CN110936349A - Battery clamping manipulator device - Google Patents

Battery clamping manipulator device Download PDF

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Publication number
CN110936349A
CN110936349A CN201911197160.9A CN201911197160A CN110936349A CN 110936349 A CN110936349 A CN 110936349A CN 201911197160 A CN201911197160 A CN 201911197160A CN 110936349 A CN110936349 A CN 110936349A
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CN
China
Prior art keywords
assembly
clamping
clamping jaw
manipulator
clamp
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Granted
Application number
CN201911197160.9A
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Chinese (zh)
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CN110936349B (en
Inventor
曹骥
曹政
刘伟
郭凯华
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Zhejiang Hangke Technology Co Ltd
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Zhejiang Hangke Technology Co Ltd
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Priority to CN201911197160.9A priority Critical patent/CN110936349B/en
Publication of CN110936349A publication Critical patent/CN110936349A/en
Application granted granted Critical
Publication of CN110936349B publication Critical patent/CN110936349B/en
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A battery gripping manipulator apparatus comprising: the supporting unit comprises a bottom supporting frame assembly and side supports arranged at two end parts of the bottom supporting frame assembly, and the side supports are arranged on the bottom supporting frame assembly; the anti-falling unit is arranged below the bottom support frame assembly and comprises a support base, an anti-falling driving mechanism and an anti-short circuit mechanism; the battery clamping unit is arranged between the bottom support frame assembly and the support base and comprises a clamping jaw adjusting mechanism and a clamping mechanism, the clamping jaw adjusting mechanism comprises a clamping jaw mounting part, a clamping jaw driving part and an interval adjusting part, and the clamping mechanism is mounted at the bottom of the clamping jaw connecting piece; the horizontal driving unit comprises a horizontal driving mechanism and a horizontal power transmission mechanism; and the vertical driving unit is arranged between the bottom supporting frame assembly and the supporting base and comprises a mounting frame, a vertical driving motor and a power transmission assembly. The invention has the beneficial effects that: the equipment occupies small space, has low equipment cost and can adapt to batteries with different sizes.

Description

Battery clamping manipulator device
Technical Field
The invention relates to a manipulator device for clamping a battery, and belongs to the field of battery production automation logistics.
Background
In the battery production process, the lithium battery is subjected to high temperature formation, capacity grading and OCV (Open Circuit Voltage) tests, and in the series of test processes, the battery needs to be transported from a tray to a test line. When the battery moves from the transport line to a designated test position, a battery clamping manipulator device is needed to place a single battery to the designated test position for clamping test with the tab probe. The existing grabbing manipulator device has a series of problems of complex mechanism, high cost and the like.
Disclosure of Invention
In order to solve the problems, the invention provides a battery clamping manipulator device which occupies a small space, has low equipment cost and can adapt to batteries with different sizes.
The invention discloses a battery clamping manipulator device, which is characterized by comprising:
the supporting unit comprises a bottom supporting frame assembly and side supports arranged at two end parts of the bottom supporting frame assembly, the side supports are arranged on the bottom supporting frame assembly, and sliding bearings are arranged outside the side supports and used for realizing sliding fit of the supporting unit and a guide rail of external equipment so that the manipulator device moves along the axial direction of the guide rail;
the anti-falling unit is arranged below the bottom support frame component of the support unit and comprises a support base, an anti-falling driving mechanism and an anti-short circuit mechanism, wherein the support base comprises a horizontal support frame and a vertical support, the horizontal support frame is a rectangular frame, and the vertical supports are symmetrically arranged on the long frame of the rectangular frame and are used for supporting and connecting the driving mechanism; the top of the vertical support is connected with the bottom support frame assembly; the anti-falling driving mechanism is arranged on a horizontal supporting frame of the supporting base and comprises an air cylinder assembly and a transmission assembly, two short sides of the horizontal supporting frame are respectively provided with one set of air cylinder assembly, each set of air cylinder assembly is provided with at least two mutually independent movable parts, and the movable parts linearly reciprocate along the width direction of the horizontal supporting frame and are used for providing linear driving force along the width direction of the horizontal supporting frame; the movable part of the cylinder component is provided with a transmission component used for transmitting the power of the cylinder component to the short circuit prevention unit; the short circuit prevention mechanism is arranged at the bottom of the transmission assembly and comprises an insulating plate and an insulating plate supporting base, wherein the insulating plate supporting base is positioned below the horizontal supporting frame; the two end parts of the insulating plate supporting base are respectively connected with the corresponding transmission assemblies, so that the insulating plate supporting base is driven by the transmission assemblies at the two ends to linearly reciprocate along the width direction of the horizontal supporting frame and is used for supporting the insulating plate and driving the insulating plate to move; the insulating plate is laid on the surface of the insulating plate supporting base and used for preventing the battery from falling and short-circuiting;
the battery clamping unit is arranged between the bottom supporting frame assembly and the supporting base and comprises a clamping jaw adjusting mechanism and a clamping mechanism, the clamping jaw adjusting mechanism comprises a clamping jaw mounting part, a clamping jaw driving part and an interval adjusting part, the clamping jaw driving part is mounted on the clamping jaw mounting part, and the output end of the clamping jaw driving part is connected with the power input end of the interval adjusting part; the spacing adjusting part is provided with two clamping jaw connecting components which move oppositely or reversely; the clamping mechanisms are arranged at the bottom of the clamping jaw connecting piece, so that the clamping mechanisms move oppositely or reversely under the driving of the clamping jaw driving mechanism to adjust the distance between the two sets of clamping mechanisms; the clamping mechanism comprises a clamping jaw supporting device, a clamping jaw driving unit and a clamping device, wherein the clamping jaw supporting device comprises a supporting component for supporting and a guide rail for guiding, the supporting component is provided with two parallel installation end surfaces, the two parallel installation end surfaces are paved on the guide rail, and the guide rail is kept to be arranged along the axial direction of the supporting component; the clamping jaw driving unit is arranged on the supporting assembly and comprises two groups of air cylinder assemblies and limiting block assemblies, the power output ends of the two groups of air cylinder assemblies are respectively connected with the clamping unit, the movement direction of the power output ends is kept to be consistent with the axial direction of the supporting assembly, and the power output ends of the two groups of air cylinder assemblies move in opposite directions or opposite directions and are used for driving the clamping unit to move axially along the supporting assembly; the limiting block assembly is arranged on a motion track of a power output end of the air cylinder assembly and used for limiting the motion stroke of the air cylinder assembly; the clamping mechanism comprises a first clamping piece connecting assembly and a second clamping piece connecting assembly, the first clamping piece connecting assembly and the second clamping piece connecting assembly are respectively installed on two installation end surfaces of the supporting assembly in a sliding mode, first clamping pieces are axially arranged at intervals at the bottom of the first clamping piece connecting assembly, second clamping pieces are axially arranged at intervals at the bottom of the second clamping piece connecting assembly, the first clamping pieces and the second clamping pieces correspond to one another one by one and are arranged in a staggered mode in pairs, and a clamping portion capable of clamping a battery is formed; the first clamping piece connecting assembly and the second clamping piece connecting assembly are respectively connected with the power output ends of the corresponding air cylinder assemblies, so that the first clamping piece connecting assembly and the second clamping piece connecting assembly are driven by the corresponding air cylinder assemblies to move reversely or oppositely along the axial direction of the supporting assembly, and a clamping part formed by the first clamping piece and the second clamping piece is clamped or loosened;
the horizontal driving unit is arranged on the side support and comprises a horizontal driving mechanism and a horizontal power transmission mechanism, wherein the output end of the horizontal driving mechanism is connected with the input end of the power transmission mechanism through a belt and is used for transmitting the driving force of the horizontal driving mechanism to the power transmission mechanism; the power output end of the horizontal power transmission mechanism is meshed with a gear rack of external equipment, so that the whole battery clamping manipulator device is driven by the horizontal driving unit to axially slide along a guide rail of the external equipment;
the vertical driving unit is arranged between the bottom supporting frame assembly and the supporting base and comprises an installation frame, a vertical driving motor and a power transmission assembly, the top of the installation frame is fixedly connected with the bottom supporting frame assembly, and the bottom of the installation frame is fixedly connected with the horizontal supporting frame of the supporting base; the vertical driving motor and the horizontal driving unit are both arranged on the top of the mounting frame, and the output end of the vertical driving motor is connected with the power input end of the power transmission assembly; the power transmission assembly is arranged on the mounting frame and keeps a vertical screw rod of the power transmission assembly rotatably connected with the mounting frame; the screw rod penetrates through the clamping jaw mounting part of the clamping jaw adjusting mechanism, and the clamping jaw mounting part and the clamping jaw adjusting mechanism are in threaded connection to form a screw rod nut pair, so that the clamping jaw adjusting mechanism can vertically lift along the axial direction of the screw rod under the rotation of the screw rod.
The bottom support frame assembly comprises an aluminum profile support frame and a manipulator support connecting block, the aluminum profile support frame is a horizontally arranged rectangular frame, and a side support is respectively arranged on the short sides of the aluminum profile support frame; the manipulator supporting and connecting block is arranged at the joint of the aluminum profile supporting frame and the side support and used for realizing the connection and fixation of the aluminum profile supporting frame and the side support.
