CN108190496B - Electric automobile lithium cell electricity core snatchs conveying equipment fast - Google Patents
Electric automobile lithium cell electricity core snatchs conveying equipment fast Download PDFInfo
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- CN108190496B CN108190496B CN201810046892.7A CN201810046892A CN108190496B CN 108190496 B CN108190496 B CN 108190496B CN 201810046892 A CN201810046892 A CN 201810046892A CN 108190496 B CN108190496 B CN 108190496B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
- B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Secondary Cells (AREA)
- Battery Electrode And Active Subsutance (AREA)
Abstract
the invention relates to quick grabbing and conveying equipment for lithium battery cores of electric vehicles, which comprises a bottom plate, wherein four universal wheels are symmetrically arranged on the lower side of the lower end surface of the bottom plate, the quick grabbing equipment is moved to a required battery core processing position through the four universal wheels, the quick grabbing equipment is simple and convenient to operate, a battery core grabbing device is arranged on the right side of the upper end surface of the bottom plate, the battery core grabbing device can realize an annular high-efficiency quick grabbing function of the lithium battery cores, a battery core conveying device is arranged on the left side of the upper end surface of the bottom plate, and the battery core conveying device can realize a continuous. The invention can realize the functions of annular high-efficiency quick grabbing and continuous batch correction quick transmission of the lithium battery cell, has simple and convenient operation and high working efficiency, and has the advantages of quick grabbing speed, short grabbing time, quick grabbing of a plurality of cells, high grabbing efficiency, quick transmission speed, short transmission time, automatic correction of cell offset positions, high transmission efficiency and the like.
Description
the invention relates to a divisional application of Chinese patent application with the application number of 201610908482X, which is filed on 2016, 10, month and 18 and is named as a grabbing and conveying robot for a lithium battery cell of an electric vehicle.
Technical Field
The invention relates to the technical field of lithium battery processing, in particular to quick grabbing and conveying equipment for a lithium battery cell of an electric vehicle.
background
The lithium battery is an energy storage device with higher energy, and has the advantages of stable discharge voltage, wide working temperature range, low self-discharge rate, cyclic charge and discharge, long storage life, no memory effect, no public hazard and the like. At present, with the application field of lithium ion batteries becoming more and more extensive, the requirements of different users on the lithium ion batteries are different, and the application in the field of electric automobiles is the most extensive. The most important part influencing the performance of the lithium battery is the battery core, the existing battery core manufacturing process mainly comprises the processes of winding, shearing, cutting, gluing, grabbing, conveying, short-circuit testing and the like, wherein the grabbing process and the conveying process are the most important processes after the battery core is manufactured, but the battery core grabbing process and the battery core conveying process have the following defects: 1. the existing battery cell grabbing process mainly adopts mechanical structures to grab the battery cells one by one in sequence, and the battery cell grabbing mode has the defects of complex operation, slow grabbing speed, long grabbing time of the same number of battery cells, low grabbing efficiency and the like; 2. the existing battery cell conveying process is that the battery cells slowly enter a conveying belt to be sequentially conveyed, the conveying speed is low, the conveying time is long, the conveying efficiency is low, and meanwhile, the battery cells are deviated to two sides of the conveying belt due to the shaking condition of the conveying belt in the conveying process, so that the battery cells need to be manually corrected in the conveying process, the operation is complex, and the working efficiency is low.
Disclosure of Invention
In order to solve the problems, the invention provides a device for rapidly grabbing and conveying a lithium battery cell of an electric vehicle, which can solve the problems of complex operation, low grabbing speed, long grabbing time, low grabbing efficiency, low transmission speed, long transmission time, low transmission efficiency, low working efficiency and the like of a cell grabbing process and a cell conveying process, can realize the functions of annular high-efficiency rapid grabbing and continuous batch correction rapid transmission of the lithium battery cell, is simple and convenient to operate, has high working efficiency, and has the advantages of high grabbing speed, short grabbing time, rapid grabbing of a plurality of cells, high grabbing efficiency, high transmission speed, short transmission time, high cell offset position automatic correction, high transmission efficiency and the like.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose: the invention provides electric automobile lithium cell electric core snatchs conveying equipment fast, comprising a base plate, four universal wheels are installed to the lower terminal surface downside symmetry of bottom plate, will this invention remove to required electric core processing position through four universal wheels, easy and simple to handle, and electric core grabbing device is installed on the up end right side of bottom plate, and electric core grabbing device can realize the annular high efficiency of lithium cell electric core and snatch the function fast, and electric core conveyor is installed on the up end left side of bottom plate, and electric core conveyor can realize the continuous batch correction fast transmission function of lithium cell electric core.
