CN109571525B - Automatic loading and unloading manipulator and automatic loading and unloading method for cast welding of battery electrode group - Google Patents
Automatic loading and unloading manipulator and automatic loading and unloading method for cast welding of battery electrode group Download PDFInfo
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- CN109571525B CN109571525B CN201811601039.3A CN201811601039A CN109571525B CN 109571525 B CN109571525 B CN 109571525B CN 201811601039 A CN201811601039 A CN 201811601039A CN 109571525 B CN109571525 B CN 109571525B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000003466 welding Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000004519 manufacturing process Methods 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims 2
- 238000011161 development Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 11
- 230000006872 improvement Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D19/00—Casting in, on, or around objects which form part of the product
- B22D19/04—Casting in, on, or around objects which form part of the product for joining parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D25/00—Special casting characterised by the nature of the product
- B22D25/02—Special casting characterised by the nature of the product by its peculiarity of shape; of works of art
- B22D25/04—Casting metal electric battery plates or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses an automatic loading and unloading manipulator for cast welding of a battery electrode group and an automatic loading and unloading method thereof, wherein the automatic loading and unloading manipulator comprises a horizontal moving mechanism, a vertical moving mechanism and a manipulator body, and the manipulator body comprises an air cylinder, a connecting shell, a sliding rod, a clamping arm shell, a first clamping arm connecting plate, a second clamping arm connecting plate, a first connecting rope, a second connecting rope, a first clamping arm, a second clamping arm and a reset spring; the automatic loading and unloading method comprises two steps of adjustment and automatic loading and unloading. The invention realizes the automatic loading and unloading of the battery pole group, has good control effect, and all clamping arms in the manipulator body are controlled by the same set of air cylinders and the sliding rods fixedly connected with the air cylinders, simplifies the control device, reduces the equipment purchasing cost, can adjust the opening and closing degree and the clamping width of the first clamping arm and the second clamping arm in the manipulator body, can meet the production requirements of different product models, is economical and practical, greatly improves the production efficiency, and is more beneficial to the automation and the large-scale development of enterprises.
Description
Technical Field
The invention relates to the technical field of automobile storage batteries, in particular to an automatic loading and unloading manipulator for cast welding of a battery electrode group and an automatic loading and unloading method of the automatic loading and unloading manipulator for cast welding of the battery electrode group.
Background
Currently, with the increasing concepts of sustainable development and ecological environmental protection, the development of science and technology is also followed, and the use of novel batteries is also becoming more popular. In general, industrial batteries have the advantages of high capacity and high conductivity, and the batteries are obtained by connecting a plurality of identical battery pieces in series. The series processing process involves a cast-weld process, wherein the cast-weld process is to weld the positive electrodes and the negative electrodes of the battery pieces together to form a complete high-capacity battery pack.
The cast-welding process is complex, and relates to pretreatment processes such as material preparation, material arrangement, oxide layer removal, scaling powder coating and the like, each process has an independent workbench, and in order to improve the automation degree of the cast-welding process, each process from material preparation, material arrangement to oxide layer removal needs an automatic loading and unloading manipulator to assist the carrying and loading and unloading of the battery electrode group; in addition, the types of different battery pole groups are different, and the number and the thickness of the adopted battery pieces are different, so that the automatic loading and unloading manipulator is required to meet the adjustable requirement in order to meet the production requirement.
Disclosure of Invention
The invention aims at the problems in the prior art and provides an automatic battery pole group cast-welding loading and unloading manipulator and an automatic battery pole group cast-welding loading and unloading manipulator loading and unloading method.
