CN108933297B - Nailing mechanism of manipulator - Google Patents
Nailing mechanism of manipulator Download PDFInfo
- Publication number
- CN108933297B CN108933297B CN201810688629.8A CN201810688629A CN108933297B CN 108933297 B CN108933297 B CN 108933297B CN 201810688629 A CN201810688629 A CN 201810688629A CN 108933297 B CN108933297 B CN 108933297B
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- China
- Prior art keywords
- nailing
- driving device
- clamping jaw
- fixed seat
- clamping
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/05—Accumulators with non-aqueous electrolyte
- H01M10/058—Construction or manufacture
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/446—Initial charging measures
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Manipulator (AREA)
- Portable Nailing Machines And Staplers (AREA)
Abstract
The invention discloses a nailing mechanism of a manipulator, which comprises a fixed seat, a first driving device, a second driving device, a clamping jaw, a nailing rod and a nailing head, wherein the first driving device and the second driving device are arranged on the fixed seat, the clamping jaw is arranged below the fixed seat, the nailing head is arranged on the side edge of the fixed seat and positioned above the clamping jaw, the first driving device drives the clamping jaw to clamp or loosen a battery, and the second driving device drives the nailing head to nail the clamped battery by the aid of the nailing rod. When the lithium battery is nailed, the first driving device drives the clamping jaw to clamp the lithium battery, and then the second driving device drives the nailing rod to enable the nailing head to nail the lithium battery; after nailing is finished, the second driving device drives the nailing rod to return to facilitate the standby nailing of the nailing head, and at the moment, the first driving device drives the clamping jaw to loosen the lithium battery; guaranteed relatively static between the in-process lithium cell to the lithium cell nailing and nailing head for the nailing effect of lithium cell is better.
Description
Technical Field
The invention relates to the field of battery production, in particular to a manipulator nailing mechanism capable of clamping a battery and nailing the battery.
Background
With the development of society, people pay more and more attention to the environment condition, so the research on clean energy is also more and more focused. A battery, a device that can convert chemical energy into electrical energy as part of the space of a cup, tank, or other container or composite container that holds an electrolyte solution and metal electrodes to produce an electric current. Has a positive electrode and a negative electrode. With the advancement of technology, batteries generally refer to small devices that can generate electrical energy. The battery can be used as an energy source, can obtain current with stable voltage and current, can stably supply power for a long time and is slightly influenced by the outside, has simple structure, convenient carrying, simple and easy charging and discharging operation, is not influenced by the outside climate and temperature, has stable and reliable performance, and plays a great role in various aspects of modern social life.
The production process of the lithium battery comprises the step of formation of the lithium battery, wherein the formation is a very key process for improving the performance of the power lithium battery. In the formation process, formation screws are generally required to be arranged on the power lithium battery to seal the liquid injection port, and the formation screws are installed by using a nailing machine without manual operation along with the requirement of automatic production. However, the existing nailing mechanism generally includes a frame, a nailing cylinder, a nailing rod and a nailing head, wherein the nailing cylinder is disposed on the frame, and an output shaft of the nailing cylinder drives the nailing head to perform nailing operation on the lithium battery placed on the conveying belt by the nailing rod. The existing nailing mechanism has the following defects: because the start-up or the stop operation of conveyer belt for place certain removal can take place for the conveyer belt for the lithium cell on the conveyer belt, consequently can appear deviating the condition in nailing position originally when nailing mechanism is to the lithium cell nailing.
Therefore, a need exists for a robot nailing mechanism that can fix a lithium battery and simultaneously nail the fixed lithium battery.
Disclosure of Invention
The invention aims to provide a manipulator nailing mechanism which can fix a lithium battery and simultaneously nail the fixed lithium battery. Can fix the lithium cell that needs are nailed by this manipulator nailing mechanism, then carry out the nailing to the lithium cell that is fixed for the lithium cell can be nailed more stably.
