CN110434878A - A kind of cylindrical power battery monomer catching robot - Google Patents

Abstract

The present invention relates to a kind of cylindrical power battery monomer catching robots, including at least two groups clamping jaw, for clamping power battery monomer；Driving mechanism, for driving clamping jaw to open or closure；Jacking mechanism, for holding out against the side of power battery monomer；Mounting base, the clamping jaw, driving mechanism, jacking mechanism are mounted in mounting base.The beneficial effects of the present invention are: the catching robot to be mounted on to the mechanical arm end of robot by support plate, electric telescopic rod and the control system of robot are connected, it is flexible to control electric telescopic rod, then clamping jaw closure is driven by the transmission of push rod, first connecting rod, second connecting rod or opened, realize crawl power battery monomer.

Description

A gripping manipulator for a cylindrical power battery cell

technical field

The invention relates to the technical field of recycling waste power batteries, in particular to a manipulator for grabbing cylindrical power battery cells.

Background technique

The power battery is the power source that provides the power source for the tool, and mostly refers to the battery that provides power for electric vehicles, electric trains, electric bicycles, and golf carts. Existing power batteries are mainly composed of small cells connected in series, and the power battery cells mainly have two structures: cylindrical and cuboid. When recycling waste power batteries, it is necessary to put the power battery cells one by one on a waste power battery dismantling machine in a certain order for disassembly and recycling. At present, this process is basically carried out manually, and the work efficiency is low and labor-intensive. Strong. With the development of robot technology, the use of robots can completely replace manual stacking work, but currently there is no professional manipulator for installation on the robot arm. The present invention provides a grasping manipulator that can be installed on a robot arm for stacking work of power battery cells with a cylindrical structure.

Contents of the invention

The purpose of the present invention is to overcome the above problems existing in the prior art, and provide a cylindrical power battery unit grasping manipulator, which is installed on the mechanical arm of the robot to grasp the cylindrical power battery unit for stacking work.

In order to achieve the above-mentioned technical purpose and achieve the above-mentioned technical effect, the present invention is realized through the following technical solutions:

A cylindrical power battery monomer grasping manipulator, comprising

At least two sets of grippers are used to grip the power battery cell;

A driving mechanism for driving the jaws to open or close;

The tightening mechanism is used to tighten the side of the power battery unit;

The mounting seat, the jaws, the driving mechanism, and the tightening mechanism are installed on the mounting seat.

Wherein, the mounting base includes a cuboid mounting plate, a cuboid supporting plate, and four cuboid supporting columns, the mounting plate and the supporting plates are respectively installed at the two ends of the supporting columns, and the four supporting columns are about The long axis of the mounting plate is arranged symmetrically, the two ends of the long axis of the mounting plate are respectively provided with the first hinge column coaxial with it, the center of the mounting plate is provided with a guide hole, and the driving mechanism includes an electric telescopic rod. The bottom end of the electric telescopic rod is installed in the center of one end connected to the support plate and the support column, and a push rod is installed on the top of the electric telescopic rod, and a second hinged column coaxial with the push rod is respectively provided at both ends of the push rod , a first connecting rod and a second connecting rod are installed on each second hinge column, and each set of jaws includes two clamping rods, and the two clamping rods pass through the first connecting rod arranged in the middle. The hinge hole is hinged with the first hinge column at one end of the mounting plate, and the end of the first hinge column is screwed with a fastening nut to prevent the clamping rod from detaching from the first hinge column. One end away from the second hinge column is hinged, and the end of the other clamping rod is hinged with the end of the second connecting rod away from the second hinge column through a hinge. The clamping mechanism includes a clamping block, a guide rod, a spring, Nut, described top tight block is fixed on one end of guide bar, described spring is sleeved outside guide bar, and described guide bar is sleeved in guide hole, and described nut is screwed on one end of guide bar away from top tight block.