the cell grabbing device comprises a mounting plate which is mounted on the upper end face of a bottom plate through bolts, wherein an upright post is welded on the upper end face of the mounting plate, four driving mechanisms are symmetrically mounted on the outer wall of the upper end face of the upright post along the axis direction, the outer walls of the four driving mechanisms are all meshed with an inner rack, the inner rack is welded on the inner wall of a rotating ring, and the upper end and the lower end of the rotating ring are symmetrically mounted between two fixed supporting mechanisms; the driving mechanism comprises a driving support plate welded on the outer wall of the upright post, a driving motor is mounted on the upper end face of the driving support plate through a motor base, a driving gear is fixedly mounted on an output shaft of the driving motor, and the driving gear is meshed with the inner rack; the fixed supporting mechanism comprises a fixed round block fixedly arranged on the stand column, four L-shaped supporting columns are uniformly welded around the fixed round block along the axis direction, the tail end of each L-shaped supporting column is welded with a U-shaped sliding seat, the L-shaped supporting columns play a role in fixedly supporting the U-shaped sliding seats, and two ends of the inner wall of each U-shaped sliding seat are connected with the rotating ring through bearings; the outer wall of the rotating ring is symmetrically provided with two clamping support columns, the lower ends of the two clamping support columns are welded with a manipulator, the rotating ring drives the manipulator to stably and annularly rotate through the two clamping support columns, the manipulator comprises a clamping panel welded at the lower ends of the two clamping support columns, the lower ends of the clamping panel are oppositely provided with two clamping branch chains, the electric core is automatically grabbed and placed through the two clamping branch chains, each clamping branch chain comprises two clamping lugs welded on the lower end face of the clamping panel, a clamping shaft is arranged between the two clamping lugs through a bearing, a clamping hand with the lower end inwards concave is fixedly arranged on the clamping shaft, the back of the clamping hand is provided with a first lug seat, a first hydraulic cylinder is arranged between the first lug seats through a pin shaft, the bottom end of the first hydraulic cylinder is arranged between the second lug seats through a, the clamping hand rotates between the two clamping lugs through the clamping shaft under the action of the first hydraulic cylinder, two closed locking mechanisms are symmetrically arranged on two sides of the clamping hand, each closed locking mechanism comprises a locking plate which is arranged on the side wall of the clamping hand through a hinge, a third lug seat is arranged on the outer wall of the locking plate, a second hydraulic cylinder is arranged between the third lug seats through a pin shaft, the bottom end of the second hydraulic cylinder is arranged between the fourth lug seats through a pin shaft, the fourth lug seat is welded on the L-shaped support, the L-shaped support is welded on the back of the clamping hand, after the two clamping branch chains clamp a plurality of electric cores, in order to prevent the electric cores from falling out of spaces on two sides in the rotating process, at the moment, four closed locking mechanisms on the two clamping branch chains start to work, the second hydraulic cylinder on the closed locking mechanisms starts to work, and the second hydraulic cylinder drives the locking plates to rotate on, four locking plates on four closed locking mechanisms lock the battery cell between two clamping hands, so that the locking effect is good, the phenomenon that the battery cell falls out from two sides in the grabbing and rotating process is prevented, a plurality of battery cells can be grabbed simultaneously and quickly, the grabbing speed is high, and the grabbing time is short. When the electric core grabbing device works, firstly, the mechanical arm is rotated to a specified battery cell placing position, four driving mechanisms simultaneously start working, driving motors on the driving mechanisms drive driving gears to rotate, four driving gears on the four driving mechanisms evenly and stably drive inner racks to rotate from four directions, the inner racks drive rotating rings to stably and synchronously rotate between two fixed supporting mechanisms, the rotating rings drive the mechanical arm to stably and annularly rotate to the specified battery cell placing position through two clamping supporting columns, then two clamping branch chains on the mechanical arm start working, two first hydraulic cylinders on the two clamping branch chains drive two clamping hands to inwards and oppositely grab a battery cell, after the grabbing of the battery cell is finished, four closed locking mechanisms on the two clamping branch chains start working, a second hydraulic cylinder on the closed locking mechanism starts working, and a second hydraulic cylinder drives a locking plate to rotate on the clamping hands through a third lug seat, four locking plates on four closed locking mechanisms lock electric core between two centre gripping hands and prevented to snatch the phenomenon that the rotation in-process electric core fell out from both sides, then four actuating mechanism work once more drive the manipulator and rotate to appointed feeding position, the manipulator begins to throw in the electric core that snatchs outward in opposite directions to appointed feeding position, the annular high efficiency that has realized lithium cell electric core snatchs the function fast, have snatch fast, snatch the time weak point, a plurality of electric cores snatch fast and snatch efficient advantage such as.
as a preferred technical scheme of the invention, the lower end of the clamping hand is provided with the clamping claws with uniform intervals, the thicknesses of the clamping claws are sequentially and uniformly reduced from top to bottom, and the clamping claws are arranged with the thicknesses, so that the grabbing force at the minimum thickness position at the tail ends of the clamping claws is concentrated, and the grabbing effect is good.
The cell conveying device comprises a conveying support plate arranged on a bottom plate, four conveying support columns are symmetrically arranged on the right side of the lower end of the conveying support plate, a conveying hopper is welded among the four conveying support columns and serves as a feeding hopper of a cell, the four conveying support columns play a role of uniformly supporting the conveying hopper, the conveying hopper is of a four-cone structure with four sides of the lower end inclined inwards, the conveying hopper can roll downwards to the bottom by means of gravity after the cell is placed into the conveying hopper by adopting the four-cone structure inclined inwards, the capacity of the conveying hopper to the cell is increased as much as possible, four conveying openings are respectively arranged on four side walls of the conveying hopper, four material guiding mechanisms are respectively arranged on the edges of the four conveying openings, three discharge ports are uniformly arranged at the lower end of the bottom of the conveying hopper, and three square discharge pipes are respectively connected to the lower ends of the three discharge ports, the four material guiding mechanisms respectively guide the material in the four side wall directions of the material conveying hopper in an auxiliary manner, and the battery cell in the material conveying hopper is possibly arranged in a staggered manner to cause the phenomenon of blockage; the material guiding mechanism comprises two pairs of material guiding lugs welded on the side wall of the material conveying hopper, a material conveying roller is arranged between each material guiding lug, a material guiding belt is arranged between two conveying rollers of the two pairs of material guiding lugs, the inner wall surface of each material guiding belt is flush with the corresponding inner wall surface of the material conveying hopper, a material guiding motor is arranged on the conveying roller at the upper end of the material conveying hopper through a coupler, the material guiding motor is arranged on the side wall of the material conveying hopper through a motor base, and the material guiding motor drives the material guiding belts to rotate through the two conveying rollers; two pairs of conveying support lugs are symmetrically arranged on two sides of the lower end of the conveying support plate, each pair of conveying support lugs is provided with a transmission roller through a bearing, and a conveying belt is arranged between the two transmission rollers of the two pairs of conveying support lugs; the front ends of the transmission rollers positioned on the left side of the conveying support plate are provided with conveying motors through couplings, the conveying motors are arranged on motor plates through