In order to achieve the above object, the present invention provides a nailing mechanism for a manipulator, including a fixed seat, a first driving device, a second driving device, a clamping jaw, a nailing rod and a nailing head, wherein the first driving device and the second driving device are both disposed on the fixed seat, the clamping jaw is disposed below the fixed seat, the nailing head is disposed at a side of the fixed seat and above the clamping jaw, the first driving device drives the clamping jaw to clamp or loosen a battery, and the second driving device drives the nailing head to nail the clamped battery by means of the nailing rod.
Specifically, the upper portion of the fixing seat is recessed downwards to form a first recessed portion, the first driving device is arranged on the first recessed portion, and an output shaft of the first driving device penetrates through the fixing seat and then is connected with the clamping jaw.
More specifically, a mounting plate is disposed above the first recess, the first driving device is disposed below the mounting plate, and the second driving device is disposed above the mounting plate.
Specifically, the clamping jaw comprises at least two clamping blocks, the clamping blocks are oppositely arranged, and the first driving device drives the clamping blocks to move close to or away from each other.
More specifically, the clamping jaw further comprises a connecting piece, one end of the connecting piece is pivoted with the clamping block, and the other end of the connecting piece is pivoted with an output shaft of the first driving device.
Furthermore, a second concave part is formed below the fixed seat, and the connecting piece is positioned below the second concave part.
More specifically, a slide rail is arranged below the fixed seat, and the clamping block is connected with the slide rail in a sliding manner.
Furthermore, a guide bearing frame is arranged below the slide rail, the guide bearing frame is arranged in parallel relative to the slide rail, and the clamping block is borne on the guide bearing frame and can slide relative to the guide bearing frame.
Furthermore, one end of the clamping block is bent and extends out of a sliding part, the sliding part is borne on the guide bearing frame, and one end of the sliding part is connected with the sliding rail in a sliding mode through a sliding block.
Furthermore, one end of the fixing seat is bent outwards and extends out of the mounting part, and the sliding rail is connected with the fixing seat through the mounting part.
Compared with the prior art, the manipulator nailing mechanism comprises the clamping jaw and the nailing head, so that the lithium battery is clamped and nailed simultaneously, when the lithium battery is nailed, the clamping jaw is driven by the first driving device to clamp the lithium battery, and then the nailing rod is driven by the second driving device to enable the nailing head to nail the lithium battery; after nailing is finished, the second driving device drives the nailing rod to return to facilitate the standby nailing of the nailing head, and at the moment, the first driving device drives the clamping jaw to loosen the lithium battery; guaranteed relatively static between the in-process lithium cell to the lithium cell nailing and nailing head for the nailing effect of lithium cell is better.
Drawings
Fig. 1 is a schematic perspective view of a nailing mechanism of a robot hand according to the present invention.
Fig. 2 is a schematic structural diagram of the clamping jaw of the mechanical hand nailing mechanism of the invention when releasing a lithium battery.
Fig. 3 is a schematic structural diagram of the clamping jaw of the nailing mechanism of the manipulator clamping lithium battery.
Detailed Description
In order to explain technical contents, structural features, and effects of the present invention in detail, the following detailed description is given with reference to the embodiments and the accompanying drawings.
Referring to fig. 1 to 3, a nailing mechanism 100 of a robot hand of the present invention includes a fixing base 10, a first driving device 20, a second driving device 30, a clamping jaw 40, a nailing rod 50 and a nailing head 60. The first driving device 20 and the second driving device 30 are both disposed on the fixing base 10, the clamping jaw 40 is disposed below the fixing base 10, the nailing head 60 is disposed at a side of the fixing base 10 and located above the clamping jaw 40, the first driving device 20 drives the clamping jaw 40 to clamp or loosen the battery, the second driving device 30 drives the nailing head 60 to nail the clamped battery by the nailing rod 50, that is, the output shaft of the first driving device 20 and the output shaft of the second driving device 30 are disposed in parallel to each other, so as to clamp and nail the lithium battery simultaneously, but not limited thereto. Preferably, the first and second driving devices 20 and 30 are preferably air cylinders, but are not limited thereto. Specifically, the nailing head 60 has a receiving cavity 60a, the receiving cavity 60a penetrates through the top and bottom of the nailing head 60, the formed nail is placed in the receiving cavity 60a, the nailing head 60 is located right below the nailing rod 50, and the output shaft of the second driving device 30 can reciprocate downward, but is not limited thereto; during nailing, the output shaft of the second driving device 30 drives the nailing rod 50 to move downwards, one end of the nailing rod 50 extends into the accommodating cavity 60a of the nailing head 60 and is pushed to form a nail, the formed nail is extruded out of the nailing head 60 under stress and enters the lithium battery, then the second driving device 30 drives the nailing rod 50 to move upwards to exit the accommodating cavity 60a of the nailing head 60, and the new formed nail is supplemented into the accommodating cavity 60a of the nailing head 60 to prepare for next nailing.
