CN110421582B

CN110421582B - A manipulator device that is used for lithium cell to roll up core and snatchs pairing

Info

Publication number: CN110421582B
Application number: CN201910418195.4A
Authority: CN
Inventors: 陈珝; 李晓燕; 姚金健
Original assignee: Hefei Guoxuan High Tech Power Energy Co Ltd
Current assignee: Hefei Guoxuan Battery Technology Co ltd
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2023-03-24
Anticipated expiration: 2039-05-20
Also published as: CN110421582A

Abstract

The invention discloses a manipulator device for grabbing and pairing a lithium battery coiled core, which comprises a rotating part and two grabbing parts arranged at the lower end of the rotating part, wherein the two grabbing parts are horizontally and symmetrically arranged at the lower end of the rotating part; the rotating part comprises a rack and a rotating shaft connected to the lower part of the rack, and the rack is provided with a power mechanism for driving the rotating shaft to rotate along the anticlockwise direction or the clockwise direction; according to the automatic matching device, the rotating mechanism is arranged, the two clamping devices are arranged below the rotating mechanism, and positions of the roll cores on two sides are quickly matched through the rotating mechanism after being grabbed, so that the roll cores can be quickly matched, and the matching efficiency is improved; this application is through setting up the detachable clamping jaw, through the size of change clamping jaw and the initial distance of adjustment both sides clamping jaw, and then can press from both sides the core of roll of not unidimensional battery and get, has improved the generic performance of this application manipulator.

Description

A manipulator device that is used for lithium cell to roll up core and snatchs pairing

Technical Field

The invention relates to the technical field of lithium battery production equipment, in particular to a manipulator device for grabbing and pairing a lithium battery roll core.

Background

Lithium batteries are batteries using a nonaqueous electrolyte solution and using lithium metal or a lithium alloy as a negative electrode material. The core is the core part of lithium battery, and the battery is formed by AB core according to current technology.

A. The B rolls up the core and exports through two winders respectively in actual production process, through different commodity circulation lines and tray circulation to next process, will accomplish A before next process, B rolls up the core and pairs the side and can carry out the processing operation, it is shown as figure 1 around pairing, but in the current production facility, pair A, B rolls up the automation inadequately of core, it is complicated to pair the process, pair inefficiency, and at the in-process of pairing, because there is the error in the size of rolling up the core, press from both sides the in-process at machinery, the phenomenon that the unstable or clamp excessively lead to rolling up the core and warp may appear pressing from both sides.

Disclosure of Invention

The invention aims to provide a manipulator device for grabbing and pairing a lithium battery winding core, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the mechanical hand device for grabbing and pairing the lithium battery winding cores comprises a rotating part and two grabbing parts arranged at the lower end of the rotating part, wherein the two grabbing parts are horizontally and symmetrically arranged at the lower end of the rotating part;

the rotating part comprises a rack and a rotating shaft connected to the lower part of the rack, and the rack is provided with a power mechanism for driving the rotating shaft to rotate along the anticlockwise direction or the clockwise direction;

the grabbing part comprises a first telescopic cylinder which is vertically arranged below the rotating shaft, the lower end of a piston of the first telescopic cylinder is fixedly provided with a clamping cylinder which is horizontally arranged, two ends of the clamping cylinder are respectively provided with a clamping jaw which is used for clamping a roll core, the clamping jaws can be disassembled to be connected with the lower part of the clamping cylinder, a roll core pressing plate is arranged below the clamping cylinder, the roll core pressing plate is positioned on two sides between the clamping jaws, the roll core pressing plate is connected with the clamping cylinder in a sliding mode, and a spring is arranged between the roll core pressing plate and the clamping cylinder.

As a further scheme of the invention: the rack comprises a shaft sleeve and a fourth supporting plate arranged at the lower end of the shaft sleeve, a third supporting plate is fixedly connected below the fourth supporting plate through a connecting rod, the power mechanism is fixedly arranged at the lower end of the fourth supporting plate, and the rotating shaft penetrates through the third supporting plate and is rotatably connected with the third supporting plate.

As a further scheme of the invention: the power mechanism comprises a second telescopic cylinder which is horizontally arranged, the second telescopic cylinder is fixedly connected with the rack, a rack is fixedly arranged at the front end of a piston of the second telescopic cylinder, and an outer gear meshed with the rack is sleeved on the rotating shaft.

As a further scheme of the invention: the lower end of the rotating shaft is provided with a support frame, and the first telescopic cylinders in the grabbing parts at two sides are fixedly connected with two ends of the support frame through fixing rib plates.

As a further scheme of the invention: the piston lower extreme of first telescopic cylinder has set firmly the second connecting axle, the second connecting axle pass through the connecting plate with the piston lower extreme fixed connection of first telescopic cylinder, the lower extreme of second connecting axle has set firmly first backup pad, the clamp is got the cylinder and set firmly in first backup pad lower extreme.