The horizontal supporting frame comprises two first aluminum profiles and two second aluminum profiles, wherein the first aluminum profiles are used as long sides of the horizontal supporting frame, the second aluminum profiles are used as short sides of the horizontal supporting frame, and the first aluminum profiles and the second aluminum profiles are connected end to form a rectangular frame; the vertical support comprises four third aluminum profiles, and the four third aluminum profiles are vertically arranged on the two first aluminum profiles at equal intervals;
the cylinder assembly comprises two anti-falling cylinder end fixing blocks, two cylinders and an anti-falling cylinder middle fixing block, one ends of the cylinders are respectively connected with the anti-falling cylinder end fixing block, the other ends of the cylinders are jointly connected to the anti-falling cylinder middle fixing block, the cylinders are kept to be axially arranged along a second aluminum profile, two mutually independent movable parts are formed, and the movable parts can linearly reciprocate along the axial direction of the second aluminum profile; the anti-falling cylinder end fixing block and the anti-falling cylinder middle fixing block are arranged on the surface of a second aluminum profile serving as a short edge and used for fixing two sets of cylinders;
the two movable parts of the cylinder component are respectively provided with a set of transmission component, the transmission component comprises an anti-falling sliding block mounting block, an anti-falling sliding plate in the cylinder and an anti-falling sliding block on the cylinder, and the anti-falling sliding block mounting block is a base and is fixedly connected with the end part of the insulating plate supporting base through screws; one end of a sliding plate in the anti-falling cylinder is connected with the anti-falling sliding block mounting block, and the other end of the sliding plate in the anti-falling cylinder is connected with the sliding block on the anti-falling cylinder; the sliding block on the anti-falling cylinder is fixedly arranged on the movable part of the cylinder, so that the transmission assembly is driven by the movable part to linearly reciprocate along the axial direction of the second aluminum profile, and the power of the cylinder assembly is transmitted to the insulating plate supporting base;
the short circuit prevention units are arranged in two sets and are respectively positioned below the two first aluminum profiles; the insulating plate supporting base of the short circuit prevention unit comprises at least one fourth aluminum profile and at least one fifth aluminum profile, wherein the fourth aluminum profile is fixedly connected with the fifth aluminum profile to form a frame body for supporting the insulating plate; the axis of the fourth aluminum profile is parallel to the long edge of the horizontal supporting frame.
The clamping jaw mounting part comprises a manipulator screw rod clamp fixing plate, a guide rail unit, a linear bearing and a nut, the clamping jaw driving part comprises clamping jaw driving units, clamping jaw transmission units, driving unit protective covers and clamping jaw transmission unit protective covers, the number of the distance adjusting parts is two, and each distance adjusting part comprises a pair of clamping jaw connecting units; the surface of the manipulator screw rod clamp fixing plate is paved with guide rail units along the movement direction of the clamp mechanism and is used for realizing the sliding connection between the spacing adjusting part and the manipulator screw rod clamp fixing plate; the linear bearing and the nut are embedded on the manipulator screw rod clamp fixing plate, the central shaft of the linear bearing and the central shaft of the nut are kept parallel to the vertical screw rod, the nut is sleeved outside the vertical screw rod, and the linear bearing and the nut form a screw rod and nut pair; the clamping jaw driving unit is arranged on the manipulator screw rod clamp fixing plate and is connected with the power input end of the clamping jaw transmission unit, the clamping jaw transmission unit is erected on the manipulator screw rod clamp fixing plate and keeps the clamping jaw transmission unit to be axially arranged along the guide rail unit, the clamping jaw transmission unit is provided with two clamping jaw adjusting blocks moving in opposite directions or reverse directions, and each clamping jaw adjusting block is provided with a clamping jaw connecting unit used for transmitting the driving force of the clamping jaw driving unit to the clamping jaw connecting unit so that the clamping jaw connecting units move in opposite directions or reverse directions under the driving of the corresponding clamping jaw adjusting blocks; the upper part of the clamping jaw connecting unit is connected with the guide rail unit in a sliding way, and the bottom of the clamping jaw connecting unit is provided with a clamping mechanism which is used for connecting the clamping jaw with the clamping jaw transmission unit and the guide rail unit; the clamping jaw transmission unit protection cover is connected with the manipulator screw rod clamp fixing plate and covers the surface of the clamping jaw transmission unit and is used for preventing the clamping jaw transmission unit from moving to hurt operators in the maintenance process of the manipulator device; the driving unit protection cover is connected with the mechanical arm screw rod clamp fixing plate and covers the surface of the mechanical arm screw rod clamp fixing plate, and the driving unit protection cover is used for preventing the clamping jaw driving unit from moving to hurt an operator in the maintenance process of the mechanical arm device.
The supporting assembly of the clamping mechanism comprises a slide rail mounting plate, a clamp assembly fixing plate and a clamp assembly connecting shaft, two mounting end faces of the slide rail mounting plate are paved with slide rails which are parallel to each other, the upper part of the slide rail mounting plate is suspended at the lower part of the clamp assembly fixing plate through the clamp assembly connecting shaft, and the slide rail mounting plate is kept perpendicular to the clamp assembly fixing plate;
the cylinder assemblies are used for power output of the whole manipulator clamping jaw and divided into two groups, and are respectively connected with the first clamping piece connecting assembly and the second clamping piece connecting assembly of the clamping unit, the telescopic ends of the cylinder assemblies in different groups are opposite or reverse, the telescopic ends of the cylinder assemblies in the same group are in the same direction, each cylinder assembly comprises a cylinder extension rod, a cylinder mounting plate and a cylinder, and the mounting end of the cylinder extension rod is connected with the telescopic end of the cylinder and is used for prolonging the movement stroke of the cylinder; the air cylinder mounting plate is arranged on the sliding rail mounting plate of the supporting assembly and used for mounting and fixing the air cylinder; the cylinder is arranged on the cylinder mounting plate, and the telescopic end of the cylinder is kept consistent along the laying direction of the slide rail;
the limiting block assembly comprises a nut, a limiting block and a screw, and the limiting block is arranged on the motion track of the telescopic end of the corresponding air cylinder assembly and used for limiting the motion stroke of the air cylinder; the limiting block is provided with a mounting hole for a screw to penetrate through; the screw penetrates through the mounting hole in the limiting block and then is provided with the nut, so that the nut of the screw is used as a blocking part to be aligned to the telescopic end of the air cylinder assembly and is used for limiting the movement of the telescopic end of the air cylinder;
the first clamping piece connecting assembly comprises a first clamping piece, a first sliding block, a first clamp connecting plate and a first cylinder connecting piece, wherein the first sliding block which is used for being in sliding fit with the sliding rail is fixedly installed on the installation surface of the first clamp connecting plate and is used for being matched with the sliding rail to enable the first clamping piece to move along the appointed direction; a row of first clamping pieces are axially arranged at intervals at the bottom of the first clamp connecting plate; the first cylinder connecting piece is arranged on the first clamp connecting plate and used for supporting the corresponding cylinder assembly;
the second clamping piece connecting assembly comprises a clamp transmission assembly and a clamp buffering assembly, the clamp transmission assembly is used for transmitting the output power of the air cylinder assembly to the clamp buffering assembly, the clamp buffering assembly is used for guiding the second clamping piece connecting assembly to move in the direction of the sliding rail, a set of clamp buffering assembly is correspondingly and fixedly arranged at the bottom of each clamp fixing piece, the clamp transmission assembly comprises a clamp fixing piece, a second clamp connecting plate, reinforcing ribs, a second air cylinder connecting piece and second sliding blocks, the clamp fixing piece, the second clamp connecting plate and the second air cylinder connecting piece play a supporting role, and the second sliding blocks which can be in sliding fit with the sliding rail are fixedly arranged on the mounting surface, facing the sliding rail, of the second clamp connecting plate and used for guiding the; a row of clamp fixing pieces which correspond to the first clamping pieces one by one are arranged at intervals along the axial direction at the lower part of the second clamp connecting plate and used for installing the clamp buffering assembly; the second cylinder connecting piece is arranged on the upper part of the second clamp connecting plate, and a reinforcing rib is additionally arranged at the joint of the second cylinder connecting piece and the second clamp connecting plate and used for enhancing the strength.
The clamp buffering assembly comprises a third sliding block for limiting, a spring for buffering and storing energy, a guide rod for guiding, a clamp mounting piece for supporting and a second clamp piece for clamping a battery, wherein the third sliding block which can be in sliding fit with the sliding rail is fixedly mounted at the upper part of the clamp mounting piece and is used for driving the clamp mounting piece to axially slide along the sliding rail; the clamp mounting pieces are mounted at the lower parts of the corresponding clamp fixing pieces through guide rods, springs are sleeved at the pressing end parts of the guide rods, and two ends of each spring are respectively connected with the end faces, opposite to the two adjacent clamp mounting pieces, of the springs; the second clamp pieces are arranged at the lower part of the clamp mounting piece, correspond to the first clamping pieces one by one and are arranged in a staggered manner in pairs to form a clamping part capable of clamping the battery; the axial direction of the guide rod is consistent with the moving direction of the clamp mounting piece.
The horizontal power transmission mechanism comprises a gear, a first manipulator horizontal shaft, a second manipulator horizontal shaft, a coupler, a diamond-shaped fixing seat, a hoop and a bearing supporting unit, wherein the first manipulator horizontal shaft and the second manipulator horizontal shaft are horizontally supported on the top of the mounting frame through the diamond-shaped fixing seat and the bearing supporting unit which are sleeved on the first manipulator horizontal shaft and the second manipulator horizontal shaft, and the first manipulator horizontal shaft and the second manipulator horizontal shaft can circumferentially rotate around a self central shaft; the first end of the first manipulator horizontal shaft is connected with the first end of the second manipulator horizontal shaft through a coupler, the first manipulator horizontal shaft is connected with an output shaft belt of the horizontal driving mechanism, and the first manipulator horizontal shaft and the second manipulator horizontal shaft are driven by the horizontal driving mechanism to rotate together to transmit torque; the second end part of the first manipulator horizontal shaft and the second end part of the second manipulator horizontal shaft are respectively erected on the side supports on the same side, a gear which can be meshed with a rack on external equipment is fixedly arranged at each of the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft, the rack is parallel to the guide rail, and power is transmitted through the meshing between the gear and the rack; the anchor ear sleeves the first manipulator horizontal shaft and the second manipulator horizontal shaft and is used for limiting the position of the horizontal driving mechanism.
The mounting frame of the vertical driving unit comprises an upper manipulator screw rod fixing plate, a lower manipulator screw rod fixing plate and a guide shaft, the upper manipulator screw rod fixing plate and the lower manipulator screw rod fixing plate are fixedly arranged on the bottom supporting frame assembly and the supporting base respectively, and the upper manipulator screw rod fixing plate and the lower manipulator screw rod fixing plate are parallel and are respectively arranged at the upper end and the lower end of the guide shaft; the power transmission assembly comprises a vertical screw rod and a belt pulley assembly, the vertical driving motor and the belt pulley assembly are installed on an upper fixing plate of the mechanical arm screw rod, the vertical screw rod penetrates through a nut of the clamping jaw installation part and forms a screw rod nut pair, two ends of the vertical screw rod are respectively supported on the upper fixing plate of the mechanical arm screw rod and a lower fixing plate of the mechanical arm screw rod through corresponding bearings, and the upper end of the vertical screw rod is connected with the vertical driving motor through the belt pulley assembly, so that the vertical screw rod can circumferentially rotate around a self central shaft under the driving of the vertical driving motor, and the nut is driven to axially lift along the vertical screw rod; the guide shaft is sleeved with a linear bearing, so that the clamping jaw adjusting assembly is lifted along the axial direction of the guide shaft.