The invention solves the technical problems by the following technical means:
the automatic loading and unloading manipulator for the cast welding of the battery electrode group comprises a horizontal moving mechanism, a vertical moving mechanism and a manipulator body, wherein the horizontal moving mechanism comprises a horizontal guide rail and a horizontal moving bracket, the top of the horizontal moving bracket is in sliding connection with the horizontal guide rail, the vertical moving mechanism comprises a vertical guide rail and a vertical moving bracket, the vertical guide rail is fixedly arranged on the side surface of the horizontal moving bracket, the side wall of the vertical moving bracket is in sliding connection with the vertical guide rail, and the manipulator body is fixedly arranged on the side wall of the vertical moving bracket; the mechanical arm body comprises an air cylinder, a connecting shell, a sliding rod, a clamping arm shell, a first clamping arm connecting plate, a second clamping arm connecting plate, a first connecting rope, a second connecting rope, a first clamping arm, a second clamping arm and a reset spring, wherein the connecting shell is fixedly arranged on the side wall of a vertical moving support, the air cylinder is fixedly arranged at one end of the connecting shell, the telescopic rod of the air cylinder penetrates through the shell of the connecting shell and extends into a cavity of the connecting shell, the sliding rod is fixedly connected with the telescopic rod of the air cylinder, the clamping arm shell is in a cuboid cylinder shape, the clamping arm shell is fixedly arranged on the lower end face of the connecting shell, the first clamping arm connecting plate is connected with the inner wall of the clamping arm shell in a rotating mode, the second clamping arm connecting plate is connected with the inner wall of the clamping arm shell in a rotating mode, the first clamping arm connecting plate is arranged opposite to the second clamping arm connecting plate in a mode, the lower end of the first connecting rope is fixedly connected with the upper end of the first clamping arm, the upper end of the sliding rod is fixedly connected with the upper end of the sliding rod, the lower end of the second connecting rope is fixedly connected with the upper end of the second clamping arm connecting plate, the lower end of the sliding rod is fixedly connected with the upper end of the sliding rod is far away from the first clamping arm connecting plate, the lower end of the first clamping arm connecting plate is arranged at the lower end of the first connecting plate is far away from the rotating end of the first connecting plate, and the rotating end of the first connecting plate is arranged at the lower end of the connecting plate is far away from the connecting plate is connected with the rotating end is arranged between the connecting plate.
As a further development of the invention, the bottom of the connecting shell is provided with an opening arranged in the longitudinal direction, which opening is arranged in the middle of the bottom of the connecting shell.
As a further improvement of the invention, the two sides of the opening are provided with the connecting holes which are uniformly distributed along the length direction of the connecting shell, the two sides of the clamping arm shell are respectively provided with two connecting lugs, the connecting lugs are provided with through holes matched with the connecting holes, the connecting lugs are respectively positioned at the two sides of the reset spring, and the hole spacing of the two connecting lugs at the same side is twice the hole spacing of the two adjacent connecting holes.
As a further improvement of the invention, a first pin shaft and a second pin shaft are also arranged in the clamp arm shell, the first pin shaft is positioned in the middle of the first clamp arm connecting plate and is rotationally connected with the first clamp arm connecting plate, the second pin shaft is positioned in the middle of the second clamp arm connecting plate and is rotationally connected with the second clamp arm connecting plate, a first adjusting groove matched with the first pin shaft is arranged on the side wall of the clamp arm shell, a second adjusting groove matched with the second pin shaft is also arranged on the side wall of the clamp arm shell, the first adjusting groove and the second adjusting groove which are coplanar are symmetrical with each other about the side center line of the clamp arm shell, and nuts for fixing are also arranged at the two ends of the first pin shaft and the two ends of the second pin shaft.
As a further improvement of the invention, the sliding rod is provided with fixing pieces matched with the first connecting rope and the second connecting rope, and the fixing pieces are uniformly distributed along the length direction of the sliding rod.
As a further improvement of the invention, the fixing piece comprises a first fixing piece, a second fixing piece and a locking pin, wherein the first fixing piece is strip-shaped, the upper end of the first fixing piece is fixedly connected to the bottom of the sliding rod, the second fixing piece is M-shaped, four through holes matched with the horizontal part of the second fixing piece are formed in the first fixing piece, the second fixing piece is slidably arranged in the through holes of the first fixing piece, a pin hole is formed in the horizontal part of the second fixing piece, and the locking pin is arranged in the pin hole.