motor bases, the motor plates are welded on corresponding conveying lugs, and the conveying motors drive the conveying belts to rotate through the two transmission rollers; the battery cell clamping tables are uniformly arranged on the outer wall of the conveying belt, a guide frame is arranged between every two adjacent battery cell clamping tables, the guide frame is of an arch structure, two ends of the arch structure extend to the two adjacent battery cell clamping tables, the lower end of each guide frame is installed on the conveying belt through guide supporting columns which are uniformly arranged, and the guide frame adopts the arch structure to enable the battery cell to flow out of the square discharging pipe and fall into the guide frame, so that the battery cell can be guided into the battery cell clamping tables by means of the structure that two ends of the guide frame extend to the two adjacent battery cell clamping tables; two ends of the conveying support plate are symmetrically provided with two straightening mechanisms which are just positioned at two sides of the conveying belt; the righting mechanism comprises a righting support plate welded on the conveying support plate, two third hydraulic cylinders are symmetrically arranged on the inner wall of the righting support plate, the middle parts of the two third hydraulic cylinders are fixedly arranged on a support frame plate, the support frame plate is welded on the inner wall of the righting support plate, the support frame plate plays a role in fixedly supporting the two third hydraulic cylinders, the top ends of the two third hydraulic cylinders are provided with a push plate through two flanges, the lower end surface of the push plate is higher than the upper surface of the conveying belt, because thereby the conveyer belt probably has the shake situation in the course of the work and leads to electric core to squint to both sides at the conveyer belt, two hydraulic cylinders that push away on the positive mechanism begin to work simultaneously this moment, and No. three hydraulic cylinders drive the push pedal back and forth movement through the flange, and the push pedal promotes the electric core of skew to the correct position of laying of electric core ka tai to the function of automatic correction electric core skew position has been realized. When the device works, after a battery core to be conveyed is placed into the material conveying hopper, the material conveying hopper adopts a four-cone structure with the lower end inclined inwards, so that the battery core can roll downwards to the bottom by means of gravity after being placed into the material conveying hopper, the phenomenon of blockage caused by the fact that the battery core in the material conveying hopper is possibly misplaced and placed is caused, at the moment, material guiding motors on four material guiding mechanisms start to work simultaneously, the material guiding motors drive material guiding belts to rotate through two conveying rollers, and as the inner wall surfaces of the material guiding belts are flush with the corresponding inner wall surfaces of the material conveying hopper, the battery core in the material conveying hopper is driven by the material guiding belts to assist in guiding materials downwards, so that the battery core is corrected and returned to enter three square discharging pipes of three discharging ports to flow out to a battery core clamping table or a guiding frame, and as the battery core flows out from the square discharging pipes to the guiding frame by means of an arch structure that the two ends of the two adjacent battery core clamping tables are, at this moment, the conveying motor drives the conveyer belt through two driving rollers and rotates, thereby because the conveyer belt probably has the shake situation in the course of the work and leads to electric core to squint to both sides at the conveyer belt, two hydraulic cylinders that push away on the positive mechanism begin work simultaneously this moment, No. three hydraulic cylinders drive push pedal back and forth movement through the flange, the correct position of laying of electric core to electric core ka tai of push pedal promotion skew, thereby the function of automatic correction electric core skew position has been realized, it can to collect to continue stable transmission to the left side after the electric core position correction, the quick transmission function of continuous batch correction of lithium cell electricity core has been realized, a plurality of electric cores are put into simultaneously and are carried on the conveyer belt, it is fast to have transmission speed, the transmission time is short, can automatic correction electric core skew position.
As a preferred technical scheme of the invention, a U-shaped fixing port is arranged in the middle of the cell clamping table, the U-shaped fixing port is used for placing the cell to be conveyed, and two side walls of the U-shaped fixing port correspond to the outer walls of two adjacent guide frames respectively, so that the cell guided from the guide frames can enter the U-shaped fixing port to be placed, and the work efficiency is high.
When the electric core grabbing device is used, the electric core grabbing device is firstly moved to a required electric core processing position through four universal wheels, then the electric core grabbing device starts to work to rotate the mechanical arm to a specified electric core placing position, four driving mechanisms start to work simultaneously, driving motors on the driving mechanisms drive driving gears to rotate, four driving gears on the four driving mechanisms uniformly and stably drive inner racks to rotate from four directions, the inner racks drive a rotating ring to stably and synchronously rotate between two fixed supporting mechanisms, the rotating ring drives the mechanical arm to stably and annularly rotate to the specified electric core placing position through two clamping supporting columns, then two clamping branch chains on the mechanical arm start to work, two hydraulic cylinders on the two clamping branch chains drive two clamping hands to inwards face each other to grab an electric core, and after the electric core is grabbed, four closed locking mechanisms on the two clamping branch chains start to work, the second hydraulic cylinder on the closed locking mechanism starts to work, the second hydraulic cylinder drives the locking plates to rotate on the clamping hands through the third lug seat, when the four locking plates on the four closed locking mechanisms lock the battery cell between the two clamping hands to prevent the battery cell from falling out from two sides in the grabbing and rotating process, then the four driving mechanisms start to work again to drive the manipulator to rotate to the upper part of the conveying hopper, the manipulator starts to outwards and oppositely throw the grabbed battery cell into the conveying hopper, the conveying hopper adopts a four-cone-shaped structure with the lower end inclined inwards, so that the battery cell can be put into the conveying hopper and then automatically rolls downwards to the bottom by virtue of gravity, the battery cell in the conveying hopper is possibly misplaced and placed to cause the phenomenon of blockage, at the moment, the material guiding motors on the four material guiding mechanisms start to work simultaneously, and the material guiding motors drive the material guiding belts to rotate through the two, because the inner wall surface of the guide belt is flush with the corresponding inner wall surface of the material conveying hopper, the cell in the material conveying hopper is driven by the guide belt to assist in guiding the material downwards, the cell is corrected and returned to enter three square discharging pipes of three discharging ports to flow out to a cell clamping table or a guide frame, when the cell flows out from the square discharging pipes and falls to the guide frame due to the adoption of an arch structure of the guide frame, the cell can be guided into the cell clamping table by means of a structure that two ends of the guide frame extend to two adjacent cell clamping tables, at the moment, the conveying motor starts to work, the conveying motor drives the conveying belt to rotate through two driving rollers, the cell can deviate towards two sides due to the shaking condition possibly existing in the working process of the conveying belt, at the moment, three hydraulic cylinders on two straightening mechanisms start to work simultaneously, and the three hydraulic cylinders drive the push plates to move back and, the push pedal promotes the electric core of skew to the exact position of laying of electric core ka tai to realized the function of automatic correction electric core skew position, electric core position correction after continue to carry out stable transmission to the left side collect can, realized that the annular high efficiency of lithium cell electric core snatchs fast transmission function with continuous batch correction, easy and simple to handle, work efficiency is high.