The insulation board supports the base and includes two fourth aluminium alloy that are parallel to each other and three fifth aluminium alloy that are parallel to each other, and wherein three equidistant parallel arrangement of fifth aluminium alloy form the ladder form support body between two fourth aluminium alloy.
The invention has the beneficial effects that: firstly, the battery clamping manipulator device can move in the vertical direction, and the height of the manipulator device in the vertical direction is lower under the same movement stroke, so that the height of matched equipment can be reduced, the occupied space of the equipment is small, and the cost is greatly reduced; secondly, the battery clamping manipulator device can freely move in the vertical and horizontal directions, and the distance between clamping jaws of the manipulator can be automatically adjusted, so that the battery clamping manipulator device can adapt to batteries with different sizes; not only be applicable to laminate polymer battery's automatic test equipment, still be applicable to other energy storage battery's automatic test equipment, for example laminate polymer lithium ion capacitor, laminate polymer super capacitor's automatic test equipment etc..
Drawings
Fig. 1 is a structural view of a battery gripping robot apparatus;
fig. 2 is a front view of the battery gripping robot apparatus;
FIG. 3 is an elevational view of the battery clamping robot assembly;
fig. 4 is a left side view of the battery gripping robot apparatus;
FIG. 5 is a block diagram of a support assembly of the battery clamping robot apparatus;
FIG. 6a is a block diagram of a battery anti-drop device;
FIG. 6b is a block diagram of a cylinder assembly of the battery anti-drop device;
FIG. 6c is a block diagram of the transmission assembly of the battery anti-drop device;
FIG. 6d is a block diagram of the support base of the battery anti-drop device;
fig. 6e is a structural view of the insulating plate support base of the battery drop prevention device.
FIG. 7a is one of the block diagrams of the jaw assembly of the clamping mechanism;
FIG. 7b is a second block diagram of the jaw assembly of the clamping mechanism;
FIG. 7c is a block diagram of the support assembly;
FIG. 7d is a block diagram of a first clip tab connection assembly;
FIG. 7e is a block diagram of the stop block assembly;
FIG. 7f is a block diagram of a cylinder assembly;
FIG. 7g is a block diagram of the clip actuator assembly;
FIG. 7h is a block diagram of a clip cushioning assembly;
figure 7i is a second block diagram of the clip cushioning assembly.
FIG. 8 is a block diagram of a jaw adjustment assembly;
fig. 9 is a structural view of the horizontal driving unit;
fig. 10 is a structural view of the vertical driving unit.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
With reference to the accompanying drawings:
embodiment 1 a battery gripping manipulator apparatus according to the present invention includes:
the supporting unit 1 comprises a bottom supporting frame assembly and side supports 11 arranged at two end parts of the bottom supporting frame assembly, the side supports 11 are arranged on the bottom supporting frame assembly, and sliding bearings 5 are arranged outside the side supports and used for realizing the sliding fit of the supporting unit 1 and a guide rail of external equipment so that the manipulator device moves along the axial direction of the guide rail;
the anti-falling unit 2 is arranged below the bottom support frame component of the support unit 1 and comprises a support base 23, an anti-falling driving mechanism and an anti-short circuit mechanism, wherein the support base comprises a horizontal support frame and a vertical support, the horizontal support frame is a rectangular frame, and the vertical supports are symmetrically arranged on the long frame of the rectangular frame and are used for supporting and connecting the driving mechanism; the top of the vertical support is connected with the bottom support frame assembly; the anti-falling driving mechanism is arranged on a horizontal supporting frame of the supporting base and comprises an air cylinder assembly and a transmission assembly, two short sides of the horizontal supporting frame are respectively provided with a set of air cylinder assembly 21, each set of air cylinder assembly is provided with at least two mutually independent movable parts, and the movable parts linearly reciprocate along the width direction of the horizontal supporting frame and are used for providing linear driving force along the width direction of the horizontal supporting frame; the movable part of the cylinder component is provided with a transmission component used for transmitting the power of the cylinder component to the short circuit prevention unit; the short circuit prevention mechanism is arranged at the bottom of the transmission assembly and comprises an insulating plate 24 and an insulating plate supporting base 25, wherein the insulating plate supporting base is positioned below the horizontal supporting frame; the two end parts of the insulating plate supporting base are respectively connected with the corresponding transmission assemblies, so that the insulating plate supporting base is driven by the transmission assemblies at the two ends to linearly reciprocate along the width direction of the horizontal supporting frame and is used for supporting the insulating plate and driving the insulating plate to move; the insulating plate is laid on the surface of the insulating plate supporting base and used for preventing the battery from falling and short-circuiting;
the battery clamping unit is arranged between the bottom supporting frame assembly and the supporting base and comprises a clamping jaw adjusting mechanism 4 and a clamping mechanism 3, the clamping jaw adjusting mechanism 4 comprises a clamping jaw mounting part, a clamping jaw driving part and an interval adjusting part, the clamping jaw driving part is mounted on the clamping jaw mounting part, and the output end of the clamping jaw driving part is connected with the power input end of the interval adjusting part; the spacing adjusting part is provided with two clamping jaw connecting components which move oppositely or reversely; the clamping mechanism 5 is arranged at the bottom of the clamping jaw connecting piece, so that the clamping mechanisms move oppositely or reversely under the driving of the clamping jaw driving mechanism to adjust the distance between the two sets of clamping mechanisms; the clamping mechanism comprises a clamping jaw supporting device, a clamping jaw driving unit and a clamping device, wherein the clamping jaw supporting device comprises a supporting component for supporting and a guide rail for guiding, the supporting component is provided with two parallel installation end surfaces, the two parallel installation end surfaces are paved on the guide rail, and the guide rail is kept to be arranged along the axial direction of the supporting component; the clamping jaw driving unit is arranged on the supporting assembly and comprises two groups of air cylinder assemblies and limiting block assemblies, the power output ends of the two groups of air cylinder assemblies are respectively connected with the clamping unit, the movement direction of the power output ends is kept to be consistent with the axial direction of the supporting assembly, and the power output ends of the two groups of air cylinder assemblies move in opposite directions or opposite directions and are used for driving the clamping unit to move axially along the supporting assembly; the limiting block assembly is arranged on a motion track of a power output end of the air cylinder assembly and used for limiting the motion stroke of the air cylinder assembly; the clamping mechanism comprises a first clamping piece connecting assembly and a second clamping piece connecting assembly, the first clamping piece connecting assembly and the second clamping piece connecting assembly are respectively installed on two installation end surfaces of the supporting assembly in a sliding mode, first clamping pieces are axially arranged at intervals at the bottom of the first clamping piece connecting assembly, second clamping pieces are axially arranged at intervals at the bottom of the second clamping piece connecting assembly, the first clamping pieces and the second clamping pieces correspond to one another one by one and are arranged in a staggered mode in pairs, and a clamping portion capable of clamping a battery is formed; the first clamping piece connecting assembly and the second clamping piece connecting assembly are respectively connected with the power output ends of the corresponding air cylinder assemblies, so that the first clamping piece connecting assembly and the second clamping piece connecting assembly are driven by the corresponding air cylinder assemblies to move reversely or oppositely along the axial direction of the supporting assembly, and a clamping part formed by the first clamping piece and the second clamping piece is clamped or loosened;
the horizontal driving unit 6 is arranged on the side support and comprises a horizontal driving mechanism and a horizontal power transmission mechanism, wherein the output end of the horizontal driving mechanism is connected with the input end of the power transmission mechanism through a belt and is used for transmitting the driving force of the horizontal driving mechanism to the power transmission mechanism; the power output end of the horizontal power transmission mechanism is meshed with a gear rack of external equipment, so that the whole battery clamping manipulator device is driven by the horizontal driving unit to axially slide along a guide rail of the external equipment;
the vertical driving unit 7 is arranged between the bottom supporting frame component and the supporting base and comprises an installation frame, a vertical driving motor and a power transmission component, the top of the installation frame is fixedly connected with the bottom supporting frame component, and the bottom of the installation frame is fixedly connected with a horizontal supporting frame of the supporting base; the vertical driving motor and the horizontal driving unit are both arranged on the top of the mounting frame, and the output end of the vertical driving motor is connected with the power input end of the power transmission assembly; the power transmission assembly is arranged on the mounting frame and keeps a vertical screw rod of the power transmission assembly rotatably connected with the mounting frame; the screw rod penetrates through the clamping jaw mounting part of the clamping jaw adjusting mechanism, and the clamping jaw mounting part and the clamping jaw adjusting mechanism are in threaded connection to form a screw rod nut pair, so that the clamping jaw adjusting mechanism can vertically lift along the axial direction of the screw rod under the rotation of the screw rod.
The bottom support frame assembly comprises an aluminum section support frame 12 and a manipulator support connecting block 13, the aluminum section support frame 12 is a horizontally arranged rectangular frame, and a side support 11 is respectively arranged on the short side of the aluminum section support frame 12; the manipulator support connecting block 13 is arranged at the connecting position of the aluminum profile support frame 12 and the side support 13, and is used for realizing the connection and fixation of the aluminum profile support frame and the side support.