As a further improvement of the invention, a sliding sleeve is arranged in the connecting shell, the sliding sleeve is fixedly connected with the side wall of the connecting shell, the sliding rod penetrates through the sliding sleeve to be in sliding connection with the sliding sleeve, and the sliding sleeve is arranged opposite to the air cylinder.
The invention discloses an automatic loading and unloading method of a battery pole group cast-welding automatic loading and unloading manipulator, which comprises the following steps:
(1) And (3) adjusting: according to actual production requirements, determining the clamping width of the first clamping arm and the second clamping arm, wherein the clamping width is realized through the following operations:
s1: the position of the first pin shaft in the first adjusting groove and the position of the second pin shaft in the second adjusting groove are adjusted, and the opening and closing angles of the first clamping arm and the second clamping arm are determined;
s2: adjusting the mounting position of the clamping arm shell in the connecting hole at the bottom of the connecting shell, and ensuring that the clamping work of the adjacent clamping arm shells is not affected;
s3: the connection positions of the first connecting rope and the second connecting rope on the bottom fixing piece of the sliding rod are adjusted, so that the first clamping arm and the second clamping arm are in an open state in an initial state;
(2) Automatic loading and unloading: the mechanical arm body is controlled to horizontally displace and vertically displace, and the mechanical arm body is automatically assembled and disassembled through the opening and closing of the first clamping arm and the second clamping arm, and the mechanical arm is realized through the following operations:
y1: the horizontal moving support moves to a starting position along the horizontal guide rail, the vertical moving support moves downwards along the vertical guide rail, the first clamping arm and the second clamping arm are in an open state, and when the first clamping arm and the second clamping arm are clamped to the battery pole group, the air cylinder works, and the first clamping arm and the second clamping arm are closed to clamp the battery pole group;
y2: the vertical moving support moves upwards along the vertical guide rail, and the horizontal moving support moves to a target position along the horizontal guide rail;
y3: the vertical moving support moves downwards along the vertical guide rail, the air cylinder stops working, the first clamping arm and the second clamping arm lose clamping force, the battery pole group is dismounted, and the vertical moving support moves upwards along the vertical guide rail;
y4: repeating the steps Y1 to Y3.
The beneficial effects of the invention are as follows:
(1) According to the invention, the horizontal moving mechanism and the vertical moving mechanism are matched with the manipulator body, so that the automatic loading and unloading of the battery electrode group is realized, the control effect is good, the production efficiency is greatly improved, and the automation and large-scale development of enterprises are facilitated;
(2) All clamping arms in the manipulator body are controlled by the same set of air cylinders and the sliding rods fixedly connected with the air cylinders, so that a control device is simplified, equipment purchasing cost is reduced, and the manipulator is economical and practical;
(3) The opening and closing degree and the clamping width of the first clamping arm and the second clamping arm in the manipulator body can be adjusted, the production requirements of different product types can be met, and the practicability is higher.