Wherein, the clamping rod is divided into three parts: an arc-shaped clamping portion, a linear connecting portion, and a linear driving portion, and the hinged hole is located at the connecting portion.

Wherein, the clamping block is fan-shaped, and a layer of anti-slip mat is installed on the inner side of the clamping block.

Wherein, the push rod is in the shape of a cuboid, and two pairs of the four supporting columns form a chute symmetrically in the middle, and the push rod is located in the chute and slides forward and backward in the chute.

Wherein, the support column, the support plate and the installation plate are all connected by bolts for detachment.

The beneficial effects of the present invention are: install the grasping manipulator on the end of the robot's mechanical arm through the support plate, connect the electric telescopic rod with the control system of the robot, control the telescopic rod to expand and contract, and then pass the push rod, the first connecting rod, The transmission of the second connecting rod drives the jaws to close or open, so as to grasp the power battery cell.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention;

Fig. 2 is a schematic structural view of the mounting seat in an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a driving mechanism in an embodiment of the present invention;

Fig. 4 is the structural representation of jaw in the embodiment of the present invention;

Fig. 5 is a structural schematic diagram of the tightening mechanism in the embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

As shown in Figures 1 to 5, a cylindrical power battery cell grasping manipulator includes two sets of grippers 300 for gripping a power battery cell; a driving mechanism 200 for driving the grippers 300 to open or close The tightening mechanism 400 is used to tighten the side of the power battery cell;

Mounting seat 100 comprises a rectangular parallelepiped mounting plate 130, a rectangular parallelepiped supporting plate 110, four rectangular parallelepiped supporting posts 120, mounting plate 130 and supporting plate 110 are installed on the two ends of supporting column 120 respectively, four supporting posts 120 is arranged symmetrically with respect to the long axis of the mounting plate 130, the two ends of the long axis of the mounting plate 130 are respectively provided with a first hinge column 131 coaxial with it, the center of the mounting plate 130 is provided with a guide hole 132, and the driving mechanism 200 includes an electric telescopic rod 210, the bottom end of the electric telescopic rod 210 is installed in the center of one end connected to the support plate 110 and the support column 120, the top of the electric telescopic rod 210 is equipped with a push rod 220, and the two ends of the push rod 220 are respectively provided with a first coaxial Two articulated columns 221, each second articulated column 221 is rotatably installed with a first connecting rod 230 and a second connecting rod 240, and each group of jaws 300 includes two clamping rods 310, and the two clamping rods 310 are set by The first hinge hole 314 in the middle is hinged with the first hinge column 131 at one end of the mounting plate 131, and the end of the first hinge column 131 is screwed with a fastening nut 320 to prevent the clamp bar from breaking away from the first hinge column. The end of the rod 310 is hinged with the end of the first connecting rod 230 away from the second hinge post 221 through the hinge 250 , and the end of the other clamping rod is connected with the end of the second link 240 away from the second hinge post 221 through the hinge 250 Hinged, the jacking mechanism 400 comprises a jacking block 410, a guide rod 420, a spring 430, and a nut 440. The jacking block 410 is fixed on one end of the guide rod 420, the spring 430 is enclosed within the guide rod 420, and the guide rod 420 is sleeved on the guide rod 420. In the hole 132 , a nut 440 is screwed on the end of the guide rod 420 away from the tightening block 410 .

A strip-shaped mounting groove 315 is provided in the middle of the end of the clamping rod 310, and a circular hole 316 that penetrates up and down is provided at the end of the clamping rod 310. In the shaped mounting groove 315, the first connecting rod 230 and the second connecting rod 240 are provided with round holes that penetrate up and down at the end away from the second hinge column 221, and the round holes on the first connecting rod 230 and the round holes at the end of the clamping rod 310 316 is connected by a hinge 250, and the round hole on the second connecting rod 240 is connected with the round hole 316 at the end of the clamp rod 310 by a hinge 250, and the hinge 250 is composed of a screw and a screwed nut.