The horizontal supporting frame comprises two first aluminum profiles 231 and two second aluminum profiles 232, wherein the first aluminum profiles 231 are used as long sides of the horizontal supporting frame, the second aluminum profiles 232 are used as short sides of the horizontal supporting frame, and the first aluminum profiles 231 and the second aluminum profiles 232 are connected end to form a rectangular frame; the vertical support comprises four third aluminum profiles 233 which are vertically arranged on the two first aluminum profiles 231 at equal intervals;
the air cylinder assembly 21 comprises two anti-falling air cylinder end fixing blocks 211, two air cylinders 212 and an anti-falling air cylinder middle fixing block 213, one ends of the air cylinders are respectively connected with the anti-falling air cylinder end fixing blocks, the other ends of the air cylinders are jointly connected onto the anti-falling air cylinder middle fixing block, the air cylinders are all kept to be arranged along the axial direction of the second aluminum profile, two mutually independent movable parts are formed, and the movable parts can linearly reciprocate along the axial direction of the second aluminum profile; the anti-falling cylinder end fixing block and the anti-falling cylinder middle fixing block are arranged on the surface of a second aluminum profile serving as a short edge and used for fixing two sets of cylinders;
the two movable parts of the cylinder assembly 21 are respectively provided with a set of transmission assembly 22, the transmission assembly 22 comprises an anti-falling sliding block mounting block 221, an anti-falling sliding plate 222 in the cylinder and an anti-falling sliding block 223 on the cylinder, and the anti-falling sliding block mounting block is a base and is fixedly connected with the end part of the insulating plate supporting base through screws; one end of a sliding plate in the anti-falling cylinder is connected with the anti-falling sliding block mounting block, and the other end of the sliding plate in the anti-falling cylinder is connected with the sliding block on the anti-falling cylinder; the sliding block on the anti-falling cylinder is fixedly arranged on the movable part of the cylinder, so that the transmission assembly is driven by the movable part to linearly reciprocate along the axial direction of the second aluminum profile, and the power of the cylinder assembly is transmitted to the insulating plate supporting base;
the short circuit prevention units are two sets and are respectively positioned below the two first aluminum profiles 231; the insulating plate supporting base 25 of the short-circuit prevention unit comprises at least one fourth aluminum profile 251 and at least one fifth aluminum profile 252, wherein the fourth aluminum profile is fixedly connected with the fifth aluminum profile to form a frame body for supporting the insulating plate; the axis of the fourth aluminum profile is parallel to the long edge of the horizontal supporting frame.
The clamping jaw mounting part comprises a mechanical arm screw rod clamp fixing plate 49, a guide rail unit 43, a linear bearing 47 and a nut 48, the clamping jaw driving part comprises a clamping jaw driving unit 46, a clamping jaw transmission unit 42, a driving unit protection cover 45 and a clamping jaw transmission unit protection cover 44, the number of the distance adjusting parts is two, and each distance adjusting part comprises a pair of clamping jaw connecting units; the surface of the manipulator screw rod clamp fixing plate is paved with guide rail units along the movement direction of the clamp mechanism and is used for realizing the sliding connection between the spacing adjusting part and the manipulator screw rod clamp fixing plate; the linear bearing and the nut are embedded on the manipulator screw rod clamp fixing plate, the central shaft of the linear bearing and the central shaft of the nut are kept parallel to the vertical screw rod, the nut is sleeved outside the vertical screw rod, and the linear bearing and the nut form a screw rod and nut pair; the clamping jaw driving unit is arranged on the manipulator screw rod clamp fixing plate and is connected with the power input end of the clamping jaw transmission unit, the clamping jaw transmission unit is erected on the manipulator screw rod clamp fixing plate and keeps the clamping jaw transmission unit to be axially arranged along the guide rail unit, the clamping jaw transmission unit is provided with two clamping jaw adjusting blocks moving in opposite directions or reverse directions, and each clamping jaw adjusting block is provided with a clamping jaw connecting unit used for transmitting the driving force of the clamping jaw driving unit to the clamping jaw connecting unit so that the clamping jaw connecting units move in opposite directions or reverse directions under the driving of the corresponding clamping jaw adjusting blocks; the upper part of the clamping jaw connecting unit is connected with the guide rail unit in a sliding way, and the bottom of the clamping jaw connecting unit is provided with a clamping mechanism which is used for connecting the clamping jaw with the clamping jaw transmission unit and the guide rail unit; the clamping jaw transmission unit protection cover is connected with the manipulator screw rod clamp fixing plate and covers the surface of the clamping jaw transmission unit and is used for preventing the clamping jaw transmission unit from moving to hurt operators in the maintenance process of the manipulator device; the driving unit protection cover is connected with the mechanical arm screw rod clamp fixing plate and covers the surface of the mechanical arm screw rod clamp fixing plate, and the driving unit protection cover is used for preventing the clamping jaw driving unit from moving to hurt an operator in the maintenance process of the mechanical arm device.
The supporting component 32 of the clamping mechanism 3 comprises a slide rail mounting plate 321, a clamp component fixing plate 322 and a clamp group connecting shaft 323, two mounting end surfaces of the slide rail mounting plate are respectively paved with slide rails which are parallel to each other, the upper part of the slide rail mounting plate is suspended at the lower part of the clamp component fixing plate through the clamp group connecting shaft, and the slide rail mounting plate is kept perpendicular to the clamp component fixing plate;
the cylinder assemblies 35 are power output of the whole manipulator clamping jaw, are divided into two groups and are respectively connected with a first clamping piece connecting assembly and a second clamping piece connecting assembly of the clamping unit, the telescopic ends of the cylinder assemblies in different groups are opposite or reverse, the telescopic ends of the cylinder assemblies in the same group are in the same direction, each cylinder assembly 35 comprises a cylinder extension bar 351, a cylinder mounting plate 352 and a cylinder 353, wherein the mounting end of the cylinder extension bar is connected with the telescopic end of the cylinder and is used for extending the movement stroke of the cylinder; the air cylinder mounting plate is arranged on the sliding rail mounting plate of the supporting assembly and used for mounting and fixing the air cylinder; the cylinder is arranged on the cylinder mounting plate, and the telescopic end of the cylinder is kept consistent along the laying direction of the slide rail;
the limiting block assembly 34 comprises a second nut 341, a limiting block 342 and a screw 343, and the limiting block is mounted on the motion trail of the telescopic end of the corresponding cylinder assembly and used for limiting the motion stroke of the cylinder; the limiting block is provided with a mounting hole for a screw to penetrate through; the screw penetrates through the mounting hole in the limiting block and then is provided with a second nut, so that the nut of the screw is used as a blocking part to be aligned to the telescopic end of the air cylinder assembly and is used for limiting the movement of the telescopic end of the air cylinder;
the first clamping piece connecting assembly 33 comprises a first clamping piece 331, a first sliding block 332, a first clamp connecting plate 333 and a first cylinder connecting piece 334, wherein the mounting surface of the first clamp connecting plate is fixedly provided with the first sliding block which is in sliding fit with the sliding rail and is used for matching with the sliding rail to enable the first clamping piece to move along the designated direction; a row of first clamping pieces are axially arranged at intervals at the bottom of the first clamp connecting plate; the first cylinder connecting piece is arranged on the first clamp connecting plate and used for supporting the corresponding cylinder assembly;
the second clip connecting assembly comprises a clip transmission assembly 36 for transmitting the output power of the air cylinder assembly to the clip buffering assembly and a clip buffering assembly 37 for guiding the second clip connecting assembly to move along the direction of the sliding rail, the bottom of each clip fixing piece is correspondingly and fixedly provided with a set of clip buffering assembly, the clip transmission assembly 36 comprises a clip fixing piece 361, a second clip connecting plate 362, a reinforcing rib 363, a second air cylinder connecting piece 364 and a second sliding block 365, the clip fixing piece, the second clip connecting plate and the second air cylinder connecting piece play a supporting role, and a second sliding block which can be in sliding fit with the sliding rail is fixedly arranged on the mounting surface, facing the sliding rail, of the second clip connecting plate and is used for guiding the second clip connecting plate to slide along the axial direction of; a row of clamp fixing pieces which correspond to the first clamping pieces one by one are arranged at intervals along the axial direction at the lower part of the second clamp connecting plate and used for installing the clamp buffering assembly; the second cylinder connecting piece is arranged on the upper part of the second clamp connecting plate, and a reinforcing rib is additionally arranged at the joint of the second cylinder connecting piece and the second clamp connecting plate and used for enhancing the strength.
The clamp buffering assembly 37 comprises a third sliding block 371 for limiting, a spring 372 for buffering and storing energy, a guide rod 373 for guiding, a clamp mounting piece 374 for supporting and a second clamp piece 375 for clamping a battery, wherein the third sliding block which can be in sliding fit with the sliding rail is fixedly mounted at the upper part of the clamp mounting piece and is used for driving the clamp mounting piece to axially slide along the sliding rail; the clamp mounting pieces are mounted at the lower parts of the corresponding clamp fixing pieces through guide rods, springs are sleeved at the pressing end parts of the guide rods, and two ends of each spring are respectively connected with the end faces, opposite to the two adjacent clamp mounting pieces, of the springs; the second clamp pieces are arranged at the lower part of the clamp mounting piece, correspond to the first clamping pieces one by one and are arranged in a staggered manner in pairs to form a clamping part capable of clamping the battery; the axial direction of the guide rod is consistent with the moving direction of the clamp mounting piece.
The horizontal power transmission mechanism comprises a gear 61, a first manipulator horizontal shaft 63, a second manipulator horizontal shaft 67, a coupler 66, a rhombic fixing seat 62, a hoop 64 and a bearing supporting unit 65, the first manipulator horizontal shaft and the second manipulator horizontal shaft are horizontally supported on the top of the mounting frame through the rhombic fixing seat and the bearing supporting unit which are sleeved on the first manipulator horizontal shaft and the second manipulator horizontal shaft, and the first manipulator horizontal shaft and the second manipulator horizontal shaft can circumferentially rotate around a self central shaft; the first end of the first manipulator horizontal shaft is connected with the first end of the second manipulator horizontal shaft through a coupler, the first manipulator horizontal shaft is connected with an output shaft belt of the horizontal driving mechanism, and the first manipulator horizontal shaft and the second manipulator horizontal shaft are driven by the horizontal driving mechanism to rotate together to transmit torque; the second end part of the first manipulator horizontal shaft and the second end part of the second manipulator horizontal shaft are respectively erected on the side supports on the same side, a gear which can be meshed with a rack on external equipment is fixedly arranged at each of the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft, the rack is parallel to the guide rail, and power is transmitted through the meshing between the gear and the rack; the anchor ear sleeves the first manipulator horizontal shaft and the second manipulator horizontal shaft and is used for limiting the position of the horizontal driving mechanism.
