CN110936349B

CN110936349B - Battery clamping manipulator device

Info

Publication number: CN110936349B
Application number: CN201911197160.9A
Authority: CN
Inventors: 曹骥; 曹政; 刘伟; 郭凯华
Original assignee: Zhejiang Hangke Technology Co Ltd
Current assignee: Zhejiang Hangke Technology Co Ltd
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2024-05-10
Anticipated expiration: 2039-11-29
Also published as: CN110936349A

Abstract

A battery clamping manipulator device, comprising: the support unit comprises a bottom support frame assembly and side supports arranged at two ends of the bottom support frame assembly, and the side supports are arranged on the bottom support frame assembly; the anti-drop unit is arranged below the bottom supporting frame assembly and comprises a supporting base, an anti-drop driving mechanism and an anti-short circuit mechanism; 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, wherein the clamping jaw adjusting mechanism comprises a clamping jaw mounting part, a clamping jaw driving part and a spacing 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 a vertical driving unit installed between the bottom support frame assembly and the support base, including a mounting frame, a vertical driving motor, and a power transmission assembly. The beneficial effects of the invention are as follows: the device occupies small space, has low 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 batteries, and belongs to the field of automatic logistics in battery production.

Background

In the battery production process, the lithium battery is subjected to high-temperature formation, capacity division and OCV (Open Circuit Voltage ) test, and in the series of test processes, the battery is required to be transported from a tray to a test line. When the battery moves from the transport line to the designated test position, a battery clamping robot device is required to place the individual batteries to the designated test position for clamping testing 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 is small in equipment occupation space, low in equipment cost and suitable for batteries with different sizes.

The invention relates to a battery clamping manipulator device, which is characterized by comprising:

The support unit comprises a bottom support frame assembly and side supports arranged at two ends of the bottom support frame assembly, the side supports are arranged on the bottom support frame assembly, and sliding bearings are arranged outside the side supports and used for realizing sliding fit between the support unit and a guide rail of external equipment, so that the manipulator device moves axially along the guide rail;

The anti-drop unit is arranged below the bottom supporting frame assembly of the supporting unit and comprises a supporting base, an anti-drop driving mechanism and an anti-short circuit mechanism, wherein the supporting base comprises a horizontal supporting frame and a vertical support, the horizontal supporting frame is a rectangular frame, and the long frame of the rectangular frame is symmetrically provided with the vertical support and is used for supporting and connecting the driving mechanism; the top of the vertical support is connected with the bottom support frame assembly; the anti-drop driving mechanism is arranged on a horizontal supporting frame of the supporting base and comprises an air cylinder assembly and a transmission assembly, wherein a set of air cylinder assemblies are respectively arranged on two short sides of the horizontal supporting frame, each set of air cylinder assemblies 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 air cylinder assembly is provided with a transmission assembly for transmitting the power of the air cylinder assembly 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 ends 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 paved on the surface of the insulating plate supporting base and is 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, wherein the clamping jaw adjusting mechanism comprises a clamping jaw mounting part, a clamping jaw driving part and a spacing 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 spacing adjusting part; the interval adjusting part is provided with two clamping jaw connecting assemblies which move in opposite directions or in opposite directions; the clamping mechanism is arranged at the bottom of the clamping jaw connecting piece, so that the clamping mechanism is driven by the clamping jaw driving mechanism to move oppositely or reversely so as to adjust the interval 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 mounting end faces which are parallel to each other, the two mounting end faces are paved on the guide rail which is parallel to each other, 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 component and comprises two groups of air cylinder components and a limiting block component, the power output ends of the two groups of air cylinder components are respectively connected with the clamping unit and keep the motion direction of the power output ends consistent with the axial direction of the supporting component, and the power output ends of the two groups of air cylinder components move reversely or oppositely and are used for driving the clamping unit to axially move along the supporting component; the limiting block component is arranged on a motion track of a power output end of the air cylinder component and used for limiting the motion stroke of the air cylinder component; 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 and slidably arranged on two mounting end faces of the supporting assembly, a first clamping piece is arranged at the bottom axial interval of the first clamping piece connecting assembly, a second clamping piece is arranged at the bottom axial interval of the second clamping piece connecting assembly, the first clamping piece and the second clamping piece are in one-to-one correspondence and are staggered in pairs to form a clamping part capable of clamping a battery; the first clamping piece connecting component and the second clamping piece connecting component are respectively connected with the power output ends of the corresponding air cylinder components, so that the first clamping piece connecting component and the second clamping piece connecting component move reversely or oppositely along the axial direction of the supporting component under the driving of the corresponding air cylinder components, and the clamping parts formed by the first clamping piece and the second clamping piece are 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 belt of the power transmission mechanism 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 axially slides along a guide rail of the external equipment under the drive of the horizontal driving unit;

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, wherein the top of the mounting frame is fixedly connected with the bottom supporting frame assembly, and the bottom of the mounting 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 at 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 the vertical screw rod of the power transmission assembly rotationally connected with the mounting frame; the screw rod penetrates through the clamping jaw mounting part of the clamping jaw adjusting mechanism, and the screw rod and the clamping jaw mounting part 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 supporting frame assembly comprises an aluminum section supporting frame and a manipulator supporting connecting block, wherein the aluminum section supporting frame is a rectangular frame which is horizontally arranged, and a side support is respectively arranged on the short side of the aluminum section supporting frame; the manipulator support connecting block is arranged at the joint of the aluminum profile support frame and the side support and used for realizing the connection fixation of the aluminum profile support frame and the side support.