Drawings
Fig. 1 is a schematic structural view (a front view state) of the present invention;
fig. 2 is a schematic structural view (left-view state) of the present invention;
FIG. 3 is a schematic view of the structure of the manipulator body of the present invention;
FIG. 4 is a schematic illustration of the connection housing to the clamp arm housing of the present invention;
FIG. 5 is a schematic illustration of the connection of the arm lock housing, first arm lock connector plate, second arm lock connector plate, first connecting cable, second connecting cable, first arm lock, second arm lock and return spring of the present invention;
FIG. 6 is a schematic view of the structure of the first adjusting slot and the second adjusting slot on the side wall of the arm-lock shell according to the present invention;
FIG. 7 is a schematic illustration of the attachment of the slide bar to the mount of the present invention;
fig. 8 is a schematic structural view of the fastener of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
As shown in fig. 1 to 5, the automatic loading and unloading manipulator for cast welding of the battery electrode group comprises a horizontal moving mechanism, a vertical moving mechanism and a manipulator body 30, wherein the horizontal moving mechanism comprises a horizontal guide rail 11 and a horizontal moving support 12, the top of the horizontal moving support 12 is in sliding connection with the horizontal guide rail 11, the vertical moving mechanism comprises a vertical guide rail 21 and a vertical moving support 22, the vertical guide rail 21 is fixedly arranged on the side surface of the horizontal moving support 12, the side wall of the vertical moving support 22 is in sliding connection with the vertical guide rail 21, the manipulator body 30 is fixedly arranged on the side wall of the vertical moving support 22, the manipulator body 30 is opposite to the vertical guide rail 21, and the manipulator body 30 and the vertical moving support 22 are arranged on the outer side of the horizontal guide rail 11; the manipulator body 30 comprises an air cylinder 31, a connecting shell 32, a sliding rod 33, a clamping arm shell 34, a first clamping arm connecting plate 351, a second clamping arm connecting plate 352, a first connecting rope 361, a second connecting rope 362, a first clamping arm 371, a second clamping arm 372 and a return spring 38, wherein the connecting shell 32 is fixedly arranged on the side wall of the vertical moving support 22, the air cylinder 31 is fixedly arranged at one end of the connecting shell 32, a telescopic rod of the air cylinder 31 penetrates through the shell of the connecting shell 32 and extends into a cavity of the connecting shell 32, the sliding rod 33 is fixedly connected with the telescopic rod of the air cylinder 31 through a coupler, the clamping arm shell 34 is in a cuboid cylinder shape, the clamping arm shell 34 is fixedly arranged on the lower end face of the connecting shell 32, the first clamping arm connecting plate 351 is rotationally connected with the inner wall of the clamping arm shell 34, the second clamping arm connecting plate 352 is rotationally connected with the inner wall of the clamping arm shell 34, the first arm-clamping connection plate 351 and the second arm-clamping connection plate 352 are oppositely arranged, the lower end of the first connection rope 361 is fixedly connected with the upper end of the first arm-clamping connection plate 351, the upper end of the second connection rope 362 is fixedly connected with the upper end of the second arm-clamping connection plate 352, the upper end of the second connection rope 362 is fixedly connected with the sliding rod 33, a rotating shaft 363 is arranged above the first arm-clamping connection plate 351, the two ends of the rotating shaft 363 are rotatably connected with the inner wall of the arm-clamping shell 34, the first connection rope 361 bypasses the outer side of the rotating shaft 363 to form a folded line shape, the outer side of the rotating shaft 363 is one side of the rotating shaft far away from the second arm-clamping connection plate 352, the first arm 371 is fixedly connected with the lower end of the first arm-clamping connection plate 351, the second arm 372 is fixedly connected with the lower end of the second arm-clamping connection plate 352, the reset spring 38 is arranged between the first arm-clamping connection plate 351 and the second arm-clamping connection plate 352, and one end of the return spring 38 is fixedly connected with the lower end of the first arm connecting plate 351, and the other end is fixedly connected with the lower end of the second arm connecting plate 352.
In this embodiment, all the clamp arms are controlled only by the cylinder 31 and the sliding rod 33 fixedly connected with the cylinder 31, in the initial state, the first clamp arm 371 and the second clamp arm 372 are in an open state, in the working state, the telescopic rod of the control cylinder 31 is extended, the sliding rod 33 moves along with the movement, the first connecting rope 361 and the second connecting rope 362 fixedly connected with the sliding rod 33 are pulled, the first clamp arm connecting plate 351 and the second clamp arm connecting plate 352 are also pulled by the first connecting rope 361 and the second connecting rope 362 to rotate, and the second clamp arm connecting plate 352 is retracted, and the first connecting rope 363 is transited by the rotating shaft, and the first clamp arm connecting plate 351 is also retracted, so that the clamping function of the first clamp arm 371 and the second clamp arm 372 is realized, and when the cylinder 31 stops working, the reset spring 38 can spring the first clamp arm 371 and the second clamp arm 372 to keep the open state; and a plurality of arm clamps are controlled by the same set of cylinder 31 and the sliding rod 33 fixedly connected with the cylinder 31, so that the control device is simplified, the equipment purchasing cost is reduced, and the device is economical and practical.