The invention has the beneficial effects that:
1. According to the invention, four driving mechanisms which are uniformly distributed perform stable synchronous rotation between two fixed supporting mechanisms through the internal rack belt moving and rotating ring, the rotating ring drives the manipulator to stably and repeatedly rotate to grab the battery cell through two clamping support columns, so that a plurality of lithium battery cells can be quickly grabbed at the same time, and after the two clamping branch chains on the manipulator grab the battery cell, the battery cell is locked between two clamping hands through four locking plates on four closed locking mechanisms, so that the phenomenon that the battery cell falls out from two sides in the grabbing and rotating process is prevented, and therefore, the annular high-efficiency quick grabbing function of the lithium battery cell is realized;
2. according to the invention, the four material guiding mechanisms assist in guiding the material to move so that the corrected and returned electric core quickly enters into the three square discharging pipes of the three discharging ports and flows out to the electric core clamping table or the guiding frame through the three square discharging pipes, the electric core can be guided into the electric core clamping table by means of the structure that the two ends of the guiding frame extend to the two adjacent electric core clamping tables, at the moment, the conveying motor drives the electric core to move through the conveying belt, meanwhile, the deviated electric core is pushed to the correct placing position of the electric core clamping table through the two correcting mechanisms, the electric core is continuously and stably conveyed to the left side for collection after the position of the electric core is corrected, a plurality of electric cores are simultaneously put into the conveying belt for conveying, and the continuous batch;
3. The invention solves the problems of complex operation, low grabbing speed, long grabbing time, low grabbing efficiency, low transmission speed, long transmission time, low transmission efficiency, low working efficiency and the like of the grabbing process and the cell conveying process of the lithium battery cell, which need to sequentially and slowly grab the cells, realizes the functions of annular high-efficiency quick grabbing and continuous batch correction quick transmission of the lithium battery cell, has the advantages of simple and convenient operation, high working efficiency, high grabbing speed, short grabbing time, quick grabbing of a plurality of cells, high grabbing efficiency, high transmission speed, short transmission time, high automatic correction of cell offset positions, high transmission efficiency and the like.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural view of the present invention;
Fig. 2 is a schematic structural diagram of the cell gripping device of the present invention;
Fig. 3 is a schematic structural diagram of the battery cell gripping device of the present invention after the clamping support and the manipulator are removed;
Fig. 4 is a cross-sectional view of the cell gripping device of the present invention after the clamping support and the robot are removed;
FIG. 5 is a schematic view of a first configuration of the robot of the present invention;
FIG. 6 is a second schematic view of the robot of the present invention;
Fig. 7 is a schematic structural diagram of the cell conveying device of the invention;
Fig. 8 is a cross-sectional view of the cell delivery device of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
As shown in fig. 1 to 8, an electric vehicle lithium battery cell fast grabbing and conveying apparatus includes a bottom plate 1, four universal wheels 2 are symmetrically installed on a lower side of a lower end face of the bottom plate 1, the apparatus is moved to a required cell processing position through the four universal wheels 2, the operation is simple and convenient, a cell grabbing device 3 is installed on a right side of an upper end face of the bottom plate 1, the cell grabbing device 3 can achieve an annular high-efficiency fast grabbing function of a lithium battery cell, a cell conveying device 4 is installed on a left side of the upper end face of the bottom plate 1, and the cell conveying device 4 can achieve a continuous batch correction fast transmission function of the lithium battery cell.
the cell grabbing device 3 comprises a mounting plate 31 mounted on the upper end face of the bottom plate 1 through bolts, an upright post 32 is welded on the upper end face of the mounting plate 31, four driving mechanisms 33 are symmetrically mounted on the outer wall of the upper end face of the upright post 32 along the axis direction, the outer walls of the four driving mechanisms 33 are all meshed with the inner rack 34, the inner rack 34 is welded on the inner wall of the rotating ring 35, and the upper end and the lower end of the rotating ring 35 are symmetrically mounted between the two fixed supporting mechanisms 36; the driving mechanism 33 comprises a driving support plate 331 welded on the outer wall of the upright column 32, the upper end surface of the driving support plate 331 is provided with a driving motor 332 through a motor base, an output shaft of the driving motor 332 is fixedly provided with a driving gear 333, and the driving gear 333 is meshed with the inner rack 34; the fixed supporting mechanism 36 comprises a fixed round block 361 fixedly installed on the upright column 32, four L-shaped supporting columns 362 are uniformly welded around the fixed round block 361 along the axis direction, the tail end of each L-shaped supporting column 362 is welded with a U-shaped sliding seat 363, the L-shaped supporting columns 362 play a role in fixedly supporting the U-shaped sliding seats 363, and two ends of the inner wall of each U-shaped sliding seat 363 are connected with the rotating ring 35 through bearings; the electric core clamping device comprises a rotating ring 35, two clamping support columns 37 are symmetrically installed on the outer wall of the rotating ring 35, a manipulator 38 is welded at the lower ends of the two clamping support columns 37, the rotating ring 35 drives the manipulator 38 to stably and annularly rotate through the two clamping support columns 37, the manipulator 38 comprises a clamping panel 381 welded at the lower ends of the two clamping support columns 37, two clamping branch chains 382 are oppositely installed at the lower end of the clamping panel 381, an electric core is automatically grabbed and placed through the two clamping branch chains 382, the clamping branch chains 382 comprise two clamping lifting lugs 3821 welded on the lower end face of the clamping panel 381, a clamping shaft 3822 is installed between the two clamping lifting lugs 3821 through a bearing, a clamping hand 3823 with the lower end concave inwards is fixedly installed on the clamping shaft 3822, a first lug base 3824 is installed on the back of the clamping hand 3823, a first hydraulic cylinder 3825 is installed between the first lug bases 3824 through a pin, the second ear base 3826 is installed on the lower end surface of the clamping panel 381, the clamping hand 3823 is rotated between the two clamping lifting lugs 3821 through the clamping shaft 3822 under the action of the first hydraulic cylinder 3825, two closed locking mechanisms 3827 are symmetrically installed on both sides of the clamping hand 3823, each closed locking mechanism 3827 comprises a locking plate 3827a installed on the side wall of the clamping hand 3823 through a hinge, a third ear base 3827b is installed on the outer wall of the locking plate 3827a, a second hydraulic cylinder 3827c is installed between the third ear bases 3827b through a pin shaft, the bottom end of the second hydraulic cylinder 3827c is installed between the fourth ear bases 3827d through a pin shaft, the fourth ear base 3827d is welded on the L-shaped