The horizontal support frame comprises two first aluminum profiles and two second aluminum profiles, wherein the first aluminum profiles are used as long sides of the horizontal support frame, the second aluminum profiles are used as short sides of the horizontal support 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 which are vertically arranged on the two first aluminum profiles at equal intervals;

the cylinder assembly comprises two anti-drop cylinder end fixing blocks, two cylinders and an anti-drop cylinder middle fixing block, one end of each cylinder is connected with one anti-drop cylinder end fixing block, the other ends of the cylinders are connected to one anti-drop cylinder middle fixing block together, the cylinders are kept to be axially arranged along 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-drop cylinder end fixing block and the anti-drop cylinder middle fixing block are arranged on the surface of the second aluminum profile serving as a short side and used for fixing two sets of cylinders;

the two movable parts of the air cylinder assembly are respectively provided with a set of transmission assembly, the transmission assembly comprises an anti-drop sliding block mounting block, a sliding plate in the anti-drop air cylinder and an upper sliding block of the anti-drop air cylinder, the anti-drop sliding block mounting block is a base, and the anti-drop sliding block mounting block is fixedly connected with the end part of the insulating plate supporting base through screws; one end of a sliding plate in the anti-drop cylinder is connected with the anti-drop slider mounting block, and the other end of the sliding plate is connected with the sliding block on the anti-drop cylinder; the sliding block on the anti-drop 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 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 side of the horizontal supporting frame.

The clamping jaw mounting part comprises a mechanical hand screw rod clamp fixing plate, a guide rail unit, a linear bearing and a nut, the clamping jaw driving part comprises a clamping jaw driving unit, a clamping jaw transmission unit, a driving unit protection cover and a clamping jaw transmission unit protection cover, the distance adjusting parts are divided into two sets, and each set of 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 the guide rail units are used for realizing sliding connection between the distance adjusting part and the manipulator screw rod clamp fixing plate; the linear bearing and the nut are embedded on the screw rod clamp fixing plate of the manipulator, 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 two form a screw rod nut pair; the clamping jaw driving unit is arranged on the mechanical hand 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 arranged on the mechanical hand screw rod clamp fixing plate in a supporting mode, the clamping jaw transmission unit is kept to be axially arranged along the guide rail unit, the clamping jaw transmission unit is provided with two clamping jaw adjusting blocks which move in opposite directions or in opposite directions, each clamping jaw adjusting block is provided with a clamping jaw connecting unit, and the driving force of the clamping jaw driving unit is transmitted to the clamping jaw connecting unit, so that the clamping jaw connecting unit is driven by the corresponding clamping jaw adjusting block to move in opposite directions or in opposite directions; the upper part of the clamping jaw connecting unit is in sliding connection with the guide rail unit, 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 movement of the clamping jaw transmission unit from damaging operators in the maintenance process of the manipulator device; the driving unit protection cover is connected with the manipulator screw rod clamp fixing plate and covers the surface of the manipulator screw rod clamp fixing plate, and the driving unit protection cover is used for preventing the damage of the movement of the clamping jaw driving unit to an operator in the maintenance process of the manipulator device.

The support component of the clamping mechanism comprises a slide rail mounting plate, a clamp component fixing plate and a clamp group connecting shaft, wherein two mounting end surfaces of the slide rail mounting plate are paved with slide rails 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 vertical to the clamp component fixing plate;

The cylinder assembly is the power output of the whole manipulator clamping jaw and is divided into two groups, the two groups of the cylinder assembly 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 of different groups are opposite or reverse, the telescopic ends of the cylinder assemblies of the same group are in the same direction, the cylinder assembly comprises a cylinder extension rod, a cylinder mounting plate and a cylinder, wherein 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 cylinder mounting plate is arranged on the sliding rail mounting plate of the supporting component and is used for mounting and fixing the 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 sliding rail;

the limiting block assembly comprises a nut, a limiting block and a screw, wherein the limiting block is arranged on the motion track 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 the screw to penetrate through; the screw penetrates through the mounting hole on the limiting block and then is provided with a nut, so that the nut of the screw is used as a blocking part to be aligned with the telescopic end of the air cylinder assembly and 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 clip 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 arranged on the mounting surface of the first clip connecting plate, and the first clamping piece is used for being matched with the sliding rail to enable the first clamping piece to move along a designated direction; a row of first clamping pieces are arranged at intervals along the axial direction at the bottom of the first clip connecting plate; the first cylinder connecting piece is arranged on the first clip connecting plate and is used for supporting the corresponding cylinder assembly;

The second clamping piece connecting assembly comprises a clamp transmission assembly for transmitting output power of the air cylinder assembly to the clamp buffering assembly and a clamp buffering assembly for guiding the second clamping piece connecting assembly to move along the direction of the sliding rail, a set of clamp buffering assemblies are correspondingly and fixedly arranged at the bottom of each clamp fixing piece, the clamp transmission assembly comprises clamp fixing pieces, second clamp connecting plates, reinforcing ribs, second air cylinder connecting pieces and second sliding blocks, the clamp fixing pieces, the second clamp connecting plates and the second air cylinder connecting pieces 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 surfaces of the second clamp connecting plates facing the sliding rail and are used for guiding the second clamp connecting plates to axially slide along the sliding rail; the lower part of the second clip connecting plate is provided with a row of clip fixing pieces which are in one-to-one correspondence with the first clips along the axial direction at intervals and are used for installing clip buffer assemblies; the second cylinder connecting piece is installed on the upper portion of the second clip connecting plate, and a reinforcing rib is additionally arranged at the joint of the second cylinder connecting piece and the second clip connecting plate and used for enhancing the strength.