In other embodiments, the robot nailing mechanism 100 of the present invention may be further connected to a third driving device (not shown), so that the robot nailing mechanism 100 of the present invention is driven by the third driving device to reciprocate in the vertical direction to approach or separate from the lithium battery; the manipulator can be arranged on a movable mechanism, so that the lithium battery can be clamped conveniently and conveyed in the nailing process of the lithium battery; but is not limited thereto.
Referring to fig. 1 to fig. 3, in the present embodiment, an upper portion of the fixing base 10 is recessed downward to form a first recessed portion 11, a lower portion of the fixing base 10 is formed with a second recessed portion 12, and one end of the fixing base 10 is bent outward and extends out of the mounting portion 13. Specifically, the lower part of the fixed seat 10 is bent outwards and extends out of the mounting part 13; more specifically, there are two mounting portions 13, and the mounting portions 13 are located at both sides of the second recess 12, but not limited thereto. The fixing base 10 of the present invention is generally in an "H" shape, but is not limited thereto.
Referring to fig. 1 to fig. 3, in the present embodiment, a mounting plate 70 is mounted above the first recess 11. The first driving device 20 is disposed below the mounting plate 70, i.e. the first driving device 20 is located between the first recess 11 and the mounting plate 70, but not limited thereto; the second driving device 30 is disposed above the mounting plate 70, and the first driving device 20 and the second driving device 30 are separated by the mounting plate 70, so that mutual interference between the first driving device 20 and the second driving device 30 during operation of the nailing mechanism 100 of the manipulator is avoided, and meanwhile, the first driving device 20 and the second driving device 30 are disposed one above the other with respect to the mounting plate 70, so that the nailing mechanism 100 of the manipulator has a more compact structure, and the space required for mounting the nailing mechanism 100 of the manipulator is saved. Preferably, the output shaft of the first driving device 20 is connected to the clamping jaw 40 after passing through the fixing seat 10, so that the structure of the robot nailing mechanism 100 of the present invention is more compact, but not limited thereto.
Referring to fig. 1 to fig. 3, in the present embodiment, a slide rail 80 is disposed below the fixing base 10, and a guiding carriage 90 is disposed below the slide rail 80; the clamping jaw 40 comprises two clamping blocks 41 and two connecting pieces 42. Specifically, the slide rail 80 is detachably connected to the mounting portion 13 of the fixing base 10, so as to facilitate maintenance and replacement of the slide rail 80, but not limited thereto; more specifically, the slide rail 80 is further provided with a slide block 81, and the slide rail 80 is connected with the clamping block 41 through the slide block 81, so that the clamping block 41 can slide on the slide rail 80 more smoothly, but not limited thereto. The guide carrier 90 and the slide rail 80 are arranged in parallel, and the guide carrier 90 is provided with a groove, but not limited thereto; the two clamping blocks 41 are oppositely arranged so as to stably clamp the lithium battery, meanwhile, one end of the clamping block 41 is placed on the groove 91 of the guide carrier 90 and is guided by the groove 91 of the guide carrier 90, and the guide carrier 90 is arranged below the sliding rail 80, so that the acting force of the clamping block 41 on the sliding rail 80 is reduced, and the sliding direction of the clamping block 41 is positioned by the groove 91 of the guide carrier 90. In this embodiment, the output shaft of the first driving device 20 is pivotally connected to the clamping blocks 41 by the connecting member 42, as shown in fig. 2 or fig. 3, one end of the connecting member 42 is pivotally connected to the output shaft of the first driving device 20, and the other end of the connecting member 42 is pivotally connected to the clamping blocks 41, so that when the output shaft of the first driving device 20 extends downward, the connecting member 42 rotates clockwise to drive the two clamping blocks 41, which are oppositely disposed, to be away from each other along the length direction of the guide carrier 90, and at this time, the loosening of the lithium battery is completed; when the output shaft of the first driving device 20 moves upward, the connecting member 42 rotates counterclockwise to drive the two clamping blocks 41 disposed opposite to each other to approach each other along the length direction of the guide carrier 90, and thus the clamping of the lithium battery is completed. It should be noted that the connecting member 42 is located below the second recessed portion 12, and the left and right sides of the connecting member 42 are respectively provided with the mounting portion 13, so that the second recessed portion 12 enables the robot nailing mechanism 100 of the present invention to have a compact structure, and the mounting portions 13 ensure that the rotation of the connecting member 42 is not easily disturbed.