support 3827e, the L-shaped support 3827e is welded on the back of the clamping hand 3823, after the two clamping branch chains 382 clamp multiple electric cores, in order to prevent the electric cores from falling out of the spaces on both sides in the rotation process, at this time, the four closed locking mechanisms 3827 on the two clamping, no. two pneumatic cylinders 3827c on the closed locking mechanism 3827 begin work, No. two pneumatic cylinders 3827c drive locking plate 3827a through No. three ear seats 3827b and rotate on centre gripping hand 3823, four locking plates 3827a on four closed locking mechanisms 3827 lock electric core between two centre gripping hands 3823, locking effect is good, the phenomenon that the rotation in-process electric core of snatching falls out from both sides has been prevented, a plurality of electric cores can be snatched fast simultaneously, snatch fastly, the snatch time is short. When the electric core grabbing device works, firstly, the manipulator 38 is rotated to a specified battery cell placement position, the four driving mechanisms 33 start to work simultaneously, the driving motor 332 on the driving mechanism 33 drives the driving gear 333 to rotate, the four driving gears 333 on the four driving mechanisms 33 uniformly and stably drive the inner rack 34 to rotate from four directions, the inner rack 34 drives the rotating ring 35 to stably and synchronously rotate between the two fixed supporting mechanisms 36, the rotating ring 35 drives the manipulator 38 to stably and annularly rotate to the specified battery cell placement position through the two clamping support columns 37, then the two clamping branch chains 382 on the manipulator 38 start to work, the two first hydraulic cylinders 3825 on the two clamping branch chains 382 drive the two clamping hands 3823 to inwards face each other to carry out a battery cell grabbing action, after the electric core grabbing is finished, the four closed locking mechanisms 3827 on the two clamping branch chains 382 start to work, and the second hydraulic cylinder 3827c on the closed mechanism, no. two pneumatic cylinder 3827c drives locking plate 3827a through No. three ear seat 3827b and rotates on centre gripping hand 3823, four locking plates 3827a on four closed locking mechanism 3827 with electric core locking between two centre gripping hands 3823 have prevented to snatch the phenomenon that rotation in-process electric core fell from both sides, then four actuating mechanism 33 start work again and drive manipulator 38 rotatory to appointed feeding position, manipulator 38 begins to throw in outward in opposite directions the electric core of snatching to appointed feeding position, the annular high efficiency of having realized lithium cell electric core snatchs the function fast, it is fast to have the speed of snatching, snatch the time weak point, a plurality of electric cores snatch fast and snatch advantage such as efficient.
The lower extreme of centre gripping hand 3823 is provided with evenly spaced gripper jaw 3823a, and gripper jaw 3823a evenly reduces from last down thickness in proper order, and gripper jaw 3823a adopts this kind of thickness setting for the terminal minimum thickness department of gripper jaw 3823a snatchs power and relatively concentrates, snatchs effectually.
The cell conveying device 4 comprises a conveying support plate 41 arranged on a bottom plate 1, four conveying support columns 42 are symmetrically arranged on the right side of the lower end of the conveying support plate 41, a conveying hopper 43 is welded between the four conveying support columns 42, the conveying hopper 43 serves as a feeding hopper of a cell, the four conveying support columns 42 play a role of uniformly supporting the conveying hopper 43, the conveying hopper 43 is of a four-cone structure with four sides of the lower end inclined inwards, the conveying hopper 43 adopts the four-cone structure inclined inwards, so that the cell can roll downwards to the bottom by gravity after being placed into the conveying hopper 43, the capacity of the conveying hopper 43 for the cell is increased as much as possible, four conveying openings are respectively arranged on four side walls of the conveying hopper 43, four material guiding mechanisms 44 are respectively arranged on the edges of the four conveying openings, three discharge ports are uniformly arranged at the lower end of the bottom of the conveying hopper 43, and three square discharge pipes 45 are respectively connected to the lower ends of the three, the four material guiding mechanisms 44 respectively guide the four side wall directions of the material conveying hopper 43 in an auxiliary manner, and the electric core in the material conveying hopper 43 is possibly arranged in a staggered manner to cause the phenomenon of blockage, so that the electric core is corrected and returned to enter the three square discharging pipes 45 of the three discharging ports to flow out through the four material guiding mechanisms 44 in the auxiliary material guiding of the electric core from the four directions; the material guiding mechanism 44 comprises two pairs of material guiding lugs 441 welded on the side wall of the material conveying hopper 43, a material conveying roller 442 is installed between each material guiding lug 441, a material guiding belt 443 is installed between two conveying rollers 442 of the two pairs of material guiding lugs 441, the inner wall surface of the material guiding belt 443 is flush with the corresponding inner wall surface of the material conveying hopper 43, a material guiding motor 444 is installed on the conveying roller 442 at the upper end of the material conveying hopper 43 through a coupler, the material guiding motor 444 is installed on the side wall of the material conveying hopper 43 through a motor base, the material guiding motor 444 drives the material guiding belt 443 to rotate through the two conveying rollers 442, and the inner wall surface of the material guiding belt 443 is flush with the corresponding inner wall surface of the material conveying hopper 43, so that the material guiding belt 443 drives the battery cell in; two pairs of conveying support lugs 46 are symmetrically arranged on two sides of the lower end of the conveying support plate 41, a driving roller 47 is arranged on each pair of conveying support lugs 46 through a bearing, and a conveying belt 48 is arranged between the two driving rollers 47 of the two pairs of conveying support lugs 46; the front end of a driving roller 47 positioned on the left side of the conveying support plate 41 is provided with a conveying motor 49 through a coupler, the conveying motor 49 is arranged on a motor plate 410 through a motor base, the motor plate 410 is welded on a corresponding conveying support lug 46, and the conveying motor 49 drives a conveying belt 48 to rotate through the two driving rollers 47; the outer wall of the conveying belt 48 is uniformly provided with the cell clamping tables 411, a guide frame 412 is arranged between every two adjacent cell clamping tables 411, the guide frame 412 is an arch structure with two ends extending to the two adjacent cell clamping tables 411, the lower end of each guide frame 412 is installed on the conveying belt 48 through guide support posts 413 which are uniformly arranged, and the guide frame 412 adopts the arch structure to guide the cell into the cell clamping tables 411 by means of the structure that the two ends of the guide frame 412 extend to the two adjacent cell clamping tables 411 when the cell flows out of the square discharge pipe 45 and falls to the guide frame 412; two righting mechanisms 414 are symmetrically installed at two ends of the conveying support plate 41, and the two righting mechanisms 414 are right located at two sides of the conveying belt 48; the righting mechanism 414 comprises a righting support plate 4141 welded on the conveying support plate 41, two third hydraulic cylinders 4142 are symmetrically installed on the