As a further scheme of the invention: the upper end of the winding core pressing plate is at least provided with a first connecting shaft, the first connecting shaft penetrates through the first supporting plate and is in sliding connection with the first supporting plate up and down, and the spring is sleeved on the first connecting shaft.

As a further scheme of the invention: first connecting axle is equipped with two at least and evenly arranges roll up core clamp plate upper end, first connecting axle through support the head with roll up the core clamp plate and connect, all the top of first connecting axle is passed through the second backup pad and is connected, first backup pad upper end is equipped with and is used for carrying out the stopper of position restriction to first connecting axle.

As a further scheme of the invention: both sides the clamping jaw pass through the clamping jaw connecting seat with the clamp is got the cylinder and can be dismantled and be connected, the clamping jaw is close to roll up one side of core clamp plate and is equipped with the chamfer.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the automatic matching device, the rotating mechanism is arranged, the two clamping devices are arranged below the rotating mechanism, the two clamping devices are used for grabbing the A and B winding cores on the A and B production lines through the clamping devices, and the positions of the winding cores on two sides are quickly matched through the rotating mechanism after grabbing, so that the winding cores can be quickly matched, and the matching efficiency is improved;

2. according to the clamping mechanism, the detachable clamping jaws are arranged, the sizes of the clamping jaws are changed, the initial distances of the clamping jaws on the two sides are adjusted, so that battery winding cores with different sizes can be clamped, and the universality of the manipulator is improved;

3. the utility model provides a roll up core clamp plate passes through connecting axle and spring and backup pad flexonics, therefore when pressing from both sides and getting the battery, because roll up core than the position relative to the production line on the clamping jaw high, therefore can be through the change of the automatic position that adapts to roll core of the shrink of spring, and because the in-process of production, the deviation can appear in the thickness of roll core, therefore, roll up the core clamp plate through the flexibility setting, can self-adaptation compress tightly the roll core to different thickness, and can not appear pressing from both sides tight or press from both sides the phenomenon that tight transition leads to rolling up the core and warp, the security performance of getting the process has been improved.

Drawings

FIG. 1 is a schematic diagram showing the comparison between the battery roll cores before and after pairing;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic view of the structure of the grasping portion of the present invention;

FIG. 4 is a view of a rotating portion according to the present invention;

fig. 5 is a schematic view of the supporting frame of the present invention.

In the figure: the clamping device comprises a clamping jaw 1, a clamping jaw 2, a clamping jaw connecting seat 3, a core-winding pressing plate 4, a supporting head 5, a spring 6, a clamping cylinder 7, a first supporting plate 8, a first connecting shaft 9, a second supporting plate 10, a second connecting shaft 11, a connecting plate 12, a first telescopic cylinder 13, a supporting frame 13, a fixing rib plate 14, a rotating shaft 15, a third supporting plate 16, an outer gear 17, a rack 18, a second telescopic cylinder 19, a connecting rod 20, a fourth supporting plate 21 and a shaft sleeve 22.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, in an embodiment of the present invention, a manipulator device for grabbing and pairing a lithium battery winding core includes a rotating portion and two grabbing portions disposed at a lower end of the rotating portion, where the grabbing portions are disposed at a lower end of the rotating portion and horizontally and symmetrically, so that an a winding core and a B winding core can be grabbed by the grabbing portions at two sides, and then the a winding core and the B winding core at the lower ends of the grabbing portions at two sides are subjected to position-to-position switching by the rotating portion to complete battery core pairing;

the rotating part comprises a rack, the rack comprises a shaft sleeve 22 and a fourth support plate 21 arranged at the lower end of the shaft sleeve 22, the manipulator device is connected with a lithium battery production line through the shaft sleeve 22, a third support plate 16 is fixedly connected below the fourth support plate 21 through a connecting rod 20, in the embodiment, the connecting rod 20 is provided with four parts and is arranged in a rectangular shape, a through hole is formed in the third support plate 16, a rotating shaft 15 is connected in the through hole in a rotating mode, the upper end of the rotating shaft 15 is rotatably connected with the lower end of the fourth support plate 21, the rotating shaft 15 can be vertically positioned through a fourth support plate 41, the lower end of the fourth support plate 21 is provided with a power mechanism, the power mechanism comprises a second telescopic cylinder 19 arranged at the lower end of the fourth support plate 21, the second telescopic cylinder 19 is horizontally arranged, a rack 18 is fixedly arranged at the front end of a piston of the second telescopic cylinder 19, an outer gear 17 meshed with the rack 18 is sleeved on the rotating shaft 15, power transmission is carried out through meshing between the rack 18 and the outer gear 17, and the rotating shaft can be driven to rotate clockwise or anticlockwise through the stretching lock of the piston of the second telescopic cylinder 19; a support frame 13 is arranged at the lower end of the rotating shaft 15, and the first telescopic cylinders 12 in the grabbing parts at the two sides are fixedly connected with the two ends of the support frame 13 through fixing rib plates 14;