In other embodiments, the clamping jaws 40 may be further configured to include three or more clamping blocks 41 as needed, wherein the number of the connecting members 42 corresponds to the number of the clamping jaws 40, so as to clamp the lithium battery from a plurality of different directions, but is not limited thereto.
With continued reference to fig. 1 to fig. 3, in the present embodiment, one end of the clamping block 41 is bent and extends out of the sliding portion 411. The sliding portion 411 is supported on the guide carrier 90, one end of the sliding portion 411 is slidably connected to the sliding rail 80 by the sliding block 81, and a portion of the clamping block 41 contacting the lithium battery is vertically disposed with respect to the sliding portion 411, that is, a portion of the clamping block 41 contacting the battery is vertically disposed with respect to the guide carrier 90, so that the clamping block 41 of the present invention can be stably fixed on the guide carrier 90, but is not limited thereto. Specifically, the connecting member 42 is pivotally connected to one end of the sliding portion 411, but is not limited thereto. As shown in fig. 2 or 3, the sliding portion 411 of the clamping block 41 has a substantially triangular shape, and the connecting member 42 is pivotally connected to one of the corners of the triangular shape, but is not limited thereto.
The operation of the robot nailing mechanism 100 of the present invention will be further described with reference to fig. 1 to 3:
firstly, the output shaft of the first driving device 20 moves upward, the connecting piece 42 pivoted with the output shaft of the first driving device 20 is driven to rotate in the counterclockwise direction, and then the clamping block 41 is driven to slide along the slide rail 80 and towards the center of the slide rail 80, and the clamping of the lithium battery is realized at this time; then, the nailing rod 50 is driven by the second driving means 30 further downward into the nail head 60, thereby completing nailing of the clamped lithium battery. When the nailing is completed, the second driving device 30 drives the nailing rod 50 to withdraw from the nailing head 60, and meanwhile, the nailing head 60 starts to be ready for nailing; then, the output shaft of the first driving device 20 moves downward and pushes the clamping block 41 to slide along the slide rail 80 and away from the center of the slide rail 80 by the connecting member 42, thereby releasing the lithium battery.
It should be noted that the number of the clamping blocks 41 of the manipulator nailing mechanism 100 of the present invention can be set to be plural according to the requirement, and the clamping blocks 41 can be set oppositely, and can also be set at a certain angle to clamp the lithium battery in multiple directions, but not limited thereto; meanwhile, the length of the contact part of the clamping block 41 and the lithium battery can be adjusted according to the requirement, so that a plurality of lithium batteries arranged side by side can be clamped simultaneously, but the clamping is not limited to the above; the nailing heads 60 of the present invention can be provided in plural numbers to accomplish the nailing operation for a plurality of lithium batteries at the same time.
Compared with the prior art, the manipulator nailing mechanism 100 comprises the clamping jaw 40 and the nailing head 60, so that the lithium battery can be clamped and nailed simultaneously, when the lithium battery is nailed, the clamping jaw 40 is driven by the first driving device 20 to clamp the lithium battery, and then the nailing rod 50 is driven by the second driving device 30 to enable the nailing head 60 to nail the lithium battery; after nailing is completed, the second driving device 30 drives the nailing rod 50 to return to prepare the nailing head 60, and the first driving device 20 drives the clamping jaws 40 to release the lithium battery; guaranteed relatively static between the in-process lithium cell to the lithium cell nailing and nailing head 60 for the nailing effect of lithium cell is better.
