CN113264367A - Cylindrical battery snatchs manipulator device that shifts - Google Patents
Cylindrical battery snatchs manipulator device that shifts Download PDFInfo
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- CN113264367A CN113264367A CN202110665677.7A CN202110665677A CN113264367A CN 113264367 A CN113264367 A CN 113264367A CN 202110665677 A CN202110665677 A CN 202110665677A CN 113264367 A CN113264367 A CN 113264367A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The utility model provides a cylinder battery snatchs shift manipulator device, includes: the lifting mechanism comprises a lifting driving device and a lifting connecting device, the lifting driving device is connected with a driving part of the external horizontal module, the lifting end of the lifting driving device is connected with a fixing part of the lifting connecting device, and the lifting part of the lifting driving device is connected with the pitch varying mechanism; the torque conversion mechanism is arranged below the lifting connecting device and comprises a support frame body, a horizontal driving device and an air supply device, and the support frame body is horizontally arranged right below the lifting connecting device; the two sets of horizontal driving devices are respectively arranged at the two end parts of the support frame body; a variable-pitch guide shaft is arranged between the two sets of horizontal driving devices; the air supply device is arranged on the support frame body; the clamping jaw mechanism is arranged on the variable-pitch guide shaft and comprises a fixed jaw assembly and a movable jaw assembly; the movable jaw assemblies are divided into two groups which are respectively arranged at two sides of the fixed jaw assembly. The invention has the beneficial effects that: short motion stroke, small required driving force and energy conservation.
Description
Technical Field
The invention relates to a cylindrical battery grabbing and positioning manipulator device.
Background
During the production of cylindrical batteries, the batteries are introduced into various conveying tools, such as conveying lines, material frames, mechanisms, etc. Because the production beat of the cylindrical batteries is very high and 200PPM is adopted in the industry at present, a manipulator for carrying the cylindrical batteries among tools can grab a row of batteries, generally 16 batteries. The spacing between the batteries of these tools may vary, and in order to achieve proper operation of these tools, batteries are produced, and therefore, there are battery-grasping pitch-varying robots for interfacing with tools and mechanisms having different battery spacings. The clamping jaws are guided by guide rod guide sleeves, the clamping jaws are connected through adjustable connecting blocks, one clamping jaw at one end is fixed, and the clamping jaw at the other end can move along the direction of a guide shaft under the driving of an air cylinder, so that the clamping jaw is pulled to realize variable distance.
Disclosure of Invention
In order to solve the problems, the invention provides a cylindrical battery grabbing and shifting manipulator device which is short in movement stroke, small in required driving force and energy-saving.
The invention relates to a cylindrical battery grabbing and positioning manipulator device which is characterized by comprising the following components:
the lifting mechanism comprises a lifting driving device and a lifting connecting device, the lifting driving device is connected with a driving part of an external horizontal module, the lifting end of the lifting driving device is connected with a fixing part of the lifting connecting device, and the lifting part of the lifting driving device is connected with the pitch varying mechanism and used for driving the pitch varying mechanism to lift in the vertical direction;
the torque conversion mechanism is arranged below the lifting connecting device and comprises a support frame body, a horizontal driving device and an air supply device, the support frame body is horizontally arranged right below the lifting connecting device, and the middle part of the support frame body is connected with the lifting end of the lifting driving device; the two sets of horizontal driving devices are respectively arranged at two end parts of the support frame body, keep the telescopic ends of the horizontal driving devices opposite and are used for controlling the distance between the clamping jaw mechanisms; a variable-pitch guide shaft is arranged between the two sets of horizontal driving devices and used for mounting the clamping jaw mechanism; the air supply device is arranged on the support frame body, and the control end of the air supply device is provided with an electromagnetic valve which can be communicated with an external air source and is used for controlling the clamping or loosening of the clamping jaw mechanism;
the clamping jaw mechanism is arranged on the variable-pitch guide shaft and comprises a fixed jaw assembly and a movable jaw assembly, the fixed jaw assembly comprises a fixed jaw mounting part and a fixed jaw, and the top of the fixed jaw mounting part is fixedly arranged in the middle of the variable-pitch guide shaft and used for mounting the fixed jaw; the fixed claw is suspended at the bottom of the fixed claw mounting part, and a first air pipe joint of the fixed claw is communicated with a fixed claw air pipe connector pipeline of the air supply device; the movable claw assemblies are divided into two groups which are respectively arranged on two sides of the fixed claw assembly, each set of movable claw assembly comprises a movable claw fixing part and a movable claw, the movable claw fixing parts are slidably sleeved on the variable-pitch guide shaft, and two adjacent movable claw fixing parts are mutually connected through a connecting piece; the movable claw is suspended at the bottom of the movable claw mounting part, and a second air pipe connector of the movable claw is communicated with a movable claw air pipe connector pipeline of the air supply device.