The clip buffer assembly comprises a third sliding block used for limiting, a spring used for buffering and storing energy, a guide rod used for guiding, a clip mounting piece used for supporting and a second clip piece used for clamping a battery, wherein the upper part of the clip mounting piece is fixedly provided with the third sliding block which can be in sliding fit with the sliding rail and is used for driving the clip mounting piece to axially slide along the sliding rail; the clip installation parts are installed at the lower parts of the corresponding clip fixing parts 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 of the two adjacent clip installation parts, which are opposite to each other; the second clip sheets are arranged at the lower part of the clip mounting piece, correspond to the first clip sheets one by one and are staggered in pairs to form a clamping part capable of clamping the battery; the axial direction of the guide rod is consistent with the movement direction of the clip 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 support unit, wherein the first manipulator horizontal shaft and the second manipulator horizontal shaft are horizontally supported at the top of the mounting frame through the diamond-shaped fixing seat and the bearing support unit 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 the central shaft of the first manipulator horizontal shaft and the second manipulator horizontal 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, and the first manipulator horizontal shaft is connected with an output shaft belt of the horizontal driving mechanism, so that the first manipulator horizontal shaft and the second manipulator horizontal shaft are driven by the horizontal driving mechanism to jointly rotate to transmit torque; the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft are respectively arranged on side supports on the same side in a supporting way, a gear which can be meshed with a rack on external equipment is fixedly arranged at the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft respectively, the rack is parallel to the guide rail, and power is transmitted through the meshing between the gear and the rack; the hoop is sleeved on the first manipulator horizontal shaft and the second manipulator horizontal shaft and used for limiting the position of the horizontal driving mechanism.

The mounting frame of the vertical driving unit comprises a manipulator screw rod upper fixing plate, a manipulator screw rod lower fixing plate and a guide shaft, wherein the manipulator screw rod upper fixing plate and the manipulator screw rod lower fixing plate are respectively fixedly arranged on the bottom supporting frame assembly and the supporting base, and the manipulator screw rod upper fixing plate is parallel to the manipulator screw rod lower fixing plate and is 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 arranged on an upper fixing plate of the mechanical hand screw rod, the vertical screw rod penetrates through nuts of the clamping jaw installation part, the vertical screw rod and the nuts form screw nut pairs, two ends of the vertical screw rod are respectively supported on the upper fixing plate of the mechanical hand screw rod and the lower fixing plate of the mechanical hand 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 the vertical screw rod around a central shaft of the vertical screw rod under the drive of the vertical driving motor, and the nuts are driven to axially lift along the vertical screw rod; and the guide shaft is sleeved with a linear bearing, so that the clamping jaw adjusting assembly axially ascends and descends along the guide shaft.

The insulating plate support base comprises two fourth aluminum profiles which are parallel to each other and three fifth aluminum profiles which are parallel to each other, wherein the three fifth aluminum profiles are arranged between the two fourth aluminum profiles in an equidistant parallel manner to form a ladder-shaped frame body.

The beneficial effects of the invention are as follows: firstly, the battery clamping manipulator device can be lower in the vertical movement direction and the vertical direction of the manipulator device is lower under the same movement stroke, so that the height of matched equipment is also reduced, the occupied space of the equipment is further reduced, and meanwhile, the cost is also greatly reduced; secondly, the battery clamping manipulator device can move freely in the vertical and horizontal directions, and the space between clamping jaws of the manipulator can be automatically adjusted, so that the battery clamping manipulator device can adapt to batteries with different sizes; the automatic test equipment is not only suitable for automatic test equipment of the soft-package battery, but also suitable for automatic test equipment of other energy storage batteries, such as automatic test equipment of soft-package lithium ion capacitors, soft-package super capacitors and the like.

Drawings

FIG. 1 is a block diagram of a battery clamping robot;

FIG. 2 is a front view of the battery clamping robot;

FIG. 3 is a side view of the battery clamping robot;

FIG. 4 is a left side view of the battery clamping robot;

FIG. 5 is a block diagram of a support assembly of the battery clamping robot;

Fig. 6a is a structural view of the 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 drive assembly of the battery anti-drop device;

Fig. 6d is a structural view of the support base of the battery anti-drop device;

fig. 6e is a structural view of an insulating plate supporting base of the battery anti-drop 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 a support assembly;

FIG. 7d is a block diagram of a first clip panel attachment 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 drive assembly;

FIG. 7h is a block diagram of a clip cushion assembly;

FIG. 7i is a second block diagram of a clip buffer assembly.

FIG. 8 is a block diagram of the 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 drawings.

Referring to the drawings:

embodiment 1a battery clamping manipulator device according to the present invention includes:

The support unit 1 comprises a bottom support frame assembly and side supports 11 arranged at two ends of the bottom support frame assembly, wherein the side supports 11 are arranged on the bottom support frame assembly, and sliding bearings 5 are arranged outside the side supports and are used for realizing sliding fit between the support 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-drop unit 2 is arranged below the bottom supporting frame assembly of the supporting unit 1 and comprises a supporting base 23, an anti-drop driving mechanism and an anti-short circuit mechanism, wherein the supporting base comprises a horizontal supporting frame and a vertical supporting frame, the horizontal supporting frame is a rectangular frame, and the long frames of the rectangular frame are symmetrically provided with the vertical supporting 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-drop driving mechanism is arranged on a horizontal supporting frame of the supporting base and comprises an air cylinder assembly and a transmission assembly, a set of air cylinder assemblies 21 are respectively arranged on two short sides of the horizontal supporting frame, each set of air cylinder assemblies 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 air cylinder assembly is provided with a transmission assembly for transmitting the power of the air cylinder assembly 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 ends 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 paved on the surface of the insulating plate supporting base and is 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, wherein the clamping jaw adjusting mechanism 4 comprises a clamping jaw mounting part, a clamping jaw driving part and a spacing 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 spacing adjusting part; the interval adjusting part is provided with two clamping jaw connecting assemblies which move in opposite directions or in opposite directions; the clamping mechanism 5 is arranged at the bottom of the clamping jaw connecting piece, so that the clamping mechanism is driven by the clamping jaw driving mechanism to move oppositely or reversely so as to adjust the interval 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 mounting end faces which are parallel to each other, the two mounting end faces are paved on the guide rail which is parallel to each other, 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 component and comprises two groups of air cylinder components and a limiting block component, the power output ends of the two groups of air cylinder components are respectively connected with the clamping unit and keep the motion direction of the power output ends consistent with the axial direction of the supporting component, and the power output ends of the two groups of air cylinder components move reversely or oppositely and are used for driving the clamping unit to axially move along the supporting component; the limiting block component is arranged on a motion track of a power output end of the air cylinder component and used for limiting the motion stroke of the air cylinder component; 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 and slidably arranged on two mounting end faces of the supporting assembly, a first clamping piece is arranged at the bottom axial interval of the first clamping piece connecting assembly, a second clamping piece is arranged at the bottom axial interval of the second clamping piece connecting assembly, the first clamping piece and the second clamping piece are in one-to-one correspondence and are staggered in pairs to form a clamping part capable of clamping a battery; the first clamping piece connecting component and the second clamping piece connecting component are respectively connected with the power output ends of the corresponding air cylinder components, so that the first clamping piece connecting component and the second clamping piece connecting component move reversely or oppositely along the axial direction of the supporting component under the driving of the corresponding air cylinder components, and the clamping parts formed by the first clamping piece and the second clamping piece are clamped or loosened;