The mounting frame of the vertical driving unit 7 comprises an upper manipulator screw rod fixing plate 75, a lower manipulator screw rod fixing plate 71 and a guide shaft 73, the upper manipulator screw rod fixing plate and the lower manipulator screw rod fixing plate are respectively and fixedly arranged on the bottom support frame assembly and the support base, and the upper manipulator screw rod fixing plate and the lower manipulator screw rod fixing plate are parallel and are respectively arranged at the upper end and the lower end of the guide shaft; the power transmission assembly comprises a vertical screw 72 and a belt pulley assembly, the vertical driving motor 74 and the belt pulley assembly are installed on an upper fixing plate of the mechanical arm screw, the vertical screw penetrates through a nut of the clamping jaw installation part and forms a screw nut pair, two ends of the vertical screw are supported on the upper fixing plate of the mechanical arm screw and a lower fixing plate of the mechanical arm screw through corresponding bearings respectively, and the upper end of the vertical screw is connected with the vertical driving motor through a belt pulley assembly, so that the vertical screw can circumferentially rotate around a self central shaft under the driving of the vertical driving motor, and the nut is driven to axially lift along the vertical screw; the guide shaft is sleeved with a linear bearing, so that the clamping jaw adjusting assembly is lifted along the axial direction of the guide shaft.
The insulation board supports the base and includes two fourth aluminium alloy that are parallel to each other and three fifth aluminium alloy that are parallel to each other, and wherein three equidistant parallel arrangement of fifth aluminium alloy form the ladder form support body between two fourth aluminium alloy.
Embodiment 2 the present invention provides a battery clamping manipulator device, which comprises a support unit 1, an anti-dropping unit 2, a battery clamping unit horizontal driving unit 6, and a vertical driving unit 7, wherein the battery clamping unit includes a clamping jaw assembly 3 and a clamping jaw adjusting assembly 4, a sliding bearing 5 capable of slidably fitting with a guide rail of an external device is disposed on an outer side of the support unit 1, the horizontal driving unit 6 and the vertical driving unit 7 are mounted on an upper portion of the support unit 1, and an end portion of the horizontal driving unit 6 fits with the external device, so as to drive the battery vacation manipulator device to horizontally move; the clamping jaw adjusting assembly 4 is arranged on the vertical driving unit 7 and is connected with the vertical driving unit in a sliding way; the jaw assembly 3 is mounted on the jaw adjustment assembly 4.
The supporting unit 1 is used for bearing and fixing other components of the manipulator device, and is mainly used for supporting and connecting the anti-falling unit 2, the horizontal driving unit 6 and the vertical driving unit 7. The device consists of three parts, namely a side support 11, an aluminum profile support frame 12, a manipulator support connecting block 13 and the like.
The side support 11 of the support unit 1 is respectively connected with the sliding bearing 5, the aluminum profile support frame 12 and the manipulator support connecting block 13 through screws, and is used for bearing the weight of the whole manipulator device and connecting other components; the aluminum profile supporting frame 12 plays a role in supporting and connecting and is respectively connected with the side support 11, the manipulator supporting connecting block 13, the anti-falling unit 6, the horizontal driving unit, the vertical driving unit 7 and other components; the manipulator supports the connecting block and plays a connecting role.
The anti-falling unit 2 is connected with the aluminum profile supporting frame, and is used for catching a falling battery clamped by the mechanical arm device and preventing the battery from falling to cause short circuit and further cause fire. The drop prevention unit 2 includes:
the supporting base 23 comprises a horizontal supporting frame and vertical supports, the horizontal supporting frame is a rectangular frame, and the vertical supports are symmetrically arranged on the long frame of the rectangular frame and are used for supporting and connecting the driving mechanism;
the driving mechanism is arranged on a horizontal supporting frame of the supporting base and comprises an air cylinder assembly 21 and a transmission assembly 22, two short sides of the horizontal supporting frame are respectively provided with one set of air cylinder assembly 21, each set of air cylinder assembly 21 is provided with at least two mutually independent movable parts, and the movable parts linearly reciprocate along the width direction of the horizontal supporting frame and are used for providing linear driving force along the width direction of the horizontal supporting frame; the movable part of the cylinder assembly 21 is provided with a transmission assembly for transmitting the power of the cylinder assembly to the short circuit prevention unit;
the short circuit prevention unit is arranged at the bottom of the transmission assembly and comprises an insulating plate 24 and an insulating plate supporting base 25, wherein the insulating plate supporting base 25 is positioned below the horizontal supporting frame; the two end parts of the insulating plate supporting base 25 are respectively connected with the corresponding transmission assemblies 22, so that the insulating plate supporting base 25 is driven by the transmission assemblies at the two end parts to linearly reciprocate along the width direction of the horizontal supporting frame and is used for supporting the insulating plate and driving the insulating plate to move; the insulating plate is laid on the surface of the insulating plate supporting base and used for preventing the battery from falling and short-circuiting.
The horizontal supporting frame comprises two first aluminum profiles 231 and two second aluminum profiles 232, wherein the first aluminum profiles 231 are used as long sides of the horizontal supporting frame, the second aluminum profiles 232 are used as short sides of the horizontal supporting frame, and the first aluminum profiles 231 and the second aluminum profiles 232 are connected end to form a rectangular frame; the vertical support comprises four third aluminum profiles 233, and the four third aluminum profiles 233 are vertically installed on the two first aluminum profiles 231 at equal intervals.
The air cylinder assembly 21 comprises two anti-falling air cylinder end fixing blocks 211, two air cylinders 212 and an anti-falling air cylinder middle fixing block 213, one ends of the air cylinders 212 are respectively connected with the anti-falling air cylinder end fixing blocks 211, the other ends of the air cylinders 212 are jointly connected to the anti-falling air cylinder middle fixing block 213, the air cylinders 212 are kept to be axially arranged along a second aluminum profile, two mutually independent movable parts are formed, and the movable parts can linearly reciprocate along the axial direction of the second aluminum profile; the anti-falling cylinder end fixing block and the anti-falling cylinder middle fixing block are arranged on the surface of the second aluminum profile serving as the short edge and used for fixing the two sets of cylinders.
The two movable parts of the cylinder assembly 21 are respectively provided with a set of transmission assembly 22, the transmission assembly 22 comprises an anti-falling sliding block mounting block 221, an anti-falling sliding plate 222 in the cylinder and an anti-falling sliding block 223 on the cylinder, the anti-falling sliding block mounting block 221 is a base and is fixedly connected with the end part of the insulating plate supporting base 25 through screws; one end of the sliding plate 222 in the anti-dropping cylinder is connected with the anti-dropping slider mounting block 221, and the other end is connected with the sliding block 223 on the anti-dropping cylinder; the installation of sliding block 223 is fixed at the top of the movable part of cylinder on the anti-falling cylinder, and anti-falling sliding block installation piece 221 falls in second aluminium alloy below for drive assembly is along second aluminium alloy axial straight reciprocating motion under the drive of movable part, thereby supports the base with the power transmission of cylinder subassembly to the insulation board.
The short circuit prevention units are two sets and are respectively positioned below the two first aluminum profiles 231; the insulating plate supporting base 25 of the short-circuit prevention unit comprises at least one fourth aluminum profile 251 and at least one fifth aluminum profile 252, wherein the fourth aluminum profile 251 is fixedly connected with the fifth aluminum profile 252 to form a frame body for supporting the insulating plate.
The axis of the fourth aluminum profile 251 is parallel to the long side of the horizontal support frame.
The insulating plate supporting base 25 comprises two parallel fourth aluminum profiles 251 and three parallel fifth aluminum profiles 252, wherein the three fifth aluminum profiles 252 are arranged in parallel at equal intervals between the two fourth aluminum profiles 251 to form a ladder-shaped frame body.
The clamping mechanism 3 is connected with the clamping jaw connecting unit 41 through screws, and the opening and closing of the clamping jaws of the clamping mechanism are controlled by controlling the stretching of the clamping jaw driving unit, so that the battery is grabbed and put in. The clamping mechanism includes:
the clamping jaw supporting device comprises a supporting component 32 for supporting and a sliding rail 31 for guiding, wherein the supporting component 32 is provided with two parallel installation end surfaces, the two parallel installation end surfaces are paved on the sliding rail 31, and the sliding rail 31 is kept to be arranged along the axial direction of the supporting component 32;
the driving unit is arranged on the supporting component 32 and comprises two groups of air cylinder components 35 and limiting block components 34, the power output ends of the two groups of air cylinder components 35 are respectively connected with the clamping device, the movement direction of the power output ends is kept to be consistent with the axial direction of the supporting component, and the power output ends of the two groups of air cylinder components 35 move in opposite directions or in opposite directions and are used for driving the clamping device to move axially along the supporting component; the limiting block assembly 34 is arranged on a motion trail of a power output end of the air cylinder assembly 35 and is used for limiting the motion stroke of the air cylinder assembly 35;
the clamping device comprises a first clamping piece connecting assembly 33 and a second clamping piece connecting assembly, the first clamping piece connecting assembly 33 and the second clamping piece connecting assembly are respectively installed on two installation end surfaces of the supporting assembly 32 in a sliding mode, first clamping pieces are axially arranged at intervals at the bottom of the first clamping piece connecting assembly 33, second clamping pieces are axially arranged at intervals at the bottom of the second clamping piece connecting assembly, the first clamping pieces and the second clamping pieces are in one-to-one correspondence and are arranged in a staggered mode in pairs, and a clamping portion capable of clamping a battery is formed; the first clamping piece connecting assembly and the second clamping piece connecting assembly are respectively connected with the power output ends of the corresponding air cylinder assemblies, so that the first clamping piece connecting assembly and the second clamping piece connecting assembly are driven by the corresponding air cylinder assemblies to move along the axial direction of the supporting assembly in a reverse direction or in opposite directions, and a clamping part formed by the first clamping piece and the second clamping piece is clamped or loosened.