The clamping rod 310 is divided into three parts: an arc-shaped clamping portion 311 , a linear connecting portion 312 , and a linear driving portion 313 . The hinge hole 314 is located in the connecting portion 312 and the three parts are integrally formed.

The top tightening block 410 is fan-shaped and can fit the side wall of the cylindrical power battery unit. A layer of anti-slip pad is installed on the inner side of the top tightening block 410. The anti-slip pad increases the friction with the side of the power battery unit.

The push rod 220 is in the shape of a cuboid, and the four support columns 120 form a chute in the middle of two symmetrical pairs. The push rod 220 is located in the chute and slides forward and backward in the chute, so as to avoid the left and right deviation of the push rod 220 during the movement and reduce the electric shock. Wear of telescoping rod 210 .

Bolts 140 are used to disassemble the connection between the support column 120, the support plate 110 and the installation plate 130, which is convenient for installation and disassembly.

The grasping manipulator is installed on the end of the robot's mechanical arm through the support plate 110, the electric telescopic rod 210 is connected with the control system of the robot, and the electric telescopic rod 210 is controlled to expand and contract, and then the push rod 220, the first connecting rod 230, the second The transmission of the connecting rod 240 drives the jaws 300 to close or open, so as to grasp the power battery unit.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention.

Claims (6)

1. a kind of cylindrical power battery monomer catching robot, it is characterised in that: including

At least two groups clamping jaw, for clamping power battery monomer；

Driving mechanism, for driving clamping jaw to open or closure；

Jacking mechanism, for holding out against the side of power battery monomer；

Mounting base, the clamping jaw, driving mechanism, jacking mechanism are mounted in mounting base.

2. cylindrical power battery monomer catching robot according to claim 1, it is characterised in that: the mounting base packet Include the support column of the mounting plate of one piece of cuboid, the support plate of one piece of cuboid, four root long cube shapes, the mounting plate and Support plate is separately mounted to the both ends of support column, and four support columns are symmetrical arranged about the long axis of mounting plate, the mounting plate Long axis both ends are respectively equipped with the first hinge column of coaxial line, and the center of the mounting plate is equipped with pilot hole, the driving machine Structure includes electric telescopic rod, and the bottom end of the electric telescopic rod is mounted on one end center that support plate is connect with support column, described The top of electric telescopic rod is equipped with push rod, and the both ends of the push rod are respectively equipped with second hinge column of a coaxial line, A first connecting rod and a second connecting rod are rotatablely installed on each second hinge column, clamping jaw described in every group includes two clamping bars, Two clamping bars are hinged column articulated by be disposed therein first hinge hole in portion and mounting plate one end first, and first is hinged The end of column be bolted with prevent clamping bar be detached from the first hinge column fastening nut, wherein the end of a clamping bar by articulation piece with First connecting rod is hinged far from one end of the second hinge column, and the end of another clamping bar is by articulation piece and second connecting rod far from second One end of hinge column is hinged, and the jacking mechanism includes withstanding tight block, guide rod, spring, nut, and the withstanding tight block is fixed on guiding One end of bar, the spring pocket is outside guide rod, and for the guiding rod set in pilot hole, it is separate that the nut is screwed on guide rod One end of withstanding tight block.

3. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the clamping bar is divided into The clamping portion of arc, the interconnecting piece of linear, linear driving portion three parts, the hinge hole is located at interconnecting piece.

4. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the withstanding tight block is The inside of fan annular, the withstanding tight block is installed by one layer of non-slip mat.

5. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the push rod is in length Cube shape, four support columns are symmetrically intermediate two-by-two to form sliding slot, and the push rod is located in sliding slot and front and back is sliding in sliding slot It is dynamic.

6. cylindrical power battery monomer catching robot according to claim 2, it is characterised in that: the support column with Bolt dismantling connection is all made of between support plate, mounting plate.