Further, as shown in fig. 4, an opening 321 is provided at the bottom of the connection housing 32 along the length direction, and the opening 321 is provided in the middle of the bottom of the connection housing 32; the opening 321 facilitates inspection and maintenance on the one hand and installation on the other hand.
Further, as shown in fig. 4, the two sides of the opening 321 are provided with connection holes 322, the connection holes 322 are uniformly distributed along the length direction of the connection shell 32, two sides of the arm-clamping shell 34 are respectively provided with two connection lugs 341, the connection lugs 341 are provided with through holes (not shown in the figure) adapted to the connection holes 322, the arm-clamping shell 34 and the connection shell 32 are fixedly connected through bolts, the connection lugs 341 are respectively positioned at two sides of the return spring 38, and the hole spacing between the two connection lugs 341 at the same side is twice the hole spacing between the two adjacent connection holes 322; the coupling holes 322 cooperate with the coupling lugs 341 to add a position-adjustable function to the arm-lock case 34.
Further, as shown in fig. 5 and 6, a first pin shaft 342 and a second pin shaft 343 are further disposed in the arm-clamping shell 34, the first pin shaft 342 is located in the middle of the first arm-clamping connection plate 351 and is rotationally connected with the first arm-clamping connection plate 351, the second pin shaft 343 is located in the middle of the second arm-clamping connection plate 352 and is rotationally connected with the second arm-clamping connection plate 352, a first adjusting groove 344 adapted to the first pin shaft 342 is disposed on the side wall of the arm-clamping shell 34, the first adjusting groove 344 is disposed opposite to and coplanar with the connecting lug 341, a second adjusting groove 345 adapted to the second pin shaft 343 is disposed on the side wall of the arm-clamping shell 34, the second adjusting groove 345 is disposed opposite to and coplanar with the connecting lug 341, the coplanar first adjusting groove 344 and the second adjusting groove 345 are symmetrical with respect to the side center line of the arm-clamping shell 34, two ends of the first pin shaft 342 are fixed by fixing, and two ends of the second pin shaft 343 are also fixed by nuts; the first pin 342 is matched with the first adjusting groove 344, and the second pin 343 is matched with the second adjusting groove 345, so that the opening and closing degree adjusting function of the first clamping arm 371 and the second clamping arm 372 is increased.
Further, as shown in fig. 7, the sliding rod 33 is provided with fixing pieces 331 adapted to the first connecting rope 361 and the second connecting rope 362, and the fixing pieces 331 are uniformly distributed along the length direction of the sliding rod 33; the connection positions and the tension of the first connection rope 361 and the second connection rope 362 are convenient to adjust.
Further, as shown in fig. 8, the fixing piece 331 includes a first fixing piece 332, a second fixing piece 333, and a locking pin 334, where the first fixing piece 332 is in a strip shape, the upper end of the first fixing piece 332 is fixedly connected to the bottom of the sliding rod 33, the second fixing piece 333 is in an "M" shape, four through holes adapted to the horizontal portion of the second fixing piece 333 are provided on the first fixing piece 332, the second fixing piece 333 slides with the first fixing piece 332 through the through holes, a pin hole is provided on the horizontal portion of the second fixing piece 333, and the locking pin 334 is provided in the pin hole; after the first connecting rope 361 and the second connecting rope 362 pass through the two through holes formed by the first fixing piece 332 and the second fixing piece 333, a winding structure is generated, and the second fixing piece 333 is pressed tightly and fixed by the locking pin 334, so that the fixing effect is better.
Further, as shown in fig. 3 and 4, a sliding sleeve 335 is disposed in the connection housing 32, the sliding sleeve 335 is fixedly connected with a side wall of the connection housing 32, the sliding rod 33 passes through the sliding sleeve 335 and is slidably connected with the sliding sleeve 335, and the sliding sleeve 335 is disposed opposite to the air cylinder 31; the sliding sleeve 335 is used for maintaining the stability of the sliding rod 33 during operation.
