the distance between the batteries needs to be adjusted. The first distance roller 1974 of the first distance-increasing clamping jaw 1971 rolls along one of the distance-increasing guide surfaces 1992, the second distance-increasing roller 1975 of the second distance-increasing clamping jaw 1972 rolls along the other distance-increasing guide surface 1992, and the first distance-increasing clamping jaw 1971 and the second distance-increasing clamping jaw 1972 are further urged away from each other along the distance-increasing guide column 1973, and after the first distance-increasing clamping jaw 1971 and the second distance-increasing clamping jaw 1972 are separated from each other by a certain distance, the first distance-increasing clamping jaw 1971 and the second distance-increasing clamping jaw 1972 are clamped together along the distance-increasing guide column 1973, and after clamping, the first distance-increasing clamping jaw 1971 and the second distance-increasing clamping jaw 1972 are moved closer to each other along the distance-increasing guide column 1973, so that the distance between the two semi-finished products.
Further, the semi-finished product transferring driving part 1980 is a motor, and the semi-finished product transferring driving part 1980 is connected with the semi-finished product transferring rotating shaft 1920 through a conveyor belt. Further, two ends of the semi-finished product horizontal material transferring connecting rod 1940 are respectively connected with the semi-finished product horizontal material transferring cam 1930 and the semi-finished product material transferring mechanical clamping jaw 1970 through rollers. Further, one end of the semi-finished product vertical transfer link 1960 abuts against the semi-finished product vertical transfer cam 1950 through a roller.
According to the semi-finished product transferring manipulator, the semi-finished product is transferred by arranging the semi-finished product transferring base, the semi-finished product transferring rotating shaft, the semi-finished product horizontal transferring cam, the semi-finished product horizontal transferring connecting rod, the semi-finished product vertical transferring cam, the semi-finished product vertical transferring connecting rod, the semi-finished product transferring mechanical clamping jaw and the semi-finished product transferring driving part, so that the mechanical automation level is improved.
Claims (1)
1. The utility model provides a semi-manufactured goods are changeed material manipulator which characterized in that includes: a semi-finished product transferring base, a semi-finished product transferring rotating shaft, a semi-finished product horizontal transferring cam, a semi-finished product horizontal transferring connecting rod, a semi-finished product vertical transferring cam, a semi-finished product vertical transferring connecting rod, a semi-finished product transferring mechanical clamping jaw and a semi-finished product transferring driving part,
the semi-finished product transferring rotating shaft is arranged along the vertical direction and is rotatably arranged on the semi-finished product transferring base, the semi-finished product horizontal material transferring cam and the semi-finished product vertical material transferring cam are sleeved on the semi-finished product material transferring rotating shaft, the semi-finished product transferring driving part is in driving connection with the semi-finished product transferring rotating shaft, the semi-finished product transferring mechanical clamping jaw is arranged on the semi-finished product transferring base, the middle part of the semi-finished product horizontal material transferring connecting rod is hinged on the semi-finished product material transferring base, one end of the semi-finished product horizontal material transferring connecting rod is abutted against the semi-finished product horizontal material transferring cam, the other end of the semi-finished product horizontal material transferring connecting rod is connected with the semi-finished product material transferring mechanical clamping jaw in a sliding manner, one end of the semi-finished product vertical material transferring connecting rod is abutted against the semi-finished product vertical material transferring cam, and the other end of the semi-finished product vertical material transferring connecting rod is fixedly connected with the semi-finished product material transferring mechanical clamping jaw;
the semi-finished product transferring manipulator further comprises a semi-finished product distance-expanding track plate, two distance-expanding track grooves which are mutually spaced are formed in the semi-finished product distance-expanding track plate, and each distance-expanding track groove is provided with a distance-expanding guide surface;
semi-manufactured goods are changeed material mechanical clamping jaw and are included: the first distance-extending clamping jaw is connected with the second distance-extending clamping jaw through an elastic part, the first distance-extending clamping jaw and the second distance-extending clamping jaw are close to or far from each other in the horizontal direction and are arranged on the distance-extending guide column in a sliding mode, a first distance-extending roller is arranged on the first distance-extending clamping jaw, a second distance-extending roller is arranged on the second distance-extending clamping jaw, the first distance-extending roller is matched with one distance-extending track groove and rolls along the distance-extending guide surface, and the second distance-extending roller is matched with the other distance-extending track groove and rolls along the distance-extending guide surface;
the semi-finished product transferring driving part is a motor and is connected with the semi-finished product transferring rotating shaft through a conveying belt;
two ends of the semi-finished product horizontal material transferring connecting rod are respectively connected with the semi-finished product horizontal material transferring cam and the semi-finished product material transferring mechanical clamping jaw through rollers;
one end of the semi-finished product vertical material transferring connecting rod is abutted to the semi-finished product vertical material transferring cam through a roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611088823.XA CN106653665B (en) | 2016-11-30 | 2016-11-30 | Semi-finished product transferring manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611088823.XA CN106653665B (en) | 2016-11-30 | 2016-11-30 | Semi-finished product transferring manipulator |
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| Publication Number | Publication Date |
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| CN106653665A CN106653665A (en) | 2017-05-10 |
| CN106653665B true CN106653665B (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611088823.XA Active CN106653665B (en) | 2016-11-30 | 2016-11-30 | Semi-finished product transferring manipulator |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108428648A (en) * | 2018-03-13 | 2018-08-21 | 南安泉鸿孵化器管理有限公司 | A kind of semi-finished product integrated chip production equipment |
| CN109658803B (en) * | 2018-03-27 | 2023-10-13 | 浙江机电职业技术学院 | Simulation logistics carrier |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2721373A (en) * | 1948-11-17 | 1955-10-25 | Sylvania Electric Prod | Automatic lead wire threading apparatus |
| CN201505911U (en) * | 2009-04-27 | 2010-06-16 | 深圳先进技术研究院 | Carrying manipulator |
| CN103273483A (en) * | 2013-05-10 | 2013-09-04 | 三峡大学 | Cam mechanical arm with adjustable stroke |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205630102U (en) * | 2016-04-26 | 2016-10-12 | 天津市达鑫精密机械设备有限公司 | Feeding mechanical arm clamping device in annular |
-
2016
- 2016-11-30 CN CN201611088823.XA patent/CN106653665B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2721373A (en) * | 1948-11-17 | 1955-10-25 | Sylvania Electric Prod | Automatic lead wire threading apparatus |
| CN201505911U (en) * | 2009-04-27 | 2010-06-16 | 深圳先进技术研究院 | Carrying manipulator |
| CN103273483A (en) * | 2013-05-10 | 2013-09-04 | 三峡大学 | Cam mechanical arm with adjustable stroke |
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| CN106653665A (en) | 2017-05-10 |
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