the grabbing part comprises a first telescopic cylinder 12 which is vertically arranged and fixedly arranged below a rotating shaft 15, the first telescopic cylinder 12 is fixedly connected with a support frame 13 through a fixing rib plate 14, a second connecting shaft 10 is fixedly arranged at the lower end of a piston of the first telescopic cylinder 12, the second connecting shaft 10 is fixedly connected with the lower end of the piston of the first telescopic cylinder 12 through a connecting plate 11, a first support plate 7 is fixedly arranged at the lower end of the second connecting shaft 10, a clamping cylinder 6 is fixedly arranged at the lower end of the first support plate 7, clamping jaws 1 on two sides are detachably connected with a clamping cylinder 6 through clamping jaw connecting seats 2, chamfers are arranged on the inner sides of the clamping jaws 1, clamping sizes of the clamping jaws 1 can be adjusted by replacing the clamping jaw connecting seats 2 with different sizes, clamping of winding cores with different sizes can be adapted, and meanwhile, the clamping jaws 1 on two sides can effectively avoid damage to the winding cores when clamping the winding cores; a core pressing plate 3 is arranged below the clamping cylinder 6, the core pressing plate 3 is positioned between the clamping jaws 1 on the two sides, at least one first connecting shaft 8 is arranged at the upper end of the core pressing plate 3, the first connecting shaft 8 penetrates through the first supporting plate 7 and is connected with the first supporting plate 7 in a vertical sliding manner, so that the core pressing plate 3 can be driven to slide up and down relative to the first supporting plate 7, a spring 5 is arranged between the core pressing plate 3 and the first supporting plate 7, the spring 5 is sleeved on the first connecting shaft 8, so that the spring 5 can be extruded when the core pressing plate 3 moves upwards relative to the first supporting plate 7, a downward pressure is provided for the core pressing plate 3 through the spring 5, the purpose of flexibly connecting the core pressing plate 3 and the first supporting plate 7 is achieved, further, cores with different thicknesses can be picked in a self-adaptive manner, in the embodiment, the first connecting shaft 8 is provided with four parts which are uniformly arranged at the upper end of the core pressing plate 3, the first connecting shaft 8 is connected with the core pressing plate 3 through a supporting head 4, the top ends of all the first connecting shafts 8 are connected through a second supporting plate 9, a limiting block is arranged above the first supporting plate 7,

the invention has novel structure and stable operation, when in use, the manipulator device is firstly moved to the position above the cores to be grabbed and paired, the clamping parts at two sides are respectively positioned above the cores A and B on two production lines, then the first telescopic cylinder 12 is started, the first support plate 7, the clamping cylinder 6 and the clamping jaw 1 are driven by the first telescopic cylinder 12 to move downwards until the lower end surface of the core pressing plate 3 is tightly attached to the upper end surface of the core, at the moment, the lower end surface of the clamping jaw 1 is still higher than the lower end surface of the core, then the piston of the first telescopic cylinder 12 continues to move downwards, the clamping jaw 1 moves downwards along with the piston in the moving process, but the lower end surface of the core pressing plate 3 is contacted with the upper end surface of the core, so that the core pressing plate 3 stops moving downwards, the spring 5 is extruded in the process that the first support plate 7 continues to move downwards, and the core pressing plate 3 automatically adapts to the thickness of the core, when the clamping jaw 1 moves to a platform for placing a roll core, the movement of the first telescopic cylinder 12 is stopped and the static state is kept, then the clamping cylinder 6 is started, the clamping cylinder 6 drives the clamping jaws 1 on two sides to move towards the direction close to the roll core until the clamping jaws 1 hold the roll core, and in the clamping process, because the inner side of the clamping jaw 1 is provided with a chamfer, the clamping jaw 1 is easier to insert below the roll core, and when the clamping jaw 1 holds the roll core from the lower part, the roll core can move upwards for a certain distance, in the moving process, the roll core pressing plate 3 is moved upwards through the compression spring 5, so that the problem of the deformation of the roll core caused by clamping can be effectively avoided, after the clamping is completed, the first telescopic cylinder 12 is started again, the piston of the first telescopic cylinder 12 is contracted to drive the clamping jaw 1 and the roll core between the clamping jaw 1 and the roll core pressing plate 3 to move upwards, when the winding core is far away from the production line, a second telescopic cylinder 19 is started, a piston of the second telescopic cylinder 19 stretches and retracts to drive a rack 18 to move horizontally, then an external gear 17 meshed with the rack 18 is driven to rotate through the horizontal movement of the rack, further a rotating shaft 15 can be driven to rotate clockwise or anticlockwise through the rotation of the external gear 17, when the rotating shaft 15 rotates horizontally for 180 degrees, the clamping parts on two sides are switched to positions at the moment, as shown in fig. 1, namely an original A winding core moves to an original B winding core position, an original B winding core moves to an original A winding core position, after the rotation is completed, the movement of the second telescopic cylinder 19 is stopped and kept static, then a first telescopic cylinder 12 and a clamping cylinder 6 are started to place the winding core A or B in the clamping jaw 1 to the original B or A position, and the clamping and pairing process of a group of battery winding cores is completed;