inner wall of the righting support plate 4141, the middle parts of the two third hydraulic cylinders 4142 are fixedly installed on a support frame plate 4143, the support frame plate 4143 is welded on the inner wall of the righting support plate 4141, the support frame plate 4143 plays a role of fixedly supporting the two third hydraulic cylinders 4142, the top ends of the two third hydraulic cylinders 4142 are provided with push plates 4144 through two flanges, the lower end surfaces of the push plates 4144 are higher than the upper surface of the conveyer belt 48, as the conveyer belt 48 may have a shaking condition in the working process, the electric core deviates to two sides at the conveyer belt 48, at the moment, the third hydraulic cylinders 4142 on the two righting mechanisms 414 start to work simultaneously, the third hydraulic cylinders 4142 drive the push plates 4144 to move back and forth through the flanges, the push plates 4144 push the deviated electric core to the correct placing position, therefore, the function of automatically correcting the offset position of the battery core is realized. When the device works, after a battery core to be transported is placed into the material transporting hopper 43, the material transporting hopper 43 adopts a four-cone structure with the lower end inclined inwards, so that the battery core can roll downwards to the bottom by gravity after being placed into the material transporting hopper 43, and due to the possibility of blockage caused by misplacement of the battery core in the material transporting hopper 43, the material guiding motors 444 on the four material guiding mechanisms 44 start to work simultaneously, the material guiding motors 444 drive the material guiding belts 443 to rotate through the two material transporting rollers 442, and because the inner wall surfaces of the material guiding belts 443 are flush with the corresponding inner wall surfaces of the material transporting hopper 43, the material guiding belts 443 drive the auxiliary material guiding of the battery core in the material transporting hopper 43 to move downwards, so that the battery core is corrected to return to enter the three square discharging pipes 45 of the three discharging ports and flows out to the battery core clamping table 411 or the guiding frame 412, and because the guiding frame 412 adopts an arch structure, so that the battery, the battery cell can be guided into the battery cell clamping table 411 by means of a structure that two ends of the guide frame 412 extend to two adjacent battery cell clamping tables 411, at the moment, the conveying motor 49 drives the conveying belt 48 to rotate through two driving rollers 47, the battery cell is deviated towards two sides on the conveying belt 48 due to the shaking condition of the conveying belt 48 in the working process, at the moment, the three hydraulic cylinders 4142 on the two correcting mechanisms 414 start to work simultaneously, the three hydraulic cylinders 4142 drive the push plate 4144 to move back and forth through the flange, the push plate 4144 pushes the deviated battery cell to the correct placement position of the battery cell clamping table 411, so that the function of automatically correcting the deviation position of the battery cell is realized, the battery cell is continuously and stably transmitted to the left side for collection after being corrected, the continuous batch correction and quick transmission function of the battery cells of the lithium battery is realized, a plurality of battery cells are simultaneously placed on the conveying belt, The transmission time is short, the cell offset position can be automatically corrected, the transmission efficiency is high, and the like.
The middle of the battery cell clamping table 411 is provided with a U-shaped fixing port, the position of the U-shaped fixing port is used for placing a battery cell to be conveyed, and two side walls of the U-shaped fixing port correspond to the outer walls of the two adjacent guide frames 412 respectively, so that the battery cell guided down from the guide frames 412 can just enter the U-shaped fixing port to be placed, and the work efficiency is high.
when the cell grabbing mechanism is used, firstly, the cell grabbing mechanism 3 starts to work to rotate the manipulator 38 to a specified cell placement position through the four universal wheels 2, the four driving mechanisms 33 start to work simultaneously, the driving motor 332 on the driving mechanism 33 drives the driving gear 333 to rotate, the four driving gears 333 on the four driving mechanisms 33 uniformly and stably drive the inner rack 34 to rotate from four directions, the inner rack 34 drives the rotating ring 35 to stably and synchronously rotate between the two fixed supporting mechanisms 36, the rotating ring 35 drives the manipulator 38 to stably and annularly rotate to the specified cell placement position through the two clamping support columns 37, then the two clamping branch chains 382 on the manipulator 38 start to work, and the two first hydraulic cylinders 3825 on the two clamping branch chains 382 drive the two clamping hands 3823 to inwards face each other to grab a cell, after the electric core is grabbed, the four closed locking mechanisms 3827 on the two clamping branch chains 382 start to work, the second hydraulic cylinders 3827c on the closed locking mechanisms 3827 start to work, the second hydraulic cylinders 3827c drive the locking plates 3827a to rotate on the clamping hands 3823 through the third lug seats 3827b, when the four locking plates 3827a on the four closed locking mechanisms 3827 lock the electric core between the two clamping hands 3823, the phenomenon that the electric core falls out from two sides in the grabbing and rotating process is prevented, then the four driving mechanisms 33 start to work again to drive the manipulator 38 to rotate to the position above the material conveying hopper 43, the manipulator 38 starts to outwards and oppositely throw the grabbed electric core into the material conveying hopper 43, and the electric core can be placed into the material conveying hopper 43 by the aid of gravity and then automatically roll to the bottom by the aid of the four conical structure with the lower end inclined inwards, and the phenomenon that the electric core in the material conveying hopper 43 is possibly blocked due to dislocation, at this time, the material guiding motors 444 on the four material guiding mechanisms 44 start to operate simultaneously, the material guiding motors 444 drive the material guiding belts 443 to rotate through the two conveying rollers 442, because the inner wall surfaces of the material guiding belts 443 are flush with the corresponding inner wall surfaces of the material conveying hoppers 43, the material guiding belts 443 drive the cells in the material conveying hoppers 43 to move downwards, so that the cells are corrected to return to enter the three square discharging pipes 45 of the three discharging ports and flow out to the cell clamping table 411 or the guiding frame 412, because the guiding frame 412 adopts an arch structure, when the cells flow out from the square discharging pipes 45 and fall into the guiding frame 412, the cells can be guided into the cell clamping table 411 by means of a structure that two ends of the guiding frame 412 extend to two adjacent cell clamping tables 411, at this time, the conveying motor 49 starts to operate, the conveying motor 49 drives the conveying belt 48 to rotate through the two driving rollers 47, and because the conveying belt 48 may have a shaking condition during the operation, the, at the moment, the third hydraulic cylinder 4142 on the two pushing and correcting mechanisms 414 starts to work simultaneously, the third hydraulic cylinder 4142 drives the push plate 4144 to move back and forth through the flange, the push plate 4144 pushes the deviated battery cell to the correct placing position of the battery cell clamping table 411, thereby realized the function of automatic correction electric core skew position, it can to continue to carry out stable transmission to the left side collection after the electric core position correction, the annular high efficiency of having realized lithium cell electricity core snatchs fast and rectifies the quick transmission function in batches in succession, easy and simple to handle, high work efficiency, the operation that has solved lithium cell electricity core and snatched technology and electric core transport technology and exists is complicated, snatch speed slowly, it is long to snatch the time, need singly snatch slowly in proper order, snatch inefficiency, transmission speed is slow, long transmission time, low transmission efficiency, need artifical difficult problems such as correction electric core position and work efficiency are low, the purpose has been reached.