The supporting component 32 comprises a sliding rail mounting plate 321, a clamp component fixing plate 322 and a clamp group connecting shaft 323, two mounting end faces of the sliding rail mounting plate 321 are paved with the sliding rails 31 which are parallel to each other, the upper portion of the sliding rail mounting plate 321 is suspended at the lower portion of the clamp component fixing plate 322 through the clamp group connecting shaft 323, and the sliding rail mounting plate 321 is kept perpendicular to the clamp component fixing plate 323.
The cylinder assemblies 35 are power output of the whole manipulator clamping jaw, are divided into two groups and are respectively connected with a first clamping piece connecting assembly and a second clamping piece connecting assembly of the clamping unit, the telescopic ends of the cylinder assemblies in different groups are opposite or reverse, the telescopic ends of the cylinder assemblies in the same group are in the same direction, each cylinder assembly 35 comprises a cylinder extension bar 351, a cylinder mounting plate 352 and a cylinder 353, wherein the mounting end of the cylinder extension bar 351 is connected with the telescopic end of the cylinder 353 and is used for prolonging the movement stroke of the cylinder; the cylinder mounting plate 352 is mounted on the slide rail mounting plate 321 of the support assembly 32 and is used for mounting and fixing the cylinder 353; the air cylinder 353 is installed on the air cylinder installation plate 352, and the telescopic end of the air cylinder is kept consistent along the laying direction of the slide rail.
The limiting block assembly 34 comprises a second nut 341, a limiting block 342 and a screw 343, and the limiting block 341 is mounted on the motion track of the telescopic end of the corresponding cylinder assembly 35 for limiting the motion stroke of the cylinder; the limiting block 342 is provided with a mounting hole for the screw 343 to pass through; the screw 343 is arranged in the mounting hole of the limiting block in a penetrating manner and then the second nut 341 is mounted, so that the nut of the screw 343 is used as a blocking part to be aligned with the telescopic end of the air cylinder assembly 35 and used for limiting the movement of the telescopic end of the air cylinder.
The first clip connecting assembly 33 comprises a first clip 331, a first slide block 332, a first clip connecting plate 333 and a first cylinder connecting piece 334, wherein the first slide block 332 which is used for being in sliding fit with the slide rail 31 is fixedly mounted on the mounting surface of the first clip connecting plate 333 and is used for being matched with the slide rail to enable the first clip to move along the appointed direction; a row of first clamping pieces are axially arranged at intervals at the bottom of the first clamp connecting plate; the first cylinder connecting piece is arranged on
The first clip attachment plate is adapted to support a corresponding cylinder assembly.
The second clip connecting assembly comprises a clip transmission assembly 36 for transmitting the output power of the air cylinder assembly to the clip buffering assembly and a clip buffering assembly 37 for guiding the second clip connecting assembly to move along the direction of the sliding rail, the bottom of each clip fixing piece is correspondingly and fixedly provided with a set of clip buffering assembly, the clip transmission assembly 36 comprises a clip fixing piece 361, a second clip connecting plate 362, a reinforcing rib 363, a second air cylinder connecting piece 364 and a second sliding block 365, the clip fixing piece, the second clip connecting plate and the second air cylinder connecting piece play a supporting role, and a second sliding block which can be in sliding fit with the sliding rail is fixedly arranged on the mounting surface, facing the sliding rail, of the second clip connecting plate and is used for guiding the second clip connecting plate to slide along the axial direction of; a row of clamp fixing pieces which correspond to the first clamping pieces one by one are arranged at intervals along the axial direction at the lower part of the second clamp connecting plate and used for installing the clamp buffering assembly; the second cylinder connecting piece is arranged at the upper part of the second clamp connecting plate, and a reinforcing rib is additionally arranged at the joint of the second cylinder connecting piece and the second clamp connecting plate and used for enhancing the strength;
the clamp buffering assembly 37 comprises a third sliding block 371 for limiting, a spring 372 for buffering and storing energy, a guide rod 373 for guiding, a clamp mounting piece 374 for supporting and a second clamp piece 375 for clamping a battery, wherein the third sliding block which can be in sliding fit with the sliding rail is fixedly mounted at the upper part of the clamp mounting piece and is used for driving the clamp mounting piece to axially slide along the sliding rail; the clamp mounting pieces are mounted at the lower parts of the corresponding clamp fixing pieces through guide rods, springs are sleeved at the pressing end parts of the guide rods, and two ends of each spring are respectively connected with the end faces, opposite to the two adjacent clamp mounting pieces, of the springs; the second clamp pieces are arranged on the lower portion of the clamp mounting piece, correspond to the first clamping pieces one to one, and are arranged in a staggered mode in pairs to form a clamping portion capable of clamping the battery.
The axial direction of the guide rod is consistent with the moving direction of the clamp mounting piece.
The clamping jaw adjusting assembly 4 is connected with the rhombic fixed seat in a matching way through a nut and is connected with the clamping jaw connecting unit and the clamping mechanism; the clamping jaw adjusting mechanism has the effects that the distance between the two clamping mechanisms 3 is controlled and adjusted, and the clamping jaw adjusting assembly and the clamping mechanisms are controlled to move in the vertical direction through the matching of the nuts and the rhombic fixing seats. Specifically, the clamping jaw adjusting assembly 4 is composed of nine major parts, namely a clamping jaw connecting unit 41, a clamping jaw transmission unit 42, a guide rail unit 43, a clamping jaw transmission unit protective cover 44, a driving unit protective cover 45, a clamping jaw driving unit 46, a linear bearing 47, a nut 48, a manipulator screw rod clamp fixing plate 49 and the like.
The clamping jaw connecting unit is connected with the clamping jaw transmission unit and the guide rail unit and is used for connecting the clamping jaw with the clamping jaw transmission unit and the guide rail unit; the clamping jaw transmission unit is connected with the clamping jaw connecting unit and the clamping jaw driving unit and is used for transmitting the driving force of the clamping jaw driving unit to the clamping jaw connecting unit; the guide rail unit is connected with the clamping jaw connecting unit and the manipulator screw rod clamp fixing plate and is used for guiding; the protective cover of the clamping jaw transmission unit is connected with the clamp fixing plate of the screw rod of the manipulator and is used for preventing the clamping jaw transmission unit from moving to hurt operators in the maintenance process of the manipulator device; the driving unit protective cover is connected with the mechanical arm screw rod clamp fixing plate and used for preventing the clamping jaw driving unit from moving to hurt operators in the maintenance process of the mechanical arm device; the clamping jaw driving unit is connected with the clamping jaw transmission unit and the manipulator screw rod clamp fixing plate and is used for providing driving force for the manipulator device; the linear bearing is connected with the manipulator screw rod clamp fixing plate to play a role in guiding so that the clamping jaw adjusting assembly moves along an appointed direction; the nut is connected with the manipulator screw rod clamp fixing plate, plays a role in transmission, and is matched with the rhombic fixing seat to control the vertical movement of the clamping mechanism and the clamping jaw adjusting assembly; the manipulator screw rod clamp fixing plate plays a role in supporting and connecting and is used for fixing each part of the clamping jaw adjusting assembly and bearing the weight of each part.
The sliding bearing 5 is connected with the side support through a screw and is connected with the outside through the matching of the guide rail and the sliding block; mainly plays a role in guiding and limiting, and the mechanical hand device moves along the designated direction by matching with an external guide rail.
The horizontal driving unit 6 is connected with the side support and the manipulator screw rod upper fixing plate, starts the power transmission function, and is used for controlling the horizontal movement of the manipulator device. Specifically, the horizontal driving unit is composed of eight parts, namely a gear 61, a diamond-shaped fixed seat 62, a first manipulator horizontal shaft 63, an anchor ear 64, a bearing supporting unit 65, a coupler 66, a second manipulator horizontal shaft 67, a horizontal driving mechanism 68 and the like.
The gear is connected with the first manipulator horizontal shaft and the second manipulator horizontal shaft through the matching of the shaft holes, plays a transmission role, and transmits power through the meshing of the gear and an external rack; the rhombic fixing seats play a supporting role, are connected with a first manipulator horizontal shaft and a second manipulator horizontal shaft through shaft holes in a matched mode, and are connected with side supports through screws; the horizontal shaft of the first manipulator is connected with the gear, the rhombic fixed seat and the bearing supporting unit in a matching way through the shaft hole, plays a transmission role and transmits power output by the horizontal driving mechanism to the gear; the hoop is connected with the first manipulator horizontal shaft and the second manipulator horizontal shaft in a matched mode through the shaft holes, plays a limiting role and is used for limiting the position of the horizontal driving mechanism; the bearing supporting unit is connected with the horizontal shaft of the first manipulator in a matched mode through the shaft hole to play a supporting and connecting role; the shaft coupling is connected with the first manipulator horizontal shaft and the second manipulator horizontal shaft in a matched mode through the shaft holes, so that the first manipulator horizontal shaft and the second manipulator horizontal shaft rotate together to transmit torque; the horizontal shaft of the second manipulator is connected with the gear, the diamond-shaped fixed seat and the bearing supporting unit through shaft hole matching, so that the transmission function is realized, and the power output by the horizontal driving mechanism is transmitted to the gear; the horizontal driving mechanism is used as power output, is connected with the bearing supporting unit through a screw, and is connected with the horizontal shaft of the first manipulator through shaft hole matching.
The vertical driving motor 7 is connected with the aluminum profile supporting frame 12, the anti-falling unit 2 and the bearing supporting unit 65 through screws, and is engaged with nuts through a vertical lead screw, and starts power transmission action to control the vertical movement of the clamping mechanism and the clamping jaw adjusting assembly. Specifically, the vertical driving motor is composed of five parts, namely a lower manipulator screw rod fixing plate 71, a vertical screw rod 72, a guide shaft 73, a vertical driving motor 74, an upper manipulator screw rod fixing plate 75 and the like.
The lower fixing plate of the screw rod of the manipulator plays a role in connection and is connected with the anti-falling unit, the vertical screw rod and the guide shaft; the screw rod is meshed with the nut to play a role in transmission, and the output power of the vertical driving motor is transmitted to the clamping jaw adjusting assembly; the guide shaft plays a role in guiding, so that the clamping jaw adjusting assembly moves along an appointed direction, is connected with a lower fixing plate and an upper fixing plate of a mechanical arm screw rod through screws, and is connected with a vertical driving motor through nuts; the vertical driving motor is used as a power output part, is connected with an upper fixing plate of a screw rod of the manipulator through a screw and is connected with the screw rod through a nut; the manipulator lead screw upper fixed plate plays a role in supporting and connecting and is connected with the aluminum profile supporting frame and the bearing supporting unit through screws.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but includes equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.