Further, the lifting connecting device comprises a first horizontal supporting plate, a drag chain, a first drag chain connecting plate and a first linear bearing, wherein two end parts of the first horizontal supporting plate are respectively provided with the first drag chain connecting plate, the first horizontal supporting plate is provided with a reinforcing rib along the length direction, and the two end parts are respectively provided with a through hole; the two drag chains are respectively arranged at two ends of the first horizontal supporting plate, the upper end of each drag chain is connected with the first drag chain connecting plate, and the lower end of each drag chain is connected with the end part of the supporting frame body; the first linear bearing is arranged at the through hole at the end part of the first horizontal supporting plate and is used for being in sliding fit with the supporting frame body.
Further, the support frame body comprises a second horizontal support plate, a third horizontal support plate, a second drag chain connecting plate, a connecting strip, a lifting guide shaft, an end support column and a middle support column, the second horizontal support plate is horizontally erected above the third horizontal support plate through the end support column, and a drive installation area for accommodating a horizontal drive device is reserved between the second horizontal support plate and the third horizontal support plate; the lifting guide shafts are divided into two groups and are respectively vertically and fixedly arranged at two end parts of the second horizontal support plate, the lifting guide shafts are arranged in the first linear bearings corresponding to the first horizontal support plate in a penetrating manner, and the upper ends of the lifting guide shafts in each group are connected together through a connecting strip after penetrating through the through holes and are used for preventing the lifting guide shafts from falling out of the through holes; the middle supporting column is arranged in the middle of the second horizontal supporting plate and the third horizontal supporting plate, the upper end of the middle supporting column is fixedly connected with the second horizontal supporting plate, and the lower end of the middle supporting column is fixedly connected with the fixed claw mounting part; the top of the second horizontal supporting plate is provided with an air supply device; and the second drag chain connecting plate is arranged on the side surface of the third horizontal supporting plate and used for fixing a drag chain.
Further, the support frame body still includes overvoltage protection buffer gear, overvoltage protection buffer gear includes position detection sensor and sensor support, sensor support install in the bottom of third horizontal support plate, position detection sensor install in on the sensor support.
Furthermore, the horizontal driving device comprises a horizontal driving cylinder, a connecting rod, an oil pressure buffering head and cylinder supports, wherein two sets of the cylinder supports are opposite and are respectively and fixedly arranged at two end parts of the third horizontal supporting plate, a variable-pitch guide shaft and a connecting rod are arranged between the cylinder supports, the variable-pitch guide shaft and the connecting rod are both arranged along the length direction of the second horizontal supporting rod and the third horizontal supporting rod, two ends of the variable-pitch guide shaft are fixedly connected with the cylinder supports, and the end parts of the connecting rods are connected with the cylinder supports through the oil pressure buffering head; the horizontal driving cylinders are arranged at the end part of the third horizontal supporting plate through cylinder supports, the telescopic ends of the two sets of horizontal driving cylinders are provided with first floating joints, and the two first floating joints are aligned to the moving claws sleeved on the variable-pitch guide shafts and used for adjusting the axial distance between the moving claws.
