CN109015732A - A kind of dynamic lithium battery material catching robot - Google Patents
A kind of dynamic lithium battery material catching robot Download PDFInfo
- Publication number
- CN109015732A CN109015732A CN201810891347.8A CN201810891347A CN109015732A CN 109015732 A CN109015732 A CN 109015732A CN 201810891347 A CN201810891347 A CN 201810891347A CN 109015732 A CN109015732 A CN 109015732A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- plate
- bottom plate
- mounting hole
- connect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 title claims abstract description 50
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 title claims abstract description 23
- 229910052744 lithium Inorganic materials 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 210000000078 claw Anatomy 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of dynamic lithium battery material catching robots, including bottom plate, clip claw mechanism, Suction cup assembly, sliding rail, cylinder, vacuum generator, connection component, the sliding rail is equipped with two, parallel interval is installed in the side plate face of the bottom plate, the Suction cup assembly is set between two sliding rails and connect with the bottom plate, the Suction cup assembly opposite sides is respectively equipped with the clip claw mechanism, the clip claw mechanism both ends are coupled with two sliding rails respectively, the cylinder, the vacuum generator, the connection component is respectively arranged in another lateral plates of the bottom plate, two clip claw mechanisms are connect with the cylinder respectively, the vacuum generator is connect with the Suction cup assembly.The invention has the advantages that: it realizes double crawl functions of this manipulator, guarantees the occurrence of material is securely clamped, material is effectively prevent to fall；It is compact-sized, occupied space is effectively reduced, the material suitable for Multiple Type size.
Description
Technical field
The present invention relates to a kind of dynamic lithium battery process equipments, grab more particularly, to a kind of dynamic lithium battery material mechanical
Hand.
Background technique
Dynamic lithium battery in process of production, needs to grab the materials such as battery core, end plate using manipulator, existing
Robot manipulator structure drives clamping jaw to be clamped using cylinder, and clamping jaw supports material bottom, is compressed at the top of material by spring, this
In the process of grasping, there is the very big risk that falls in material with the manipulator of kind structure, meanwhile, the compatibility of the manipulator is poor,
Requirement to crawl space is also larger.
Summary of the invention
Goal of the invention: in view of the above-mentioned problems, the object of the present invention is to provide a kind of dynamic lithium battery material catching robot,
The occurrence of guaranteeing the fixing grabbed, preventing material from falling, enhancing compatibility, reduces occupied space.
Technical solution: a kind of dynamic lithium battery material catching robot, including bottom plate, clip claw mechanism, Suction cup assembly, cunning
Rail, cylinder, vacuum generator, connection component, the sliding rail are equipped with two, and parallel interval is installed on the side plate face of the bottom plate
On, the Suction cup assembly is set between two sliding rails and connect with the bottom plate, the Suction cup assembly opposite sides point
Not She You the clip claw mechanism, the clip claw mechanism both ends are coupled with two sliding rails respectively, the cylinder, described true
Empty generator, the connection component are respectively arranged in another lateral plates of the bottom plate, two clip claw mechanisms respectively with
The cylinder connection, the vacuum generator are connect with the Suction cup assembly.
Connection component is used for external mechanical arm, in the material crawl for carrying out dynamic lithium battery, drives clamping jaw by cylinder
Mechanism clamps the two sides of material, meanwhile, vacuum generator is connected to Suction cup assembly, inhales Suction cup assembly to the top of material
It is attached, it by the common cooperation of clip claw mechanism and Suction cup assembly, clamps material securely, material is effectively prevent to fall the hair of situation
Raw, Suction cup assembly is adjustable to the clamped position of material two sides to the absorption position and clip claw mechanism on the top of material,
To enhance compatibility, this manipulator is set to be suitable for the material of sizes, the structure of this manipulator is more compact, reduces
Occupied space.
Further, the clip claw mechanism includes clamping jaw, clamping jaw adjustable plate, sliding block, cylinder connecting plate, and the sliding block is equipped with
It two, connect with the both ends of the clamping jaw adjustable plate and is coupled respectively with two sliding rails respectively, the clamping jaw and institute
The side plate face connection of clamping jaw adjustable plate is stated, the cylinder connecting plate is arranged in the bottom plate, one end of the cylinder connecting plate
It is connect with another lateral plates of the clamping jaw adjustable plate, the other end is connect with the cylinder.