The above disclosure is only a preferred embodiment of the present invention, which is convenient for those skilled in the art to understand and implement, and certainly not to limit the scope of the present invention, therefore, the present invention is not limited by the claims and their equivalents.
Claims (8)
1. The utility model provides a manipulator nailing mechanism which characterized in that: comprises a fixed seat, a first driving device, a second driving device, a clamping jaw, a nailing rod and a nailing head, wherein the first driving device and the second driving device are arranged on the fixed seat, the clamping jaw is arranged below the fixed seat, the nailing head is arranged at the side edge of the fixed seat and positioned above the clamping jaw, the first driving device drives the clamping jaw to clamp or loosen a battery, the second driving device drives the nailing head to nail the clamped battery by the nailing rod, a first sunken part is formed by downwards sunken upper part of the fixed seat, the first driving device is arranged on the first sunken part, an output shaft of the first driving device passes through the fixed seat and then is connected with the clamping jaw, a mounting plate is arranged above the first sunken part, and the first driving device is arranged below the mounting plate, the second driving device is arranged above the mounting plate.
2. The robot nailing mechanism of claim 1, wherein: the clamping jaw comprises at least two clamping blocks, the clamping blocks are oppositely arranged, and the first driving device drives the clamping blocks to move close to or away from each other.
3. The robot nailing mechanism of claim 2, wherein: the clamping jaw further comprises a connecting piece, one end of the connecting piece is pivoted with the clamping block, and the other end of the connecting piece is pivoted with an output shaft of the first driving device.
4. The robot nailing mechanism of claim 3, wherein: a second sunken part is formed below the fixed seat, and the connecting piece is positioned below the second sunken part.
5. The robot nailing mechanism of claim 2, wherein: a sliding rail is arranged below the fixed seat, and the clamping block is connected with the sliding rail in a sliding manner.
6. The robot nailing mechanism of claim 5, wherein: the clamping block is supported on the guide bearing frame and can slide relative to the guide bearing frame.
7. The robot nailing mechanism of claim 6, wherein: one end of the clamping block is bent and extends out of a sliding part, the sliding part is borne on the guide bearing frame, and one end of the sliding part is connected with the sliding rail in a sliding mode through a sliding block.
8. The robot nailing mechanism of claim 5, wherein: one end of the fixing seat is bent outwards and extends out of the mounting part, and the slide rail is connected with the fixing seat through the mounting part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688629.8A CN108933297B (en) | 2018-06-28 | 2018-06-28 | Nailing mechanism of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688629.8A CN108933297B (en) | 2018-06-28 | 2018-06-28 | Nailing mechanism of manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108933297A CN108933297A (en) | 2018-12-04 |
| CN108933297B true CN108933297B (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810688629.8A Active CN108933297B (en) | 2018-06-28 | 2018-06-28 | Nailing mechanism of manipulator |
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| CN (1) | CN108933297B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110212150B (en) * | 2019-05-06 | 2022-03-11 | 合肥国轩高科动力能源有限公司 | Secondary liquid injection and nailing mechanism |
| CN112635864B (en) * | 2020-12-21 | 2022-01-28 | 江苏超威电源有限公司 | Battery formation system for electric road vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991006400A1 (en) * | 1989-10-27 | 1991-05-16 | Kennedy George W | Spiral feed fastener |
| CN103600386B (en) * | 2013-12-03 | 2015-10-28 | 广州厚邦木业制造有限公司 | Floor nailing equipment |
| CN204354241U (en) * | 2014-11-20 | 2015-05-27 | 福建南平市元乔木业有限公司 | A kind of automatic nailing splicing lathe |
| CN206883831U (en) * | 2017-06-05 | 2018-01-16 | 东莞市德瑞精密设备有限公司 | Nailing mechanism |
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2018
- 2018-06-28 CN CN201810688629.8A patent/CN108933297B/en active Active
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| Publication number | Publication date |
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| CN108933297A (en) | 2018-12-04 |
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