Further, the gas supply device comprises an integrated gas pipe joint, a second floating joint, an electromagnetic valve mounting plate and an electromagnetic valve, wherein the integrated gas pipe joint and the electromagnetic valve mounting plate are fixedly arranged on the surface of the second horizontal supporting plate, and the top of the integrated gas pipe joint is provided with the second floating joint; the electromagnetic valve is installed on the electromagnetic valve fixing plate, a main air inlet of the integrated air pipe joint is communicated with an external air source through the electromagnetic valve, and a branch air outlet of the integrated air pipe joint is communicated with a first air pipe joint of the fixing claw and a second air pipe joint pipeline of the moving claw respectively and used for controlling the fixing claw and the moving claw to grasp or release.
Further, the fixed claw mounting part comprises a fixed seat, a second linear bearing, a first buffering guide shaft, a first limiting block, a fixed clamping jaw mounting plate and a first detection sheet, the fixed seat is fixedly sleeved in the middle of the connecting rod and the variable-pitch guide shaft, and the top of the fixed seat is fixedly connected with the bottom of the middle fixed shaft; the first buffer guide shaft is arranged between the fixed seat and the fixed clamping jaw mounting plate, the top end of the first buffer guide shaft is fixedly connected with the bottom of the fixed seat, the lower end of the first buffer guide shaft is in sliding fit with the second linear bearing, and a first spring is sleeved outside the first buffer guide shaft; the second linear bearing is fixedly arranged at the top of the fixed clamping jaw mounting plate; the first detection sheet is arranged on the fixed clamping jaw mounting plate and used for detecting the state of the fixed clamping jaw; the first limiting block is arranged at the end part of the fixed clamping jaw mounting plate.
Further, the fixed claw comprises a fixed clamping claw cylinder, a first clamping finger, a first friction strip and a first air pipe connector, the fixed clamping claw cylinder is hung at the bottom of the fixed clamping claw mounting plate, a pair of first clamping fingers is mounted at the clamping end of the fixed clamping claw cylinder, and a first air pipe connector is mounted at an air inlet of the fixed clamping claw cylinder and is used for being communicated with a branch air outlet of the integrated air pipe connector and controlling the distance between the first clamping fingers to clamp or loosen the battery; the first friction strip is paved on the clamping end face opposite to the first clamping finger.
Furthermore, the movable claw mounting part comprises a sliding seat, a third linear bearing, a second buffer guide shaft, a second limiting block, a movable clamping jaw mounting plate and a second detection sheet, the sliding seat is slidably sleeved in the middle of the connecting rod and the variable-pitch guide shaft, and adjacent sliding seats, adjacent sliding seats and fixed seats are connected with each other through connecting sheets and used for realizing linkage between the sliding seats and the fixed seats; the second buffer guide shaft is arranged between the sliding seat and the movable clamping jaw mounting plate, the top end of the second buffer guide shaft is fixedly connected with the bottom of the sliding seat, the lower end of the second buffer guide shaft is in sliding fit with the third linear bearing, and a second spring is sleeved outside the second buffer guide shaft; the third linear bearing is fixedly arranged at the top of the movable clamping jaw mounting plate; the second detection sheet is arranged on the movable clamping jaw mounting plate and used for detecting the state of the movable clamping jaw; the second limiting block is arranged at the end part of the movable clamping jaw mounting plate.
Further, the movable claw comprises a movable clamping claw cylinder, second clamping fingers, a second friction strip and a first air pipe connector, the movable clamping claw cylinder is hung at the bottom of the movable clamping claw mounting plate, a pair of second clamping fingers is mounted at the clamping end of the movable clamping claw cylinder, and a second air pipe connector is mounted at an air inlet of the movable clamping claw cylinder and is used for being communicated with a branch air outlet of the integrated air pipe connector and controlling the distance between the second clamping fingers to clamp or loosen the battery; the second friction strip is paved on the clamping end face opposite to the second clamping finger.