Cylinder pushes the cylinder connecting plate of two sides, makes cylinder connecting plate drive clamping jaw adjustable plate mobile, in sliding block and sliding rail
Cooperation under, clamping jaw adjustable plate is moved along slide direction, moves synchronously clamping jaw thereon, and the clamping jaw on the clip claw mechanism of two sides is same
Step moves toward one another, and clamps the two sides of material.
It is optimal, the clamping jaw at least provided with two, the clamping jaw on the clamping jaw adjustable plate along its length between
Every arrangement.
Further, the clamping jaw adjustable plate is equipped with mounting hole group one, mounting hole group two, and the mounting hole group one includes
Multiple mounting holes one in array type arrangement, the mounting hole group one are equipped at intervals with more along the length direction of the clamping jaw adjustable plate
Group；The mounting hole group two includes the mounting hole two that multiple length directions along the clamping jaw adjustable plate are in "-" type arrangement, institute
Mounting hole group two is stated to be set between the two neighboring mounting hole group one, the clamping jaw be installed at the mounting hole group one or
At the mounting hole group two.
According at the suitable mounting hole group one of the size selection of material or mounting hole group two installs clamping jaw, mounting hole group one
It is mainly used for setting the lateral position of clamping jaw, mounting hole group two is mainly used for setting the lengthwise position of clamping jaw.
Further, the clip claw mechanism further includes floating junction, the cylinder connecting plate by the floating junction with
The cylinder connection.Floating junction makes cylinder is more smooth in pusher cylinder connecting plate easily to push.
Further, the Suction cup assembly includes sucker, sucker stand, and the periphery of the sucker stand is in convex shape, institute
The bottom surface for stating sucker stand is connect with the bottom plate, the sucker at least provided with one, the sucker and the sucker stand
Upper surface connection, the vacuum generator are connect with the sucker.
Optimal, the Suction cup assembly is at the middle part of the bottom plate at least provided with two groups, and the Suction cup assembly is along the bottom
Plate is laterally or longitudinally sequentially arranged at intervals.
By the way that more than one Suction cup assembly is arranged, increase sucker to the adsorption area on material top, to more can guarantee
The stability and reliability of absorption.
Further, the connection component includes connecting flange, vertical plate, and the vertical plate is U-shaped, the open end of the vertical plate
It is connect with the bottom plate, the flange is connect with the outside bottom surface of the vertical plate, and the cylinder is located at the vertical plate and the bottom
Between plate.This manipulator passes through the external mechanical arm of flange.
Further, this manipulator further includes baffle, and the both ends of the sliding rail are respectively fixed with the baffle, the baffle
Area be greater than the sliding rail face area.Baffle has barrier effect to clip claw mechanism, prevents clip claw mechanism from skidding off sliding rail.
Further, this manipulator further includes gas pressure sensor, and the gas pressure sensor and the vacuum are sent out
Raw device signal connection, the gas pressure sensor are installed on the bottom plate.Gas pressure sensor can monitor suction in real time
The vacuum degree of disk, to guarantee that sucker can effectively adsorb material.
The utility model has the advantages that compared with prior art, the invention has the advantages that by setting clip claw mechanism and Suction cup assembly, it is right
The material of dynamic lithium battery is synchronous to carry out two sides clamping and top absorption, double crawl functions of this manipulator is realized, to protect
The occurrence of exhibit material is securely clamped, material is effectively prevent to fall；This manipulator is compact-sized, and it is empty to effectively reduce occupancy
Between, suitable for the material of Multiple Type size, compatibility is strong.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is rearview of the invention.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate
The present invention rather than limit the scope of the invention.