A horizontal driving unit 6 mounted on the side support and including a horizontal driving mechanism and a horizontal power transmission mechanism, wherein an output end of the horizontal driving mechanism is connected with an input end belt of the power transmission mechanism and is used for transmitting 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 axially slides along a guide rail of the external equipment under the drive of the horizontal driving unit;

The vertical driving unit 7 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, wherein the top of the mounting frame is fixedly connected with the bottom supporting frame assembly, and the bottom of the mounting 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 at 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 the vertical screw rod of the power transmission assembly rotationally connected with the mounting frame; the screw rod penetrates through the clamping jaw mounting part of the clamping jaw adjusting mechanism, and the screw rod and the clamping jaw mounting part 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 supporting frame assembly comprises an aluminum section supporting frame 12 and a manipulator supporting connecting block 13, wherein the aluminum section supporting frame 12 is a rectangular frame which is horizontally arranged, and a side support 11 is respectively arranged on the short side of the aluminum section supporting frame 12; the manipulator support connecting block 13 is arranged at the joint 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 cylinder assembly 21 comprises two anti-drop cylinder end fixing blocks 211, two cylinders 212 and an anti-drop cylinder middle fixing block 213, one end of each cylinder is connected with one anti-drop cylinder end fixing block, the other ends of the cylinders are connected to one anti-drop cylinder middle fixing block together, the cylinders are kept to be axially arranged along 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-drop cylinder end fixing block and the anti-drop cylinder middle fixing block are arranged on the surface of the second aluminum profile serving as a short side and used for fixing two sets of cylinders;

Two movable parts of the air cylinder assembly 21 are respectively provided with a set of transmission assembly 22, the transmission assembly 22 comprises an anti-drop sliding block mounting block 221, an anti-drop air cylinder middle sliding plate 222 and an anti-drop air cylinder upper sliding block 223, the anti-drop 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-drop cylinder is connected with the anti-drop slider mounting block, and the other end of the sliding plate is connected with the sliding block on the anti-drop cylinder; the sliding block on the anti-drop 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 respectively positioned below the two first aluminum profiles 231; the insulation board supporting base 25 of the short circuit preventing 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 insulation board; the axis of the fourth aluminum profile is parallel to the long side 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 distance adjusting part comprises two sets, and each set of 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 the guide rail units are used for realizing sliding connection between the distance adjusting part and the manipulator screw rod clamp fixing plate; the linear bearing and the nut are embedded on the screw rod clamp fixing plate of the manipulator, 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 two form a screw rod nut pair; the clamping jaw driving unit is arranged on the mechanical hand 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 arranged on the mechanical hand screw rod clamp fixing plate in a supporting mode, the clamping jaw transmission unit is kept to be axially arranged along the guide rail unit, the clamping jaw transmission unit is provided with two clamping jaw adjusting blocks which move in opposite directions or in opposite directions, each clamping jaw adjusting block is provided with a clamping jaw connecting unit, and the driving force of the clamping jaw driving unit is transmitted to the clamping jaw connecting unit, so that the clamping jaw connecting unit is driven by the corresponding clamping jaw adjusting block to move in opposite directions or in opposite directions; the upper part of the clamping jaw connecting unit is in sliding connection with the guide rail unit, 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 movement of the clamping jaw transmission unit from damaging operators in the maintenance process of the manipulator device; the driving unit protection cover is connected with the manipulator screw rod clamp fixing plate and covers the surface of the manipulator screw rod clamp fixing plate, and the driving unit protection cover is used for preventing the damage of the movement of the clamping jaw driving unit to an operator in the maintenance process of the manipulator 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 paved with slide rails parallel to each other, and 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 keeps the slide rail mounting plate vertical to the clamp component fixing plate;

The cylinder assembly 35 is the power output of the whole manipulator clamping jaw, and is divided into two groups, and is 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 of different groups are opposite or reverse, the telescopic ends of the cylinder assemblies of the same group are in the same direction, the cylinder assembly 35 comprises a cylinder extension rod 351, a cylinder mounting plate 352 and a cylinder 353, wherein 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 cylinder mounting plate is arranged on the sliding rail mounting plate of the supporting component and is used for mounting and fixing the 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 sliding rail;

the limiting block assembly 34 comprises a second nut 341, a limiting block 342 and a screw 343, wherein the limiting block is installed on the movement track of the telescopic end of the corresponding cylinder assembly and is used for limiting the movement stroke of the cylinder; the limiting block is provided with a mounting hole for the screw to penetrate through; the screw is arranged in the mounting hole of the limiting block in a penetrating mode, and then a second nut is arranged, so that the nut of the screw is used as a blocking part to be aligned with the telescopic end of the air cylinder assembly, and the telescopic end of the air cylinder is limited to move;

The first clip connecting assembly 33 comprises a first clip 331, a first slider 332, a first clip connecting plate 333 and a first cylinder connecting piece 334, wherein a mounting surface of the first clip connecting plate is fixedly provided with the first slider which is used for being in sliding fit with the slide rail, and the first slider is used for being matched with the slide rail to enable the first clip to move along a designated direction; a row of first clamping pieces are arranged at intervals along the axial direction at the bottom of the first clip connecting plate; the first cylinder connecting piece is arranged on the first clip connecting plate and is used for supporting the corresponding cylinder assembly;