The invention has the beneficial effects that:
(1) the middle clamping jaw is fixed, and the 2-side clamping jaw can move towards the 2 side; only half of the moving clamping jaws are arranged on each side, compared with single-side movement, the stroke is reduced by half, and the required driving force is also reduced;
(2) the movable clamping jaw is provided with a linear bearing, so that the friction resistance is reduced;
(3) the clamping jaw is provided with an overvoltage protection buffer mechanism, so that collision in the descending process can be detected;
(4) the friction strip for preventing the sliding is embedded in the inner side of the finger of the clamping jaw, so that the battery can be prevented from falling.
Drawings
FIG. 1 is one of the structural diagrams of the present invention.
FIG. 2a is a second block diagram of the present invention.
FIG. 2b is a third block diagram of the present invention.
Fig. 3 is a structural view of the elevating mechanism of the present invention.
Fig. 4 is a structural view of the pitch mechanism of the present invention.
Figure 5a is one of the structural views of the fixed jaw assembly of the present invention.
Figure 5b is a second view of the fixed jaw assembly of the present invention.
Figure 6a is one of the moving jaw assembly configurations of the present invention.
Figure 6b is a second block diagram of the moving jaw assembly of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
With reference to the accompanying drawings:
the lifting mechanism 1 comprises a lifting driving device 11 and a lifting connecting device 12, the lifting driving device 11 is connected with a driving part of an external horizontal module, a lifting end of the lifting driving device 11 is connected with a fixing part of the lifting connecting device 12, and a lifting part of the lifting driving device 11 is connected with the pitch varying mechanism 2 and used for driving the pitch varying mechanism to lift along the vertical direction;
the torque conversion mechanism 2 is arranged below the lifting connecting device 12 and comprises a support frame body 21, a horizontal driving device 22 and an air supply device 23, the support frame body 21 is horizontally arranged right below the lifting connecting device 11, and the middle part of the support frame body 21 is connected with the lifting end of the lifting driving device 11; the two sets of horizontal driving devices 22 are respectively arranged at two end parts of the support frame body 21, and the telescopic ends of the horizontal driving devices 22 are kept right opposite to each other for controlling the distance between the clamping jaw mechanisms; a variable-pitch guide shaft 24 is arranged between the two sets of horizontal driving devices and used for mounting the clamping jaw mechanism 3; the air supply device 23 is arranged on the support frame body 21, and a control end of the air supply device 23 is provided with an electromagnetic valve which can be communicated with an external air source and is used for controlling the clamping or loosening of the clamping jaw mechanism;
the clamping jaw mechanism 3 is arranged on the variable-pitch guide shaft and comprises a fixed jaw assembly 31 and a movable jaw assembly 32, the fixed jaw assembly 31 comprises a fixed jaw mounting part 311 and a fixed jaw 312, and the top of the fixed jaw mounting part 311 is fixedly arranged in the middle of the variable-pitch guide shaft and used for mounting the fixed jaw; the fixed claw 312 is suspended at the bottom of the fixed claw mounting part 311, and a first air pipe joint of the fixed claw 312 is communicated with a fixed claw air pipe joint pipeline of the air supply device 23; the movable claw assemblies 32 are divided into two groups which are respectively arranged at two sides of the fixed claw assembly 31, each group of movable claw assembly 32 comprises a movable claw fixing part 321 and a movable claw 322, the movable claw fixing parts 321 are slidably sleeved on the variable-pitch guide shaft, and the adjacent two movable claw fixing parts 321, the adjacent movable claw fixing parts and the fixed claw mounting part 31 are connected with each other through connecting pieces 33; the movable claw 322 is suspended at the bottom of the movable claw mounting portion 321, and a second air pipe joint of the movable claw 322 is communicated with a movable claw air pipe joint pipeline of the air supply device 23.