Claims (9)

1. A battery clamping manipulator device is characterized by comprising:
the supporting unit comprises a bottom supporting frame assembly and side supports arranged at two end parts of the bottom supporting frame assembly, the side supports are arranged on the bottom supporting frame assembly, and sliding bearings are arranged outside the side supports and used for realizing sliding fit of the supporting unit and a guide rail of external equipment so that the manipulator device moves along the axial direction of the guide rail;
the anti-falling unit is arranged below the bottom support frame component of the support unit and comprises a support base, an anti-falling driving mechanism and an anti-short circuit mechanism, wherein the support base comprises a horizontal support frame and a vertical support, the horizontal support frame is a rectangular frame, and the vertical supports are symmetrically arranged on the long frame of the rectangular frame and are used for supporting and connecting the driving mechanism; the top of the vertical support is connected with the bottom support frame assembly; the anti-falling driving mechanism is arranged on a horizontal supporting frame of the supporting base and comprises an air cylinder assembly and a transmission assembly, two short sides of the horizontal supporting frame are respectively provided with one set of air cylinder assembly, each set of air cylinder assembly is provided with at least two mutually independent movable parts, and the movable parts linearly reciprocate along the width direction of the horizontal supporting frame and are used for providing linear driving force along the width direction of the horizontal supporting frame; the movable part of the cylinder component is provided with a transmission component used for transmitting the power of the cylinder component to the short circuit prevention unit; the short circuit prevention mechanism is arranged at the bottom of the transmission assembly and comprises an insulating plate and an insulating plate supporting base, wherein the insulating plate supporting base is positioned below the horizontal supporting frame; the two end parts of the insulating plate supporting base are respectively connected with the corresponding transmission assemblies, so that the insulating plate supporting base is driven by the transmission assemblies at the two ends to linearly reciprocate along the width direction of the horizontal supporting frame and is used for supporting the insulating plate and driving the insulating plate to move; the insulating plate is laid on the surface of the insulating plate supporting base and used for preventing the battery from falling and short-circuiting;
the battery clamping unit is arranged between the bottom supporting frame assembly and the supporting base and comprises a clamping jaw adjusting mechanism and a clamping mechanism, the clamping jaw adjusting mechanism comprises a clamping jaw mounting part, a clamping jaw driving part and an interval adjusting part, the clamping jaw driving part is mounted on the clamping jaw mounting part, and the output end of the clamping jaw driving part is connected with the power input end of the interval adjusting part; the spacing adjusting part is provided with two clamping jaw connecting components which move oppositely or reversely; the clamping mechanisms are arranged at the bottom of the clamping jaw connecting piece, so that the clamping mechanisms move oppositely or reversely under the driving of the clamping jaw driving mechanism to adjust the distance between the two sets of clamping mechanisms; the clamping mechanism comprises a clamping jaw supporting device, a clamping jaw driving unit and a clamping device, wherein the clamping jaw supporting device comprises a supporting component for supporting and a guide rail for guiding, the supporting component is provided with two parallel installation end surfaces, the two parallel installation end surfaces are paved on the guide rail, and the guide rail is kept to be arranged along the axial direction of the supporting component; the clamping jaw driving unit is arranged on the supporting assembly and comprises two groups of air cylinder assemblies and limiting block assemblies, the power output ends of the two groups of air cylinder assemblies are respectively connected with the clamping unit, the movement direction of the power output ends is kept to be consistent with the axial direction of the supporting assembly, and the power output ends of the two groups of air cylinder assemblies move in opposite directions or opposite directions and are used for driving the clamping unit to move axially along the supporting assembly; the limiting block assembly is arranged on a motion track of a power output end of the air cylinder assembly and used for limiting the motion stroke of the air cylinder assembly; the clamping mechanism comprises a first clamping piece connecting assembly and a second clamping piece connecting assembly, the first clamping piece connecting assembly and the second clamping piece connecting assembly are respectively installed on two installation end surfaces of the supporting assembly in a sliding mode, first clamping pieces are axially arranged at intervals at the bottom of the first clamping piece connecting assembly, second clamping pieces are axially arranged at intervals at the bottom of the second clamping piece connecting assembly, the first clamping pieces and the second clamping pieces correspond to one another one by one and are arranged in a staggered mode in pairs, and a clamping portion capable of clamping a battery is formed; the first clamping piece connecting assembly and the second clamping piece connecting assembly are respectively connected with the power output ends of the corresponding air cylinder assemblies, so that the first clamping piece connecting assembly and the second clamping piece connecting assembly are driven by the corresponding air cylinder assemblies to move reversely or oppositely along the axial direction of the supporting assembly, and a clamping part formed by the first clamping piece and the second clamping piece is clamped or loosened;
the horizontal driving unit is arranged on the side support and comprises a horizontal driving mechanism and a horizontal power transmission mechanism, wherein the output end of the horizontal driving mechanism is connected with the input end of the power transmission mechanism through a belt and is used for transmitting the driving force of the horizontal driving mechanism to the power transmission mechanism; the power output end of the horizontal power transmission mechanism is meshed with a gear rack of external equipment, so that the whole battery clamping manipulator device is driven by the horizontal driving unit to axially slide along a guide rail of the external equipment;
the vertical driving unit is arranged between the bottom supporting frame assembly and the supporting base and comprises an installation frame, a vertical driving motor and a power transmission assembly, the top of the installation frame is fixedly connected with the bottom supporting frame assembly, and the bottom of the installation frame is fixedly connected with the horizontal supporting frame of the supporting base; the vertical driving motor and the horizontal driving unit are both arranged on the top of the mounting frame, and the output end of the vertical driving motor is connected with the power input end of the power transmission assembly; the power transmission assembly is arranged on the mounting frame and keeps a vertical screw rod of the power transmission assembly rotatably connected with the mounting frame; the screw rod penetrates through the clamping jaw mounting part of the clamping jaw adjusting mechanism, and the clamping jaw mounting part and the clamping jaw adjusting mechanism are in threaded connection to form a screw rod nut pair, so that the clamping jaw adjusting mechanism can vertically lift along the axial direction of the screw rod under the rotation of the screw rod.
2. The battery clamping manipulator apparatus as claimed in claim 1, wherein: the bottom support frame assembly comprises an aluminum profile support frame and a manipulator support connecting block, the aluminum profile support frame is a horizontally arranged rectangular frame, and a side support is respectively arranged on the short sides of the aluminum profile support frame; the manipulator supporting and connecting block is arranged at the joint of the aluminum profile supporting frame and the side support and used for realizing the connection and fixation of the aluminum profile supporting frame and the side support.
3. The battery clamping manipulator apparatus as claimed in claim 1, wherein: the horizontal supporting frame comprises two first aluminum profiles and two second aluminum profiles, wherein the first aluminum profiles are used as long sides of the horizontal supporting frame, the second aluminum profiles are used as short sides of the horizontal supporting frame, and the first aluminum profiles and the second aluminum profiles are connected end to form a rectangular frame; the vertical support comprises four third aluminum profiles, and the four third aluminum profiles are vertically arranged on the two first aluminum profiles at equal intervals;
the cylinder assembly comprises two anti-falling cylinder end fixing blocks, two cylinders and an anti-falling cylinder middle fixing block, one ends of the cylinders are respectively connected with the anti-falling cylinder end fixing block, the other ends of the cylinders are jointly connected to the anti-falling cylinder middle fixing block, the cylinders are kept to be axially arranged along a second aluminum profile, two mutually independent movable parts are formed, and the movable parts can linearly reciprocate along the axial direction of the second aluminum profile; the anti-falling cylinder end fixing block and the anti-falling cylinder middle fixing block are arranged on the surface of a second aluminum profile serving as a short edge and used for fixing two sets of cylinders;
the two movable parts of the cylinder component are respectively provided with a set of transmission component, the transmission component comprises an anti-falling sliding block mounting block, an anti-falling sliding plate in the cylinder and an anti-falling sliding block on the cylinder, and the anti-falling sliding block mounting block is a base and is fixedly connected with the end part of the insulating plate supporting base through screws; one end of a sliding plate in the anti-falling cylinder is connected with the anti-falling sliding block mounting block, and the other end of the sliding plate in the anti-falling cylinder is connected with the sliding block on the anti-falling cylinder; the sliding block on the anti-falling cylinder is fixedly arranged on the movable part of the cylinder, so that the transmission assembly is driven by the movable part to linearly reciprocate along the axial direction of the second aluminum profile, and the power of the cylinder assembly is transmitted to the insulating plate supporting base;
the short circuit prevention units are arranged in two sets and are respectively positioned below the two first aluminum profiles; the insulating plate supporting base of the short circuit prevention unit comprises at least one fourth aluminum profile and at least one fifth aluminum profile, wherein the fourth aluminum profile is fixedly connected with the fifth aluminum profile to form a frame body for supporting the insulating plate; the axis of the fourth aluminum profile is parallel to the long edge of the horizontal supporting frame.