The invention discloses an automatic loading and unloading method of a battery pole group cast-welding automatic loading and unloading manipulator, which comprises the following steps:
(1) And (3) adjusting: according to the actual production requirements, the clamping widths of the first clamping arm 371 and the second clamping arm 3 are determined by the following operations:
s1: adjusting the position of the first pin 342 in the first adjusting groove 344 and the position of the second pin 343 in the second adjusting groove 345 to determine the opening and closing angles of the first clamp arm 371 and the second clamp arm 372;
s2: adjusting the mounting position of the clamping arm shell 34 in the connecting hole 322 at the bottom of the connecting shell 32, so as to ensure that the clamping work of the adjacent clamping arm shells 34 is not affected;
s3: the connection positions of the first connecting rope 361 and the second connecting rope 362 on the bottom fixing piece 331 of the sliding rod 33 are adjusted, so that the first clamping arm 371 and the second clamping arm 372 are in an open state in an initial state;
(2) Automatic loading and unloading: the horizontal displacement and the vertical displacement of the manipulator body 30 are controlled, and the automatic loading and unloading is realized through the opening and closing of the first clamping arm 371 and the second clamping arm 372, and the automatic loading and unloading is realized through the following operations:
y1: the horizontal moving bracket 12 moves to a starting position along the horizontal guide rail 11, the vertical moving bracket 22 moves downwards along the vertical guide rail 21, at this time, the first clamping arm 371 and the second clamping arm 372 are in an open state, after the first clamping arm 371 and the second clamping arm 372 clamp the battery pole group, the air cylinder 31 works, and the first clamping arm 371 and the second clamping arm 372 clamp the battery pole group in a closed mode;
y2: the straight moving bracket 22 moves upward along the vertical guide rail 21, and the horizontal moving bracket 12 moves to the target position along the horizontal guide rail 11;
y3: the vertical moving support 22 moves downwards along the vertical guide rail 21, the air cylinder 31 stops working, the first clamping arm 371 and the second clamping arm 372 lose clamping force, the battery pole group is dismounted, and the vertical moving support 22 moves upwards along the vertical guide rail 21;
y4: repeating the steps Y1 to Y3.
It is noted that relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The automatic loading and unloading manipulator for the cast welding of the battery electrode group comprises a horizontal moving mechanism, a vertical moving mechanism and a manipulator body (30), wherein the horizontal moving mechanism comprises a horizontal guide rail (11) and a horizontal moving support (12), the top of the horizontal moving support (12) is in sliding connection with the horizontal guide rail (11), the vertical moving mechanism comprises a vertical guide rail (21) and a vertical moving support (22), the vertical guide rail (21) is fixedly arranged on the side surface of the horizontal moving support (12), the side wall of the vertical moving support (22) is in sliding connection with the vertical guide rail (21), and the manipulator body (30) is fixedly arranged on the side wall of the vertical moving support (22); the mechanical arm body (30) is characterized by comprising an air cylinder (31), a connecting shell (32), a sliding rod (33), a clamping arm shell (34), a first clamping arm connecting plate (351), a second clamping arm connecting plate (352), a first connecting rope (361), a second connecting rope (362), a first clamping arm (371), a second clamping arm (372) and a return spring (38), wherein the connecting shell (32) is fixedly arranged on the side wall of a vertical moving support (22), the air cylinder (31) is fixedly arranged at one end of the connecting shell (32), a telescopic rod of the air cylinder (31) penetrates through a shell of the connecting shell (32) and extends into a cavity of the connecting shell (32), the sliding rod (33) is fixedly connected with the telescopic rod of the air cylinder (31), the clamping arm shell (34) is in a cuboid cylinder shape, the clamping arm shell (34) is fixedly arranged on the lower end face of the connecting shell (32), the first clamping arm connecting plate (351) is rotationally connected with the inner wall of the clamping arm shell (34), the second clamping arm connecting plate (352) is fixedly connected with the upper end of the upper connecting plate (351) of the first connecting plate (351), the upper end of the upper connecting plate (351) and the lower connecting plate (33) opposite to the upper end of the first connecting plate (351), the lower end of the second connecting rope (362) is fixedly connected with the upper end of the second clamping arm connecting plate (352), the upper end of the second connecting rope is fixedly connected with the sliding rod (33), a rotating shaft (363) is arranged above the first clamping arm connecting plate (351), two ends of the rotating shaft (363) are rotatably connected with the inner wall of the clamping arm shell (34), one side, far away from the second clamping arm connecting plate (352), of the first connecting rope (361) bypasses the rotating shaft (363) to form a fold line, the first clamping arm (371) is fixedly connected with the lower end of the first clamping arm connecting plate (351), the second clamping arm (372) is fixedly connected with the lower end of the second clamping arm connecting plate (352), a return spring (38) is arranged between the first clamping arm connecting plate (351) and the second clamping arm connecting plate (352), and one end of the return spring (38) is fixedly connected with the lower end of the first clamping arm connecting plate (351), and the other end of the return spring is fixedly connected with the lower end of the second clamping arm connecting plate (352).