The lifting connection device 12 comprises a first horizontal support plate 121, a drag chain 122, a first drag chain connection plate 123 and a first linear bearing 124, wherein the two end parts of the first horizontal support plate 121 are respectively provided with the first drag chain connection plate 123, the first horizontal support plate 121 is provided with a reinforcing rib 125 along the length direction, and the two end parts are respectively provided with a through hole; the two drag chains 122 are respectively arranged at two ends of the first horizontal support plate 121, the upper end of the drag chain 122 is connected with the first drag chain connecting plate 123, and the lower end of the drag chain 122 is connected with the end of the support frame body 21; the first linear bearing 124 is installed right below the through hole at the end of the first horizontal support plate 121, and is used for sliding fit with the support frame body 21.
The first horizontal support plate 121 is fitted with a junction box 1211.
The support frame body 21 comprises a second horizontal support plate 211, a third horizontal support plate 212, a second drag chain connecting plate 213, a connecting bar 214, a lifting guide shaft 215, an end support column 216 and a middle support column 217, the second horizontal support plate 211 is horizontally erected above the third horizontal support plate 212 through the end support column 216, and a drive installation area for accommodating a horizontal drive device is reserved between the second horizontal support plate 211 and the third horizontal support plate 212; the lifting guide shafts 215 are divided into two groups, and are respectively and vertically and fixedly installed at two end parts of the second horizontal support plate 211, the lifting guide shafts 215 are arranged in the first linear bearings 124 corresponding to the first horizontal support plate 121 in a penetrating manner, and the upper ends of each group of the lifting guide shafts 215 are connected together through a connecting strip 214 after penetrating through the through holes, so as to prevent the lifting guide shafts from falling out of the through holes; the middle supporting column 217 is arranged in the middle of the second horizontal supporting plate 211 and the third horizontal supporting plate 212, the upper end of the middle supporting column 217 is fixedly connected with the second horizontal supporting plate 211, and the lower end of the middle supporting column 217 is fixedly connected with the fixed jaw mounting part 311; the top of the second horizontal support plate 211 is provided with an air supply device 23; the second tow chain connection plate 213 is installed at a side of the third horizontal support plate 212 to fix a tow chain.
The support frame body 21 further comprises an overvoltage protection buffer mechanism, the overvoltage protection buffer mechanism comprises a position detection sensor 218 and a sensor support 219, the sensor support 219 is installed at the bottom of the third horizontal support plate 212, and the position detection sensor 218 is installed on the sensor support 219.
The horizontal driving device 22 comprises a horizontal driving cylinder 221, a connecting rod 222, an oil pressure buffer head 223 and a cylinder bracket 224, wherein two sets of the cylinder brackets 224 are opposite, and are respectively and fixedly arranged at two ends of the third horizontal supporting plate 212, a variable-pitch guide shaft 215 and the connecting rod 222 are arranged between the cylinder brackets 224, the variable-pitch guide shaft 215 and the connecting rod 222 are both arranged along the length direction of the second horizontal supporting rod 211 and the third horizontal supporting rod 212, wherein two ends of the variable-pitch guide shaft 215 are fixedly connected with the cylinder brackets 224, and the end of the connecting rod 222 is connected with the cylinder brackets 224 through the oil pressure buffer head 223; the horizontal driving cylinders 221 are mounted at the end of the third horizontal support plate 212 through cylinder brackets 224, the telescopic ends of the two sets of horizontal driving cylinders 221 are equipped with first floating joints, and the two first floating joints are aligned with the moving claws sleeved on the variable-pitch guide shafts 215 and used for adjusting the axial distance between the moving claws.