A kind of dynamic lithium battery material catching robot, as shown in Figure 1, 2, including bottom plate 1, clip claw mechanism 2, Suction cup assembly
3, sliding rail 4, cylinder 5, vacuum generator 6, connection component 7, baffle 8, gas pressure sensor 9, sliding rail 4 are equipped with two, in parallel
Interval is installed on two edges of boards in the side plate face of bottom plate 1 and opposite respectively close to bottom plate 1, the both ends difference of every sliding rail 4
It is fixed with baffle 8, the area of baffle 8 is greater than the face area of sliding rail 4, and Suction cup assembly 3 is set between two sliding rails 4, sucker
At the middle part of bottom plate 1, being laterally or longitudinally sequentially arranged at intervals at least provided with two groups and along bottom plate 1, Suction cup assembly 3 include component 3
The periphery of sucker 31, sucker stand 32, sucker stand 32 is in convex shape, and the bottom surface of sucker stand 32 is connect with bottom plate 1, bottom plate 1
On offer many places and the matched mounting hole three of sucker stand 32 installation of suitable position selected according to the gauge size of material
Sucker stand 32 is installed in hole three, keeps the installation site of sucker stand 32 adjustable, and the upper surface of sucker 31 and sucker stand 32 is inhaled
The crowning of disc carrier 32 connects, and a sucker 31 is at least connected on the crowning of sucker stand 32, when sucker stand 32 is set
There are two or more sucker 31 when, sucker 31 is alternatively arranged along the length direction of the crowning of sucker stand 32.
3 opposite sides of Suction cup assembly is respectively equipped with clip claw mechanism 2, clip claw mechanism 2 include clamping jaw 21, clamping jaw adjustable plate 22,
Sliding block 23, cylinder connecting plate 24, floating junction 25 there are two sliding block 23 is set, are connect simultaneously with the both ends of clamping jaw adjustable plate 22 respectively
It is coupled respectively with two sliding rails 4, clamping jaw adjustable plate 22 is equipped with mounting hole group 1, mounting hole group 2 222, mounting hole
Group 1 includes multiple mounting holes 1 in array type arrangement, and the columns of the matrix type of mounting hole group 1 is at least two
Column, mounting hole group 1 are equipped at intervals with multiple groups along the length direction of clamping jaw adjustable plate 22；Mounting hole group 2 222 includes multiple edges
The length direction of clamping jaw adjustable plate 22 is in the mounting hole 2 2221 of "-" type arrangement, and mounting hole group 2 222 is set to two neighboring
Between mounting hole group 1, at the setting that clamping jaw 21 is installed on mounting hole group 1 in 22 side plate face of clamping jaw adjustable plate or
At the setting of mounting hole group 2 222, clamping jaw 21 is alternatively arranged at least provided with two and along 22 length direction of clamping jaw adjustable plate, cylinder
Connecting plate 24 is arranged in bottom plate 1, and one end of cylinder connecting plate 24 is connect with another lateral plates of clamping jaw adjustable plate 22, and the other end is logical
Floating junction 25 is crossed to connect with cylinder 5.
Cylinder 5, vacuum generator 6, connection component 7, gas pressure sensor 9 are respectively arranged in another side plate of bottom plate 1
On face, connection component 7 includes connecting flange 71, vertical plate 72, and vertical plate 72 is U-shaped, and the open end of vertical plate 72 is connect with bottom plate 1, method
Orchid 71 connect with the outside bottom surface of vertical plate 72, and for cylinder 5 between vertical plate 72 and bottom plate 1, the external mechanical arm of flange 71 makes the machine
Tool hand is installed on mechanical arm；Sucker 31 is connect with vacuum generator 6 respectively, and gas pressure sensor 9 and vacuum generator 6 are believed
Number connection.
Before carrying out the material crawl of dynamic lithium battery, first according to the gauge size of material, clamping jaw is adjusted in clamping jaw tune
Installation site of the installation site and Suction cup assembly on plate on bottom plate is saved, to guarantee the effective operation of clamping jaw and sucker；
In the material crawl for carrying out dynamic lithium battery, the clip claw mechanism of two sides is driven by cylinder, cylinder pushes the cylinder of two sides to connect
Fishplate bar makes cylinder connecting plate drive clamping jaw adjustable plate mobile, and under the cooperation of sliding block and sliding rail, clamping jaw adjustable plate is along slide direction
Mobile, the baffle at sliding rail both ends plays barrier effect, guarantees the validity of sliding block and sliding rail cooperation, the clamping jaw on clamping jaw adjustable plate
It moves synchronously, the two sides of material, at the same time, vacuum generator are clamped in the clamping jaw synchronous relative motion on the clip claw mechanism of two sides
Be connected to sucker, draw sucker empty to adsorb to the top of material, the vacuum degree of gas pressure sensor and sucker into
Row real time monitoring, guarantees the effective operation of sucker, by the common cooperation of clamping jaw and sucker, clamps material securely, effectively
The position of the occurrence of preventing material from falling, clamping jaw and Suction cup assembly is adjustable, to enhance the compatibility of this manipulator, makes
This manipulator is suitable for the material of sizes, and the structure of this manipulator is more compact, reduces occupied space.