The second clamping piece connecting assembly comprises a clamp transmission assembly 36 for transmitting output power of the air cylinder assembly to the clamp buffering assembly and a clamp buffering assembly 37 for guiding the second clamping piece connecting assembly to move along the direction of the sliding rail, a set of clamp buffering assemblies are correspondingly and fixedly arranged at the bottom of each clamp fixing piece, the clamp transmission assembly 36 comprises a clamp fixing piece 361, a second clamp connecting plate 362, a reinforcing rib 363, a second air cylinder connecting piece 364 and a second sliding block 365, the clamp fixing piece, the second clamp connecting plate and the second air cylinder connecting piece play a supporting role, and the second clamping connecting plate is fixedly provided with a second sliding block which can be in sliding fit with the sliding rail on a mounting surface facing the sliding rail and is used for guiding the second clamp connecting plate to axially slide along the sliding rail; the lower part of the second clip connecting plate is provided with a row of clip fixing pieces which are in one-to-one correspondence with the first clips along the axial direction at intervals and are used for installing clip buffer assemblies; the second cylinder connecting piece is installed on the upper portion of the second clip connecting plate, and a reinforcing rib is additionally arranged at the joint of the second cylinder connecting piece and the second clip connecting plate and used for enhancing the strength.

The clip buffer assembly 37 comprises a third slider 371 for limiting, a spring 372 for buffering and storing energy, a guide rod 373 for guiding, a clip mounting piece 374 for supporting and a second clip piece 375 for clamping a battery, wherein the upper part of the clip mounting piece is fixedly provided with the third slider which can be in sliding fit with the slide rail and is used for driving the clip mounting piece to axially slide along the slide rail; the clip installation parts are installed at the lower parts of the corresponding clip fixing parts 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 of the two adjacent clip installation parts, which are opposite to each other; the second clip sheets are arranged at the lower part of the clip mounting piece, correspond to the first clip sheets one by one and are staggered in pairs to form a clamping part capable of clamping the battery; the axial direction of the guide rod is consistent with the movement direction of the clip 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 diamond-shaped fixing seat 62, a hoop 64 and a bearing support unit 65, wherein the first manipulator horizontal shaft and the second manipulator horizontal shaft are horizontally supported at the top of the mounting frame through the diamond-shaped fixing seat and the bearing support unit 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 rotate around the central shaft of the first manipulator horizontal shaft and the second manipulator horizontal shaft in the circumferential direction; the first end of the first manipulator horizontal shaft is connected with the first end of the second manipulator horizontal shaft through a coupler, and the first manipulator horizontal shaft is connected with an output shaft belt of the horizontal driving mechanism, so that the first manipulator horizontal shaft and the second manipulator horizontal shaft are driven by the horizontal driving mechanism to jointly rotate to transmit torque; the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft are respectively arranged on side supports on the same side in a supporting way, a gear which can be meshed with a rack on external equipment is fixedly arranged at the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft respectively, the rack is parallel to the guide rail, and power is transmitted through the meshing between the gear and the rack; the hoop is sleeved on the first manipulator horizontal shaft and the second manipulator horizontal shaft and used for limiting the position of the horizontal driving mechanism.

The mounting frame of the vertical driving unit 7 comprises a manipulator screw upper fixing plate 75, a manipulator screw lower fixing plate 71 and a guide shaft 73, wherein the manipulator screw upper fixing plate and the manipulator screw lower fixing plate are respectively fixedly arranged on the bottom supporting frame assembly and the supporting base, and the manipulator screw upper fixing plate is parallel to the manipulator screw lower fixing plate and is respectively arranged at the upper end and the lower end of the guide shaft; the power transmission assembly comprises a vertical screw rod 72 and a belt pulley assembly, the vertical driving motor 74 and the belt pulley assembly are arranged on an upper fixing plate of the manipulator screw rod, the vertical screw rod penetrates through nuts of the clamping jaw installation part, the two nuts form screw rod nut pairs, two ends of the vertical screw rod are respectively supported on the upper fixing plate of the manipulator screw rod and the lower fixing plate of the manipulator 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 the vertical screw rod around a central shaft of the vertical screw rod under the drive of the vertical driving motor, and the nuts are driven to axially lift along the vertical screw rod; and the guide shaft is sleeved with a linear bearing, so that the clamping jaw adjusting assembly axially ascends and descends along the guide shaft.

Embodiment 2 the invention relates to a battery clamping manipulator device, which consists of a supporting unit 1, an anti-falling unit 2, a battery clamping unit horizontal driving unit 6 and a vertical driving unit 7, wherein the battery clamping unit comprises a clamping jaw assembly 3 and a clamping jaw adjusting assembly 4, a sliding bearing 5 which can be in sliding fit with a guide rail of external equipment is arranged on the outer side of the supporting unit 1, the horizontal driving unit 6 and the vertical driving unit 7 are arranged on the upper part of the supporting unit 1, and the end part of the horizontal driving unit 6 is matched with the external equipment to drive the horizontal movement of the battery holiday manipulator device; 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 a 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, is used for bearing the weight of the whole manipulator device and plays a role in connecting other components; the aluminum section 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 horizontal driving unit of the anti-falling unit 6, the vertical driving unit 7 and other parts; the manipulator supports the connecting block and plays a role in connection.

The anti-falling unit 2 is connected with the aluminum profile supporting frame, so as to catch the dropped battery by the manipulator device, and prevent the battery from falling to cause short circuit and fire. The drop prevention unit 2 includes:

The support base 23 comprises a horizontal support frame and a vertical support, wherein the horizontal support frame is a rectangular frame, and the vertical support is symmetrically arranged on the long side frame of the rectangular frame and is used for supporting and connecting a driving mechanism;

The driving mechanism is arranged on the horizontal supporting frame of the supporting base and comprises an air cylinder assembly 21 and a transmission assembly 22, wherein a set of air cylinder assemblies 21 are respectively arranged on two short sides of the horizontal supporting frame, each set of air cylinder assemblies 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 ends of the insulating board supporting base 25 are respectively connected with the corresponding transmission assemblies 22, so that the insulating board supporting base 25 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 board and driving the insulating board to move; the insulating board is laid on the surface of the insulating board supporting base and is used for preventing the battery from falling and being short-circuited.