in addition, also can fix the axle sleeve 22 of the manipulator device of this application, then will wait to press from both sides to get the core of pairing and move to the clamping jaw below of this application through the production line, then press from both sides the step of getting, converting, releasing and press from both sides and get and pair the battery roll core.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The manipulator device for grabbing and pairing the lithium battery winding cores is characterized by comprising a rotating part and grabbing parts arranged at the lower end of the rotating part, wherein two grabbing parts are arranged at the lower end of the rotating part in a horizontally symmetrical mode;

the rotating part comprises a rack and a rotating shaft (15) connected to the lower part of the rack, and the rack is provided with a power mechanism for driving the rotating shaft (15) to rotate along the anticlockwise direction or the clockwise direction;

the grabbing part comprises a first telescopic cylinder (12) which is vertically arranged and fixedly arranged below the rotating shaft (15), the lower end of a piston of the first telescopic cylinder (12) is fixedly provided with a clamping cylinder (6) which is horizontally arranged, two ends of the clamping cylinder (6) are respectively provided with a clamping jaw (1) used for clamping a roll core, the clamping jaw (1) is detachably connected below the clamping cylinder (6), a roll core pressing plate (3) is arranged below the clamping cylinder (6), the roll core pressing plate (3) is positioned between the clamping jaws (1) at two sides, the roll core pressing plate (3) is vertically and slidably connected with the clamping cylinder (6), and a spring (5) is arranged between the roll core pressing plate (3) and the clamping cylinder (6);

a second connecting shaft (10) is fixedly arranged at the lower end of the piston of the first telescopic cylinder (12), the second connecting shaft (10) is fixedly connected with the lower end of the piston of the first telescopic cylinder (12) through a connecting plate (11), a first supporting plate (7) is fixedly arranged at the lower end of the second connecting shaft (10), and the clamping cylinder (6) is fixedly arranged at the lower end of the first supporting plate (7);

roll up core clamp plate (3) upper end and be equipped with a first connecting axle (8) at least, first connecting axle (8) run through first backup pad (7) and with sliding connection about first backup pad (7), spring (5) cup joint on first connecting axle (8), first connecting axle (8) are equipped with two at least and evenly arrange roll up core clamp plate (3) upper end, first connecting axle (8) through supporting head (4) with roll up core clamp plate (3) and connect, all the top of first connecting axle (8) is passed through second backup pad (9) and is connected, first backup pad (7) upper end is equipped with the stopper that is used for carrying out the position restriction to first connecting axle (8).

2. The manipulator device for grabbing and pairing the lithium battery winding core according to claim 1, wherein the frame comprises a shaft sleeve (22) and a fourth support plate (21) arranged at the lower end of the shaft sleeve (22), a third support plate (16) is fixedly connected to the lower portion of the fourth support plate (21) through a connecting rod (20), the power mechanism is fixedly arranged at the lower end of the fourth support plate (21), and the rotating shaft (15) penetrates through the third support plate (16) and is rotatably connected with the third support plate (16).

3. The manipulator device for grabbing and pairing the lithium battery winding core according to claim 1, wherein the power mechanism comprises a second telescopic cylinder (19) which is horizontally arranged, the second telescopic cylinder (19) is fixedly connected with the rack, a rack (18) is fixedly arranged at the front end of a piston of the second telescopic cylinder (19), and an outer gear (17) meshed and connected with the rack (18) is sleeved on the rotating shaft (15).

4. The manipulator device for grabbing and pairing the lithium battery winding core according to claim 1 is characterized in that a support frame (13) is arranged at the lower end of the rotating shaft (15), and the first telescopic cylinders (12) in the grabbing parts at two sides are fixedly connected with two ends of the support frame (13) through fixing rib plates (14).

5. The mechanical arm device for grabbing and pairing the lithium battery winding core according to claim 1 is characterized in that the clamping jaws (1) on two sides are detachably connected with the clamping cylinder (6) through a clamping jaw connecting seat (2), and a chamfer is arranged on one side, close to the winding core pressing plate (3), of each clamping jaw (1).