Claims (10)
1. a kind of dynamic lithium battery material catching robot, it is characterised in that: including bottom plate (1), clip claw mechanism (2), sucker group
Part (3), sliding rail (4), cylinder (5), vacuum generator (6), connection component (7), the sliding rail (4) are equipped with two, parallel interval
Be installed in the side plate face of the bottom plate (1), the Suction cup assembly (3) be set between two sliding rails (4) and with institute
Bottom plate (1) connection is stated, Suction cup assembly (3) opposite sides is respectively equipped with the clip claw mechanism (2), the clip claw mechanism (2)
Both ends are coupled with two sliding rails (4) respectively, the cylinder (5), the vacuum generator (6), the connection component
(7) it is respectively arranged in another lateral plates of the bottom plate (1), two clip claw mechanisms (2) connect with the cylinder (5) respectively
It connects, the vacuum generator (6) connect with the Suction cup assembly (3).
2. a kind of dynamic lithium battery material catching robot according to claim 1, it is characterised in that: the clip claw mechanism
It (2) include clamping jaw (21), clamping jaw adjustable plate (22), sliding block (23), cylinder connecting plate (24), there are two the sliding block (23) sets,
It connect and is coupled respectively with two sliding rails (4), the clamping jaw with the both ends of the clamping jaw adjustable plate (22) respectively
(21) it is connect with the side plate face of the clamping jaw adjustable plate (22), the cylinder connecting plate (24) is arranged in the bottom plate (1), institute
The one end for stating cylinder connecting plate (24) is connect with another lateral plates of the clamping jaw adjustable plate (22), the other end and the cylinder
(5) it connects.
3. a kind of dynamic lithium battery material catching robot according to claim 2, it is characterised in that: the clamping jaw (21)
At least provided with two, the clamping jaw (21) is alternatively arranged along its length on the clamping jaw adjustable plate (22).
4. a kind of dynamic lithium battery material catching robot according to claim 2 or 3, it is characterised in that: the clamping jaw
Adjustable plate (22) is equipped with mounting hole group one (221), mounting hole group two (222), and the mounting hole group one (221), which includes multiple, is in
The mounting hole one (2211) of array type arrangement, length direction of the mounting hole group one (221) along the clamping jaw adjustable plate (22)
It is equipped at intervals with multiple groups；The mounting hole group two (222) includes multiple length directions along the clamping jaw adjustable plate (22) in a word
Type arrangement mounting hole two (2221), the mounting hole group two (222) be set to the two neighboring mounting hole group one (221) it
Between, the clamping jaw (21) is installed at the mounting hole group one (221) or at the mounting hole group two (222).
5. a kind of dynamic lithium battery material catching robot according to claim 2, it is characterised in that: the clip claw mechanism
It (2) further include floating junction (25), the cylinder connecting plate (24) is connected by the floating junction (25) and the cylinder (5)
It connects.
6. a kind of dynamic lithium battery material catching robot according to claim 1, it is characterised in that: the Suction cup assembly
It (3) include sucker (31), sucker stand (32), the periphery of the sucker stand (32) is in convex shape, the sucker stand (32)
Bottom surface connect with the bottom plate (1), the sucker (31) is at least provided with one, the sucker (31) and the sucker stand
(32) upper surface connection, the vacuum generator (6) connect with the sucker (31).
7. a kind of dynamic lithium battery material catching robot according to claim 1 or 6, it is characterised in that: the sucker
Component (3) is at the middle part of the bottom plate (1) at least provided with two groups, and the Suction cup assembly (3) is along the transverse direction of the bottom plate (1) or vertical
To being sequentially arranged at intervals.