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 cylinder assembly 21 comprises two anti-drop cylinder end fixing blocks 211, two cylinders 212 and an anti-drop cylinder middle fixing block 213, one end of each cylinder 212 is respectively connected with one anti-drop cylinder end fixing block 211, the other ends of the cylinders 212 are commonly connected to one anti-drop cylinder middle fixing block 213, the cylinders 212 are kept to be axially arranged along 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-drop cylinder end fixing block and the anti-drop cylinder middle fixing block are arranged on the surface of the second aluminum profile serving as a short side and used for fixing two sets of cylinders.

Two movable parts of the air cylinder assembly 21 are respectively provided with a set of transmission assembly 22, the transmission assembly 22 comprises an anti-drop sliding block mounting block 221, an anti-drop air cylinder middle sliding plate 222 and an anti-drop air cylinder upper sliding block 223, the anti-drop 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 a sliding plate 222 in the anti-drop cylinder is connected with the anti-drop slider mounting block 221, and the other end is connected with an anti-drop cylinder upper sliding block 223; the anti-drop cylinder upper sliding block 223 is fixedly arranged at the top of the movable part of the cylinder, and the anti-drop sliding block mounting block 221 falls below the second aluminum profile, 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 respectively positioned below the two first aluminum profiles 231; the insulation board supporting base 25 of the short circuit preventing 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 insulation board.

The axis of the fourth aluminum profile 251 is parallel to the long side of the horizontal support frame.

The insulating board support base 25 includes two fourth aluminum profiles 251 parallel to each other and three fifth aluminum profiles 252 parallel to each other, wherein the three fifth aluminum profiles 252 are arranged in parallel between the two fourth aluminum profiles 251 at equal intervals to form a ladder-shaped frame body.

The clamping mechanism 3 is connected with the clamping jaw connecting unit 41 through a screw, and the opening and closing of the clamping jaws of the clamping mechanism are controlled through controlling the stretching and contracting of the clamping jaw driving unit, so that the battery is grabbed and put in. The clamping mechanism comprises:

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 mutually parallel mounting end faces, the two mounting end faces are paved with the sliding rail 31 which is mutually parallel, 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 a limiting block component 34, wherein the power output ends of the two groups of air cylinder components 35 are respectively connected with the clamping device and keep the movement direction of the power output ends consistent with the axial direction of the supporting component, and the power output ends of the two groups of air cylinder components 35 move reversely or oppositely and are used for driving the clamping device to move along the axial direction of the supporting component; the limiting block assembly 34 is arranged on the motion track of the 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 component 33 and a second clamping piece connecting component, the first clamping piece connecting component 33 and the second clamping piece connecting component are respectively and slidably arranged on two mounting end faces of the supporting component 32, the first clamping pieces are axially arranged at intervals at the bottom of the first clamping piece connecting component 33, the second clamping pieces are axially arranged at intervals at the bottom of the second clamping piece connecting component, the first clamping pieces and the second clamping pieces are in one-to-one correspondence and are staggered in pairs to form a clamping part capable of clamping a battery; 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 move reversely or oppositely along the axial direction of the supporting assembly under the driving of the corresponding air cylinder assemblies, and the clamping parts formed by the first clamping piece and the second clamping piece are clamped or loosened.

The support assembly 32 comprises a slide rail mounting plate 321, a clamp assembly fixing plate 322 and a clamp group connecting shaft 323, wherein two mounting end surfaces of the slide rail mounting plate 321 are paved with slide rails 31 parallel to each other, the upper part of the slide rail mounting plate 321 is suspended at the lower part of the clamp assembly fixing plate 322 through the clamp group connecting shaft 323, and the slide rail mounting plate 321 is kept perpendicular to the clamp assembly fixing plate 323.

The cylinder assembly 35 is the power output of the whole manipulator clamping jaw, and is divided into two groups, and is 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 of different groups are opposite or reverse, the telescopic ends of the cylinder assemblies of the same group are in the same direction, the cylinder assembly 35 comprises a cylinder extension rod 351, a cylinder mounting plate 352 and a cylinder 353, wherein the mounting end of the cylinder extension rod 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 for mounting the stationary cylinder 353; the cylinder 353 is mounted on the cylinder mounting plate 352 and maintains the telescoping end of the cylinder consistent along the direction of the rail.

The limiting block assembly 34 comprises a second nut 341, a limiting block 342 and a screw 343, wherein the limiting block 341 is mounted on the motion track of the telescopic end of the corresponding cylinder assembly 35 and is used for limiting the motion stroke of the cylinder; the limiting block 342 is provided with a mounting hole for the screw 343 to penetrate through; the screw 343 is installed after penetrating through the installation hole on the limiting block, so that the nut of the screw 343 is used as a blocking part to be aligned with the telescopic end of the cylinder assembly 35 for limiting the movement of the telescopic end of the cylinder.

The first clip connecting assembly 33 includes a first clip 331, a first slider 332, a first clip connecting plate 333, and a first cylinder connecting piece 334, where a mounting surface of the first clip connecting plate 333 is fixedly mounted with the first slider 332 for sliding fit with the slide rail 31, and for moving the first clip along a specified direction in cooperation with the slide rail; a row of first clamping pieces are arranged at intervals along the axial direction at the bottom of the first clip connecting plate; the first cylinder connecting piece is arranged at

And the first clip connecting plate is used for supporting the corresponding cylinder assembly.