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides an electric automobile lithium cell electricity core snatchs conveying equipment fast which characterized in that: the battery cell grabbing device comprises a bottom plate (1), wherein four universal wheels (2) are symmetrically arranged on the lower side of the lower end face of the bottom plate (1), a battery cell grabbing device (3) is arranged on the right side of the upper end face of the bottom plate (1), and a battery cell conveying device (4) is arranged on the left side of the upper end face of the bottom plate (1);
The cell grabbing device (3) comprises a mounting plate (31) mounted on the upper end face of the bottom plate (1) through bolts, an upright post (32) is welded on the upper end face of the mounting plate (31), four driving mechanisms (33) are symmetrically mounted on the outer wall of the upper end face of the upright post (32) along the axis direction, the outer walls of the four driving mechanisms (33) are meshed with an inner rack (34), the inner rack (34) is welded on the inner wall of a rotating ring (35), and the upper end and the lower end of the rotating ring (35) are symmetrically mounted between two fixed supporting mechanisms (36); two clamping support columns (37) are symmetrically installed on the outer wall of the rotating ring (35), a manipulator (38) is welded at the lower ends of the two clamping support columns (37), the manipulator (38) comprises a clamping panel (381) welded at the lower ends of the two clamping support columns (37), two clamping branch chains (382) are installed at the lower end of the clamping panel (381) in opposite directions, each clamping branch chain (382) comprises two clamping lifting lugs (3821) welded on the lower end face of the clamping panel (381), a clamping shaft (3822) is installed between the two clamping lifting lugs (3821) through a bearing, a clamping hand (3823) with the lower end facing inwards is fixedly installed on the clamping shaft (3822), a first lug seat (3824) is installed at the back of the clamping hand (3823), a first hydraulic cylinder (3825) is installed between the first lug seats (3824) through a pin shaft, the bottom end of the first hydraulic cylinder (3825) is installed between the second lug seats, the second ear seat (3826) is installed on the lower end face of the clamping panel (381), two closed locking mechanisms (3827) are symmetrically installed on two sides of the clamping hand (3823), each closed locking mechanism (3827) comprises a locking plate (3827a) installed on the side wall of the clamping hand (3823) through a hinge, a third ear seat (3827b) is installed on the outer wall of the locking plate (3827a), a second hydraulic cylinder (3827c) is installed between the third ear seats (3827b) through a pin shaft, the bottom end of the second hydraulic cylinder (3827c) is installed between fourth ear seats (3827d) through a pin shaft, the fourth ear seats (3827d) are welded on the L-shaped support (3827e), and the L-shaped support (3827e) is welded on the back of the clamping hand (3823);
the battery cell conveying device (4) comprises a conveying support plate (41) arranged on a bottom plate (1), four conveying support columns (42) are symmetrically arranged on the right side of the lower end of the conveying support plate (41), conveying hoppers (43) are welded among the four conveying support columns (42), each conveying hopper (43) is of a four-cone structure with four sides of the lower end inclined inwards, four conveying openings are respectively arranged on four side walls of each conveying hopper (43), four material guiding mechanisms (44) are respectively arranged on the edges of the four conveying openings, three discharge ports are uniformly arranged at the lower end of the bottom of each conveying hopper (43), and the lower ends of the three discharge ports are respectively connected with three square discharge pipes (45); two pairs of conveying support lugs (46) are symmetrically arranged on two sides of the lower end of the conveying support plate (41), each pair of conveying support lugs (46) is provided with a driving roller (47) through a bearing, and a conveying belt (48) is arranged between the two driving rollers (47) of the two pairs of conveying support lugs (46); the front end of a driving roller (47) positioned on the left side of the conveying support plate (41) is provided with a conveying motor (49) through a coupler, the conveying motor (49) is arranged on a motor plate (410) through a motor base, and the motor plate (410) is welded on a corresponding conveying support lug (46); the battery cell clamping tables (411) are uniformly arranged on the outer wall of the conveying belt (48), a guide frame (412) is arranged between every two adjacent battery cell clamping tables (411), the guide frame (412) is an arch structure with two ends extending to the two adjacent battery cell clamping tables (411), and the lower end of each guide frame (412) is installed on the conveying belt (48) through guide supporting columns (413) which are uniformly arranged; two ends of the conveying support plate (41) are symmetrically provided with two straightening mechanisms (414), and the two straightening mechanisms (414) are just positioned at two sides of the conveying belt (48);
the driving mechanism (33) comprises a driving support plate (331) welded on the outer wall of the upright post (32), the upper end surface of the driving support plate (331) is provided with a driving motor (332) through a motor base, an output shaft of the driving motor (332) is fixedly provided with a driving gear (333), and the driving gear (333) is meshed with the inner rack (34);
the fixed supporting mechanism (36) comprises a fixed round block (361) fixedly installed on the stand column (32), four L-shaped supporting columns (362) are uniformly welded around the fixed round block (361) along the axis direction, a U-shaped sliding seat (363) is welded at the tail end of each L-shaped supporting column (362), and two ends of the inner wall of each U-shaped sliding seat (363) are connected with the rotating ring (35) through bearings;
The material guiding mechanism (44) comprises two pairs of material guiding lugs (441) welded on the side wall of the material conveying hopper (43), a material conveying roller (442) is installed between each material guiding lug (441), a material guiding belt (443) is installed between two conveying rollers (442) of the two pairs of material guiding lugs (441), the inner wall surface of the material guiding belt (443) is flush with the corresponding inner wall surface of the material conveying hopper (43), a material guiding motor (444) is installed on the conveying rollers (442) at the upper end of the material conveying hopper (43) through a coupler, and the material guiding motor (444) is installed on the side wall of the material conveying hopper (43) through a motor base;
The middle part of the battery cell clamping table (411) is provided with a U-shaped fixing port, and two side walls of the U-shaped fixing port correspond to the outer walls of the two adjacent guide frames (412) respectively.