An opening (321) arranged along the length direction is formed in the bottom of the connecting shell (32), and the opening (321) is arranged in the middle of the bottom of the connecting shell (32);
still be equipped with first round pin axle (342) and second round pin axle (343) in arm-clamping shell (34), first round pin axle (342) are located the middle part of first arm-clamping connecting plate (351) and rotate with first arm-clamping connecting plate (351) and be connected, second round pin axle (343) are located the middle part of second arm-clamping connecting plate (352) and rotate with second arm-clamping connecting plate (352) and be connected, be equipped with first adjustment groove (344) with first round pin axle (342) adaptation on the lateral wall of arm-clamping shell (34), still be equipped with second adjustment groove (345) with second round pin axle (343) adaptation on the lateral wall of arm-clamping shell (34), and coplanarity first adjustment groove (344) and second adjustment groove (345) are symmetrical about the side central line of arm-clamping shell (34), the both ends of first round pin axle (342), the both ends of second round pin axle (343) also are equipped with the nut of fixing.
2. The automatic loading and unloading manipulator for cast-weld of battery electrode groups according to claim 1, wherein connecting holes (322) are formed in two sides of the opening (321), the connecting holes (322) are uniformly distributed along the length direction of the connecting shell (32), two connecting lugs (341) are respectively arranged on two sides of the clamping arm shell (34), through holes matched with the connecting holes (322) are formed in the connecting lugs (341), the connecting lugs (341) are respectively arranged on two sides of the reset spring (38), and the hole spacing of the two connecting lugs (341) on the same side is twice that of the adjacent two connecting holes (322).
3. The automatic assembling and disassembling manipulator for the cast-weld battery pole group according to claim 2, wherein fixing pieces (331) matched with the first connecting rope (361) and the second connecting rope (362) are arranged on the sliding rod (33), and the fixing pieces (331) are uniformly distributed along the length direction of the sliding rod (33).
4. The automatic handling manipulator for cast-weld battery electrode group according to claim 3, wherein the fixing piece (331) comprises a first fixing piece (332), a second fixing piece (333) and a locking pin (334), the first fixing piece (332) is strip-shaped, the upper end of the first fixing piece is fixedly connected to the bottom of the sliding rod (33), the second fixing piece (333) is in an 'M' shape, four through holes matched with the horizontal part of the second fixing piece (333) are formed in the first fixing piece (332), the second fixing piece (333) is slidably arranged in the through holes of the first fixing piece (332), a pin hole is formed in the horizontal part of the second fixing piece (333), and the locking pin (334) is arranged in the pin hole.
5. The automatic assembling and disassembling manipulator for cast-weld battery pole groups according to claim 1, wherein a sliding sleeve (335) is arranged in the connecting shell (32), the sliding sleeve (335) is fixedly connected with the side wall of the connecting shell (32), the sliding rod (33) penetrates through the sliding sleeve (335) to be in sliding connection with the sliding sleeve (335), and the sliding sleeve (335) is arranged opposite to the air cylinder (31).