The second clamping piece connecting assembly comprises a clamp transmission assembly 36 for transmitting output power of the air cylinder assembly to the clamp buffering assembly and a clamp buffering assembly 37 for guiding the second clamping piece connecting assembly to move along the direction of the sliding rail, a set of clamp buffering assemblies are correspondingly and fixedly arranged at the bottom of each clamp fixing piece, the clamp transmission assembly 36 comprises a clamp fixing piece 361, a second clamp connecting plate 362, a reinforcing rib 363, a second air cylinder connecting piece 364 and a second sliding block 365, the clamp fixing piece, the second clamp connecting plate and the second air cylinder connecting piece play a supporting role, and the second clamping connecting plate is fixedly provided with a second sliding block which can be in sliding fit with the sliding rail on a mounting surface facing the sliding rail and is used for guiding the second clamp connecting plate to axially slide along the sliding rail; the lower part of the second clip connecting plate is provided with a row of clip fixing pieces which are in one-to-one correspondence with the first clips along the axial direction at intervals and are used for installing clip buffer assemblies; the second cylinder connecting piece is arranged at the upper part of the second clip connecting plate, and a reinforcing rib is additionally arranged at the joint of the second cylinder connecting piece and the second clip connecting plate for enhancing the strength;

the clip buffer assembly 37 comprises a third slider 371 for limiting, a spring 372 for buffering and storing energy, a guide rod 373 for guiding, a clip mounting piece 374 for supporting and a second clip piece 375 for clamping a battery, wherein the upper part of the clip mounting piece is fixedly provided with the third slider which can be in sliding fit with the slide rail and is used for driving the clip mounting piece to axially slide along the slide rail; the clip installation parts are installed at the lower parts of the corresponding clip fixing parts 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 of the two adjacent clip installation parts, which are opposite to each other; the second clip sheets are arranged at the lower part of the clip mounting piece, correspond to the first clip sheets one by one and are arranged in pairs in a staggered manner to form a clamping part capable of clamping the battery.

The axial direction of the guide rod is consistent with the movement direction of the clip mounting piece.

The clamping jaw adjusting assembly 4 is matched and connected with the diamond-shaped fixing seat through a nut and is connected with the clamping jaw connecting unit and the clamping mechanism; the clamping jaw adjusting mechanism has the function of controlling and adjusting the distance between the two clamping mechanisms 3, and controlling the vertical movement of the clamping jaw adjusting assembly and the clamping mechanisms through the cooperation of the nuts and the diamond-shaped fixing seats. Specifically, the jaw adjusting assembly 4 is composed of nine parts including a jaw connecting unit 41, a jaw transmission unit 42, a guide rail unit 43, a jaw transmission unit protecting cover 44, a driving unit protecting cover 45, a jaw driving unit 46, a linear bearing 47, a nut 48, a manipulator screw rod clip 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 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 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 clamping jaw transmission unit protection cover is connected with the manipulator screw rod clamp fixing plate and is used for preventing the movement of the clamping jaw transmission unit from damaging operators in the maintenance process of the manipulator device; the driving unit protection cover is connected with the manipulator screw rod clamp fixing plate and is used for preventing the clamping jaw driving unit from moving to hurt operators in the maintenance process of the manipulator 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 of 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 a designated direction; the nut is connected with the manipulator screw rod clamp fixing plate to play a role in transmission, and the diamond fixing seat is matched 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 all parts of the clamping jaw adjusting assembly and bearing the weight of all the parts.

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 of guiding and limiting, and enables the manipulator device to move along a designated direction through being matched with an external guide rail.

The horizontal driving unit 6 is connected with the side support and the fixed plate on the manipulator screw rod, and plays a role in power transmission and is used for controlling the horizontal movement of the manipulator device. Specifically, the horizontal driving unit is composed of eight parts, such as a gear 61, a diamond-shaped fixing seat 62, a first manipulator horizontal shaft 63, a hoop 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 diamond-shaped fixing seat plays a supporting role, is connected with the first manipulator horizontal shaft and the second manipulator horizontal shaft through shaft hole matching, and is connected with the side support through screws; the horizontal shaft of the first manipulator is connected with the gear, the diamond-shaped fixing seat and the bearing supporting unit through shaft hole matching, plays a transmission role, and transmits power output by the horizontal driving mechanism to the gear; the anchor ear is connected with the first manipulator horizontal shaft and the second manipulator horizontal shaft through shaft hole matching, plays a limiting role and is used for limiting the position of the horizontal driving mechanism; the bearing support unit is connected with the horizontal shaft of the first manipulator through shaft hole matching, and plays a role in supporting and connecting; the coupler is connected with the first manipulator horizontal shaft and the second manipulator horizontal shaft through shaft hole matching, 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 fixing seat and the bearing supporting unit through shaft hole matching, plays a transmission role, and transmits power output by the horizontal driving mechanism 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 meshed and connected with nuts through vertical screw rods, so that a power transmission function is achieved, and the movement of the clamping mechanism and the clamping jaw adjusting assembly in the vertical direction is controlled. Specifically, the vertical driving motor is composed of five major parts of a lower fixing plate 71 of the manipulator screw, a vertical screw 72, a guide shaft 73, a vertical driving motor 74 and an upper fixing plate 75 of the manipulator screw.

The lower fixing plate of the manipulator screw rod 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 guiding role, so that the clamping jaw adjusting assembly moves along a designated direction, is connected with the lower fixing plate of the manipulator screw rod and the upper fixing plate of the manipulator screw rod through screws, and is connected with the vertical driving motor through nuts; the vertical driving motor is used as a power output part and is connected with a fixed plate on a screw rod of the manipulator through a screw and is connected with the screw rod through a nut; the upper fixing plate of the manipulator screw rod 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 the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but also equivalent technical means that can be conceived by those skilled in the art according to the inventive concept.