4. The battery clamping manipulator apparatus as claimed in claim 1, wherein: the clamping jaw mounting part comprises a manipulator screw rod clamp fixing plate, a guide rail unit, a linear bearing and a nut, the clamping jaw driving part comprises clamping jaw driving units, clamping jaw transmission units, driving unit protective covers and clamping jaw transmission unit protective covers, the number of the distance adjusting parts is two, and each distance adjusting part comprises a pair of clamping jaw connecting units; the surface of the manipulator screw rod clamp fixing plate is paved with guide rail units along the movement direction of the clamp mechanism and is used for realizing the sliding connection between the spacing adjusting part and the manipulator screw rod clamp fixing plate; the linear bearing and the nut are embedded on the manipulator screw rod clamp fixing plate, the central shaft of the linear bearing and the central shaft of the nut are kept parallel to the vertical screw rod, the nut is sleeved outside the vertical screw rod, and the linear bearing and the nut form a screw rod and nut pair; the clamping jaw driving unit is arranged on the manipulator screw rod clamp fixing plate and is connected with the power input end of the clamping jaw transmission unit, the clamping jaw transmission unit is erected on the manipulator screw rod clamp fixing plate and keeps the clamping jaw transmission unit to be axially arranged along the guide rail unit, the clamping jaw transmission unit is provided with two clamping jaw adjusting blocks moving in opposite directions or reverse directions, and each clamping jaw adjusting block is provided with a clamping jaw connecting unit used for transmitting the driving force of the clamping jaw driving unit to the clamping jaw connecting unit so that the clamping jaw connecting units move in opposite directions or reverse directions under the driving of the corresponding clamping jaw adjusting blocks; the upper part of the clamping jaw connecting unit is connected with the guide rail unit in a sliding way, and the bottom of the clamping jaw connecting unit is provided with a clamping mechanism which is used for connecting the clamping jaw with the clamping jaw transmission unit and the guide rail unit; the clamping jaw transmission unit protection cover is connected with the manipulator screw rod clamp fixing plate and covers the surface of the clamping jaw transmission unit and is used for preventing the clamping jaw transmission unit from moving to hurt operators in the maintenance process of the manipulator device; the driving unit protection cover is connected with the mechanical arm screw rod clamp fixing plate and covers the surface of the mechanical arm screw rod clamp fixing plate, and the driving unit protection cover is used for preventing the clamping jaw driving unit from moving to hurt an operator in the maintenance process of the mechanical arm device.
5. The battery clamping robot apparatus as claimed in claim 4, wherein: the supporting assembly of the clamping mechanism comprises a slide rail mounting plate, a clamp assembly fixing plate and a clamp assembly connecting shaft, two mounting end faces of the slide rail mounting plate are paved with slide rails which are parallel to each other, the upper part of the slide rail mounting plate is suspended at the lower part of the clamp assembly fixing plate through the clamp assembly connecting shaft, and the slide rail mounting plate is kept perpendicular to the clamp assembly fixing plate;
the cylinder assemblies are used for power output of the whole manipulator clamping jaw and divided into two groups, and are respectively connected with the first clamping piece connecting assembly and the second clamping piece connecting assembly of the clamping unit, the telescopic ends of the cylinder assemblies in different groups are opposite or reverse, the telescopic ends of the cylinder assemblies in the same group are in the same direction, each cylinder assembly comprises a cylinder extension rod, a cylinder mounting plate and a cylinder, and the mounting end of the cylinder extension rod is connected with the telescopic end of the cylinder and is used for prolonging the movement stroke of the cylinder; the air cylinder mounting plate is arranged on the sliding rail mounting plate of the supporting assembly and used for mounting and fixing the air cylinder; the cylinder is arranged on the cylinder mounting plate, and the telescopic end of the cylinder is kept consistent along the laying direction of the slide rail;
the limiting block assembly comprises a nut, a limiting block and a screw, and the limiting block is arranged on the motion track of the telescopic end of the corresponding air cylinder assembly and used for limiting the motion stroke of the air cylinder; the limiting block is provided with a mounting hole for a screw to penetrate through; the screw penetrates through the mounting hole in the limiting block and then is provided with the nut, so that the nut of the screw is used as a blocking part to be aligned to the telescopic end of the air cylinder assembly and is used for limiting the movement of the telescopic end of the air cylinder;
the first clamping piece connecting assembly comprises a first clamping piece, a first sliding block, a first clamp connecting plate and a first cylinder connecting piece, wherein the first sliding block which is used for being in sliding fit with the sliding rail is fixedly installed on the installation surface of the first clamp connecting plate and is used for being matched with the sliding rail to enable the first clamping piece to move along the appointed direction; a row of first clamping pieces are axially arranged at intervals at the bottom of the first clamp connecting plate; the first cylinder connecting piece is arranged on the first clamp connecting plate and used for supporting the corresponding cylinder assembly;
the second clamping piece connecting assembly comprises a clamp transmission assembly and a clamp buffering assembly, the clamp transmission assembly is used for transmitting the output power of the air cylinder assembly to the clamp buffering assembly, the clamp buffering assembly is used for guiding the second clamping piece connecting assembly to move in the direction of the sliding rail, a set of clamp buffering assembly is correspondingly and fixedly arranged at the bottom of each clamp fixing piece, the clamp transmission assembly comprises a clamp fixing piece, a second clamp connecting plate, reinforcing ribs, a second air cylinder connecting piece and second sliding blocks, the clamp fixing piece, the second clamp connecting plate and the second air cylinder connecting piece play a supporting role, and the second sliding blocks which can be in sliding fit with the sliding rail are fixedly arranged on the mounting surface, facing the sliding rail, of the second clamp connecting plate and used for guiding the; a row of clamp fixing pieces which correspond to the first clamping pieces one by one are arranged at intervals along the axial direction at the lower part of the second clamp connecting plate and used for installing the clamp buffering assembly; the second cylinder connecting piece is arranged on the upper part of the second clamp connecting plate, and a reinforcing rib is additionally arranged at the joint of the second cylinder connecting piece and the second clamp connecting plate and used for enhancing the strength.
6. The battery clamping robot apparatus as claimed in claim 5, wherein: the clamp buffering assembly comprises a third sliding block for limiting, a spring for buffering and storing energy, a guide rod for guiding, a clamp mounting piece for supporting and a second clamp piece for clamping a battery, wherein the third sliding block which can be in sliding fit with the sliding rail is fixedly mounted at the upper part of the clamp mounting piece and is used for driving the clamp mounting piece to axially slide along the sliding rail; the clamp mounting pieces are mounted at the lower parts of the corresponding clamp fixing pieces through guide rods, springs are sleeved at the pressing end parts of the guide rods, and two ends of each spring are respectively connected with the end faces, opposite to the two adjacent clamp mounting pieces, of the springs; the second clamp pieces are arranged at the lower part of the clamp mounting piece, correspond to the first clamping pieces one by one and are arranged in a staggered manner in pairs to form a clamping part capable of clamping the battery; the axial direction of the guide rod is consistent with the moving direction of the clamp mounting piece.
7. The battery clamping manipulator apparatus as claimed in claim 1, wherein: the horizontal power transmission mechanism comprises a gear, a first manipulator horizontal shaft, a second manipulator horizontal shaft, a coupler, a diamond-shaped fixing seat, a hoop and a bearing supporting unit, wherein the first manipulator horizontal shaft and the second manipulator horizontal shaft are horizontally supported on the top of the mounting frame through the diamond-shaped fixing seat and the bearing supporting unit which are sleeved on the first manipulator horizontal shaft and the second manipulator horizontal shaft, and the first manipulator horizontal shaft and the second manipulator horizontal shaft can circumferentially rotate around a self central shaft; the first end of the first manipulator horizontal shaft is connected with the first end of the second manipulator horizontal shaft through a coupler, the first manipulator horizontal shaft is connected with an output shaft belt of the horizontal driving mechanism, and the first manipulator horizontal shaft and the second manipulator horizontal shaft are driven by the horizontal driving mechanism to rotate together to transmit torque; the second end part of the first manipulator horizontal shaft and the second end part of the second manipulator horizontal shaft are respectively erected on the side supports on the same side, a gear which can be meshed with a rack on external equipment is fixedly arranged at each of the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft, the rack is parallel to the guide rail, and power is transmitted through the meshing between the gear and the rack; the anchor ear sleeves the first manipulator horizontal shaft and the second manipulator horizontal shaft and is used for limiting the position of the horizontal driving mechanism.
8. The battery clamping manipulator apparatus as claimed in claim 1, wherein: the mounting frame of the vertical driving unit comprises an upper manipulator screw rod fixing plate, a lower manipulator screw rod fixing plate and a guide shaft, the upper manipulator screw rod fixing plate and the lower manipulator screw rod fixing plate are fixedly arranged on the bottom supporting frame assembly and the supporting base respectively, and the upper manipulator screw rod fixing plate and the lower manipulator screw rod fixing plate are parallel and are respectively arranged at the upper end and the lower end of the guide shaft; the power transmission assembly comprises a vertical screw rod and a belt pulley assembly, the vertical driving motor and the belt pulley assembly are installed on an upper fixing plate of the mechanical arm screw rod, the vertical screw rod penetrates through a nut of the clamping jaw installation part and forms a screw rod nut pair, two ends of the vertical screw rod are respectively supported on the upper fixing plate of the mechanical arm screw rod and a lower fixing plate of the mechanical arm screw rod through corresponding bearings, and the upper end of the vertical screw rod is connected with the vertical driving motor through the belt pulley assembly, so that the vertical screw rod can circumferentially rotate around a self central shaft under the driving of the vertical driving motor, and the nut is driven to axially lift along the vertical screw rod; the guide shaft is sleeved with a linear bearing, so that the clamping jaw adjusting assembly is lifted along the axial direction of the guide shaft.
9. The battery clamping manipulator apparatus as claimed in claim 6, wherein: the insulation board supports the base and includes two fourth aluminium alloy that are parallel to each other and three fifth aluminium alloy that are parallel to each other, and wherein three equidistant parallel arrangement of fifth aluminium alloy form the ladder form support body between two fourth aluminium alloy.
CN201911197160.9A 2019-11-29 2019-11-29 Battery clamping manipulator device Active CN110936349B (en)

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CN111392111A (en) * 2020-04-24 2020-07-10 苏州迅益科系统科技有限公司 Singly piece together toothbrush packagine machine
CN113731838A (en) * 2021-09-03 2021-12-03 扬州工业职业技术学院 Battery detection system
CN114834887A (en) * 2022-04-26 2022-08-02 李泉辉 Battery clamping manipulator, fork part of stacker and stacker
CN115123810A (en) * 2022-06-20 2022-09-30 深圳市安格智控科技有限公司 Battery module grabbing device

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JP2001246590A (en) * 2000-03-01 2001-09-11 Kyoto Tokushu Kiki Kk Tool and device for gripping battery electrode
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CN114834887B (en) * 2022-04-26 2023-08-22 李泉辉 Battery clamping manipulator, fork part of stacker and stacker
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