8. a kind of dynamic lithium battery material catching robot according to claim 1, it is characterised in that: the connection component
It (7) include connecting flange (71), vertical plate (72), the vertical plate (72) is U-shaped, the open end of the vertical plate (72) and the bottom plate
(1) it connects, the flange (71) connect with the outside bottom surface of the vertical plate (72), and the cylinder (5) is located at the vertical plate (72)
Between the bottom plate (1).
9. a kind of dynamic lithium battery material catching robot according to claim 1, it is characterised in that: further include baffle
(8), the both ends of the sliding rail (4) are respectively fixed with the baffle (8), and the area of the baffle (8) is greater than the sliding rail (4)
Face area.
10. a kind of dynamic lithium battery material catching robot according to claim 1, it is characterised in that: further include gas
Pressure sensor (9), the gas pressure sensor (9) connect with the vacuum generator (6) signal, and the gas pressure passes
Sensor (9) is installed on the bottom plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891347.8A CN109015732A (en) | 2018-08-07 | 2018-08-07 | A kind of dynamic lithium battery material catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891347.8A CN109015732A (en) | 2018-08-07 | 2018-08-07 | A kind of dynamic lithium battery material catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015732A true CN109015732A (en) | 2018-12-18 |
Family
ID=64649891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810891347.8A Pending CN109015732A (en) | 2018-08-07 | 2018-08-07 | A kind of dynamic lithium battery material catching robot |
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| CN (1) | CN109015732A (en) |
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|---|---|---|---|---|
| CN109849043A (en) * | 2019-01-30 | 2019-06-07 | 上海发那科机器人有限公司 | A kind of robot hand and its application method applied to LCD assembly |
| CN110212150A (en) * | 2019-05-06 | 2019-09-06 | 合肥国轩高科动力能源有限公司 | Secondary liquid injection and nailing mechanism |
| CN110803523A (en) * | 2019-11-15 | 2020-02-18 | 苏州云涂自动化设备有限公司 | Automatic sheet material stacking machine |
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| CN111717648A (en) * | 2019-03-18 | 2020-09-29 | 惠州中科先进制造研究中心有限公司 | Be applied to complicated multi-functional clamp of assembly line and get device |
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| CN110803523A (en) * | 2019-11-15 | 2020-02-18 | 苏州云涂自动化设备有限公司 | Automatic sheet material stacking machine |
| CN111115254A (en) * | 2019-11-22 | 2020-05-08 | 大族激光科技产业集团股份有限公司 | Soft-packaged electrical core feed mechanism and soft-packaged electrical core feed robot |
| CN111633879A (en) * | 2020-04-27 | 2020-09-08 | 海安迪斯凯瑞探测仪器有限公司 | A induction type snatchs jack catch for compound die robot |
| CN112318541A (en) * | 2020-09-22 | 2021-02-05 | 博众精工科技股份有限公司 | Clamping jaw mechanism, variable pitch mechanism and non-stop material changing mechanism |
| CN112372654A (en) * | 2020-11-02 | 2021-02-19 | 中国煤炭科工集团太原研究院有限公司 | Manipulator snatchs mechanism |
| CN114620275A (en) * | 2020-12-11 | 2022-06-14 | 杭州海康威视数字技术股份有限公司 | Vertical case packer |
| CN112917504A (en) * | 2021-02-03 | 2021-06-08 | 安徽东昇新能源有限公司 | Solar mechanical arm equipment |
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| CN113714974B (en) * | 2021-08-23 | 2022-09-16 | 博众精工科技股份有限公司 | Quick-change pressure head device suitable for multiple working conditions |
| CN113751989A (en) * | 2021-10-08 | 2021-12-07 | 南京航空航天大学 | Ultrasonic motor stator positioning device based on machine vision and working method thereof |
| CN113895955A (en) * | 2021-10-20 | 2022-01-07 | 青岛正大合赢智能科技有限公司 | Loading equipment compatible with DTRO flow guide disc and CDRO flow guide disc |
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| CN114454205A (en) * | 2022-03-17 | 2022-05-10 | 上海巨灵信息技术股份有限公司 | Multipurpose clamping jaw mechanism and using method thereof |
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Application publication date: 20181218 |