Claims

1. A battery clamping manipulator device, comprising:

2. The battery clamping robot apparatus of claim 1, wherein: the bottom supporting frame assembly comprises an aluminum section supporting frame and a manipulator supporting connecting block, wherein the aluminum section supporting frame is a rectangular frame which is horizontally arranged, and a side support is respectively arranged on the short side of the aluminum section supporting frame; the manipulator support connecting block is arranged at the joint of the aluminum profile support frame and the side support and used for realizing the connection fixation of the aluminum profile support frame and the side support.

3. The battery clamping robot apparatus of claim 1, wherein: the horizontal support frame comprises two first aluminum profiles and two second aluminum profiles, wherein the first aluminum profiles are used as long sides of the horizontal support frame, the second aluminum profiles are used as short sides of the horizontal support 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 which are vertically arranged on the two first aluminum profiles at equal intervals;

4. The battery clamping robot apparatus of claim 1, wherein: the clamping jaw mounting part comprises a mechanical hand screw rod clamp fixing plate, a guide rail unit, a linear bearing and a nut, the clamping jaw driving part comprises a clamping jaw driving unit, a clamping jaw transmission unit, a driving unit protection cover and a clamping jaw transmission unit protection cover, the distance adjusting parts are divided into two sets, and each set of 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 the guide rail units are used for realizing sliding connection between the distance adjusting part and the manipulator screw rod clamp fixing plate; the linear bearing and the nut are embedded on the screw rod clamp fixing plate of the manipulator, 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 two form a screw rod nut pair; the clamping jaw driving unit is arranged on the mechanical hand 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 arranged on the mechanical hand screw rod clamp fixing plate in a supporting mode, the clamping jaw transmission unit is kept to be axially arranged along the guide rail unit, the clamping jaw transmission unit is provided with two clamping jaw adjusting blocks which move in opposite directions or in opposite directions, each clamping jaw adjusting block is provided with a clamping jaw connecting unit, and the driving force of the clamping jaw driving unit is transmitted to the clamping jaw connecting unit, so that the clamping jaw connecting unit is driven by the corresponding clamping jaw adjusting block to move in opposite directions or in opposite directions; the upper part of the clamping jaw connecting unit is in sliding connection with the guide rail unit, 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 movement of the clamping jaw transmission unit from damaging operators in the maintenance process of the manipulator device; the driving unit protection cover is connected with the manipulator screw rod clamp fixing plate and covers the surface of the manipulator screw rod clamp fixing plate, and the driving unit protection cover is used for preventing the damage of the movement of the clamping jaw driving unit to an operator in the maintenance process of the manipulator device.

5. The battery clamping robot apparatus of claim 4, wherein: the support component of the clamping mechanism comprises a slide rail mounting plate, a clamp component fixing plate and a clamp group connecting shaft, wherein two mounting end surfaces of the slide rail mounting plate are paved with slide rails 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 vertical to the clamp component fixing plate;

6. The battery clamping robot apparatus of claim 5, wherein: the clip buffer assembly comprises a third sliding block used for limiting, a spring used for buffering and storing energy, a guide rod used for guiding, a clip mounting piece used for supporting and a second clip piece used for clamping a battery, wherein the upper part of the clip mounting piece is fixedly provided with the third sliding block which can be in sliding fit with the sliding rail and is used for driving the clip mounting piece to axially slide along the sliding rail; the clip installation parts are installed at the lower parts of the corresponding clip fixing parts 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 of the two adjacent clip installation parts, which are opposite to each other; the second clip sheets are arranged at the lower part of the clip mounting piece, correspond to the first clip sheets one by one and are staggered in pairs to form a clamping part capable of clamping the battery; the axial direction of the guide rod is consistent with the movement direction of the clip mounting piece.

7. The battery clamping robot apparatus of 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 support unit, wherein the first manipulator horizontal shaft and the second manipulator horizontal shaft are horizontally supported at the top of the mounting frame through the diamond-shaped fixing seat and the bearing support unit 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 the central shaft of the first manipulator horizontal shaft and the second manipulator horizontal 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, and the first manipulator horizontal shaft is connected with an output shaft belt of the horizontal driving mechanism, so that the first manipulator horizontal shaft and the second manipulator horizontal shaft are driven by the horizontal driving mechanism to jointly rotate to transmit torque; the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft are respectively arranged on side supports on the same side in a supporting way, a gear which can be meshed with a rack on external equipment is fixedly arranged at the second end of the first manipulator horizontal shaft and the second end of the second manipulator horizontal shaft respectively, the rack is parallel to the guide rail, and power is transmitted through the meshing between the gear and the rack; the hoop is sleeved on the first manipulator horizontal shaft and the second manipulator horizontal shaft and used for limiting the position of the horizontal driving mechanism.

8. The battery clamping robot apparatus of claim 1, wherein: the mounting frame of the vertical driving unit comprises a manipulator screw rod upper fixing plate, a manipulator screw rod lower fixing plate and a guide shaft, wherein the manipulator screw rod upper fixing plate and the manipulator screw rod lower fixing plate are respectively fixedly arranged on the bottom supporting frame assembly and the supporting base, and the manipulator screw rod upper fixing plate is parallel to the manipulator screw rod lower fixing plate and is 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 arranged on an upper fixing plate of the mechanical hand screw rod, the vertical screw rod penetrates through nuts of the clamping jaw installation part, the vertical screw rod and the nuts form screw nut pairs, two ends of the vertical screw rod are respectively supported on the upper fixing plate of the mechanical hand screw rod and the lower fixing plate of the mechanical hand 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 the vertical screw rod around a central shaft of the vertical screw rod under the drive of the vertical driving motor, and the nuts are driven to axially lift along the vertical screw rod; and the guide shaft is sleeved with a linear bearing, so that the clamping jaw adjusting assembly axially ascends and descends along the guide shaft.

9. The battery clamping robot apparatus of claim 6, wherein: the insulating plate support base comprises two fourth aluminum profiles which are parallel to each other and three fifth aluminum profiles which are parallel to each other, wherein the three fifth aluminum profiles are arranged between the two fourth aluminum profiles in an equidistant parallel manner to form a ladder-shaped frame body.