2. The electric automobile lithium battery cell fast grabbing and conveying equipment as claimed in claim 1, is characterized in that: the lower end of the clamping hand (3823) is provided with clamping claws (3823a) with uniform intervals, and the thicknesses of the clamping claws (3823a) from top to bottom are sequentially and uniformly reduced.
3. the electric automobile lithium battery cell fast grabbing and conveying equipment as claimed in claim 1, is characterized in that: the righting mechanism (414) comprises a righting support plate (4141) welded on the conveying support plate (41), two third hydraulic cylinders (4142) are symmetrically installed on the inner wall of the righting support plate (4141), the middle parts of the two third hydraulic cylinders (4142) are fixedly installed on a support frame plate (4143), the support frame plate (4143) is welded on the inner wall of the righting support plate (4141), a push plate (4144) is installed at the top ends of the two third hydraulic cylinders (4142) through two flanges, and the lower end face of the push plate (4144) is higher than the upper surface of the conveying belt (48).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810046892.7A CN108190496B (en) | 2016-10-18 | 2016-10-18 | Electric automobile lithium cell electricity core snatchs conveying equipment fast |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610908482.XA CN106241350B (en) | 2016-10-18 | 2016-10-18 | A kind of electric automobile lithium battery battery core gripping conveyor device people |
| CN201810046892.7A CN108190496B (en) | 2016-10-18 | 2016-10-18 | Electric automobile lithium cell electricity core snatchs conveying equipment fast |
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| CN201610908482.XA Division CN106241350B (en) | 2016-10-18 | 2016-10-18 | A kind of electric automobile lithium battery battery core gripping conveyor device people |
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| CN108190496A CN108190496A (en) | 2018-06-22 |
| CN108190496B true CN108190496B (en) | 2019-12-10 |
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| CN201610908482.XA Active CN106241350B (en) | 2016-10-18 | 2016-10-18 | A kind of electric automobile lithium battery battery core gripping conveyor device people |
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| CN106743558A (en) * | 2016-12-23 | 2017-05-31 | 瑞金市金和塑业发展有限公司 | A kind of pipeline transportation device |
| CN107089505B (en) * | 2017-05-09 | 2018-10-26 | 芜湖思科生产力促进中心有限公司 | A kind of power dispenser being applied on annular processing line |
| CN108328281A (en) * | 2018-01-31 | 2018-07-27 | 何志达 | A kind of modern logistics delivery equipment |
| CN108622647A (en) * | 2018-05-15 | 2018-10-09 | 繁昌县通民机械制造有限公司 | A kind of storage puma manipulator |
| CN109436780B (en) * | 2018-11-23 | 2024-03-22 | 重庆能源职业学院 | Cylindrical lithium battery transfer robot |
| CN110510307B (en) * | 2019-06-28 | 2024-08-09 | 江苏迅捷智能科技有限公司 | Pick-and-place device and file management system |
| CN110668122A (en) * | 2019-09-19 | 2020-01-10 | 大同新成新材料股份有限公司 | Clamping device and method for lithium battery processing |
| CN112687939B (en) * | 2020-12-28 | 2022-11-01 | 重庆遨博智能科技研究院有限公司 | New energy automobile lithium battery cell snatchs conveying robot |
| CN113751419B (en) * | 2021-09-25 | 2022-08-30 | 东营金丰正阳科技发展有限公司 | Full-automatic ultrasonic cleaning equipment |
| CN114113541B (en) * | 2021-11-24 | 2022-11-25 | 成都理工大学 | Soil erosion and water loss monitoring devices |
| CN115872086B (en) * | 2023-02-08 | 2023-05-26 | 江苏茗鹤信息技术有限公司 | Mechanical gripper robot transfer robot for warehouse logistics |
| CN118405431B (en) * | 2024-07-02 | 2024-08-30 | 河北宏乾矿山支护装备有限公司 | Conveying device for mining tray production |
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| FR2697006B1 (en) * | 1992-10-19 | 1995-01-06 | Newtec Int | Grapple for handling loads, such as bags, and palletizer comprising such a grapple. |
| DE4417928A1 (en) * | 1994-05-24 | 1995-11-30 | Lissmac Maschb & Diamantwerkz | Device for deploying building blocks |
| GB0803910D0 (en) * | 2008-03-03 | 2008-04-09 | Meadwestvaco Packaging Systems | System for processing articles |
| CN101502962B (en) * | 2009-02-23 | 2011-08-24 | 广州达意隆包装机械股份有限公司 | Individual object conveying device |
| ES1097255Y (en) * | 2013-12-19 | 2014-08-08 | Rubrica Ingenieria Y Arquitectura Sl | MECHANICAL OCTOPUS FOR LIFTING AND CARGO TRANSPORTATION |
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| CN106241350A (en) | 2016-12-21 |
| CN106241350B (en) | 2018-06-22 |
| CN108190496A (en) | 2018-06-22 |
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