6. An automatic loading and unloading method of a battery pole group cast-weld automatic loading and unloading manipulator, which is characterized in that the method adopts the battery pole group cast-weld automatic loading and unloading manipulator as claimed in claim 4 and comprises the following steps:
(1) And (3) adjusting: according to actual production requirements, the clamping width of the first clamping arm (371) and the second clamping arm (372) is determined by the following operations:
s1: adjusting the position of the first pin shaft (342) in the first adjusting groove (344) and the position of the second pin shaft (343) in the second adjusting groove (345) to determine the opening and closing angles of the first clamping arm (371) and the second clamping arm (372);
s2: adjusting the mounting position of the clamping arm shell (34) in the connecting hole (322) at the bottom of the connecting shell (32) to ensure that the clamping work of the adjacent clamping arm shells (34) is not affected;
s3: the connection positions of the first connecting rope (361) and the second connecting rope (362) on the bottom fixing piece (331) of the sliding rod (33) are adjusted, so that the first clamping arm (371) and the second clamping arm (372) are in an open state in an initial state;
(2) Automatic loading and unloading: the horizontal displacement and the vertical displacement of the manipulator body (30) are controlled, the automatic loading and unloading is realized through the opening and closing of the first clamping arm (371) and the second clamping arm (372), and the automatic loading and unloading is realized through the following operations:
y1: the horizontal moving support (12) moves to a starting position along the horizontal guide rail (11), the vertical moving support (22) moves downwards along the vertical guide rail (21), at the moment, the first clamping arm (371) and the second clamping arm (372) are in an open state, after the first clamping arm (371) and the second clamping arm (372) are clamped to the battery pole group, the air cylinder (31) works, and the first clamping arm (371) and the second clamping arm (372) clamp the battery pole group in a closed mode;
y2: the vertical moving bracket (22) moves upwards along the vertical guide rail (21), and the horizontal moving bracket (12) moves to a target position along the horizontal guide rail (11);
y3: the vertical moving support (22) moves downwards along the vertical guide rail (21), the air cylinder (31) stops working, the first clamping arm (371) and the second clamping arm (372) lose clamping force, the battery pole group is dismounted, and the vertical moving support (22) moves upwards along the vertical guide rail (21);
y4: repeating the steps Y1 to Y3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811601039.3A CN109571525B (en) | 2018-12-26 | 2018-12-26 | Automatic loading and unloading manipulator and automatic loading and unloading method for cast welding of battery electrode group |
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| CN201811601039.3A CN109571525B (en) | 2018-12-26 | 2018-12-26 | Automatic loading and unloading manipulator and automatic loading and unloading method for cast welding of battery electrode group |
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| CN106276222A (en) * | 2016-08-16 | 2017-01-04 | 吴道华 | A kind of automatization feeder equipment |
| CN206242044U (en) * | 2016-11-28 | 2017-06-13 | 长安大学 | A kind of connecting-rod type hydraulic manipulator |
| CN108942993A (en) * | 2018-10-17 | 2018-12-07 | 安徽理工大学 | A kind of mechanically controlled type automatic blanking machinery hand |
| CN209699124U (en) * | 2018-12-26 | 2019-11-29 | 安徽理士电源技术有限公司 | A kind of battery pole group cast welding automatic loading and unloading robot |
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| BRPI0416013A (en) * | 2003-10-28 | 2007-01-02 | Aew Delford Systems | fastener to pick up and deposit articles |
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|---|---|---|---|---|
| CN106276222A (en) * | 2016-08-16 | 2017-01-04 | 吴道华 | A kind of automatization feeder equipment |
| CN206242044U (en) * | 2016-11-28 | 2017-06-13 | 长安大学 | A kind of connecting-rod type hydraulic manipulator |
| CN108942993A (en) * | 2018-10-17 | 2018-12-07 | 安徽理工大学 | A kind of mechanically controlled type automatic blanking machinery hand |
| CN209699124U (en) * | 2018-12-26 | 2019-11-29 | 安徽理士电源技术有限公司 | A kind of battery pole group cast welding automatic loading and unloading robot |
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