The gas supply device 23 comprises an integrated gas pipe joint 231, a second floating joint 232, an electromagnetic valve mounting plate 233 and an electromagnetic valve 234, wherein the integrated gas pipe joint 231 and the electromagnetic valve mounting plate 233 are fixedly arranged on the surface of the second horizontal support plate 211, and the top of the integrated gas pipe joint 231 is provided with the second floating joint 232; the solenoid valve 234 is mounted on the solenoid valve fixing plate 233, and the main air inlet of the integrated air pipe joint 231 is communicated with an external air source through the solenoid valve 234, and the branch air outlets of the integrated air pipe joint 231 are respectively communicated with the first air pipe joint of the fixing claw 312 and the second air pipe joint pipeline of the moving claw 322, so as to control the grasping or releasing of the fixing claw and the moving claw.
The fixed jaw mounting part 311 includes a fixed seat 3111, a second linear bearing 3112, a first buffer guide shaft 3113, a first limit block 3114, a fixed jaw mounting plate 3115 and a first detection sheet 3116, the fixed seat 3111 is fixedly sleeved in the middle of the connecting rod 222 and the variable-pitch guide shaft 24, and the top of the fixed seat 3111 is fixedly connected with the bottom of the middle fixed shaft 217; the first buffering guide shaft 3113 is disposed between the fixed seat and the fixed jaw mounting plate 3115, a top end of the first buffering guide shaft 3113 is fixedly connected to a bottom of the fixed seat 3111, a lower end of the first buffering guide shaft 3113 is in sliding fit with the second linear bearing 3112, and a first spring 3117 is sleeved outside the first buffering guide shaft 3113; the second linear bearing 3112 is fixedly mounted on the top of the fixed jaw mounting plate 3115; the first detecting piece 3116 is mounted on the fixed jaw mounting plate 3115, and is configured to detect a state of the fixed jaw 312; first stopper 3114 set up in the tip of fixed clamping jaw mounting plate 3115.
The fixed jaw 312 comprises a fixed jaw cylinder 3121, a first clamping finger 3122, a first friction bar 3123 and a first air pipe joint 3124, the fixed jaw cylinder 3121 is suspended at the bottom of the fixed jaw mounting plate 3115, the clamping end of the fixed jaw cylinder 3121 is equipped with a pair of first clamping fingers 3122, the air inlet of the fixed jaw cylinder 3121 is equipped with the first air pipe joint 3124 for communicating with the branch air outlet of the integrated air pipe joint 231, for controlling the distance between the first clamping fingers 3122 to clamp or loosen the battery; the first friction strip 3123 is applied to the opposing clamping faces of the first clamping finger 3122.
The moving claw mounting part 321 comprises a sliding seat 3211, a third linear bearing 3212, a second buffer guide shaft 3213, a second limiting block 3214, a moving jaw mounting plate 3215 and a second detecting piece 3216, the sliding seat 3211 is slidably sleeved in the middle of the connecting rod 222 and the variable-pitch guide shaft 24, and the adjacent sliding seat 3211, the adjacent sliding seat 3211 and the fixed seat 3111 are connected with each other through a connecting piece 33 for realizing the linkage between the sliding seat 3211 and the fixed seat 3111; the second buffer guide shaft 3213 is disposed between the sliding seat 3211 and the movable jaw mounting plate 3215, a top end of the second buffer guide shaft 3213 is fixedly connected to a bottom of the sliding seat 3211, a lower end of the second buffer guide shaft 3213 is in sliding fit with the third linear bearing 3212, and a second spring 3217 is sleeved outside the second buffer guide shaft 3213; the third linear bearing 3212 is fixedly mounted on the top of the moving jaw mounting plate 3215; the second detecting piece 3216 is mounted on the moving jaw mounting plate 3215, and is configured to detect a state of the moving jaw 322; the second limiting block 3214 is disposed at an end of the movable jaw mounting plate 3215.
The moving claw 322 comprises a moving clamping claw cylinder 3221, a second clamping finger 3222, a second friction bar 3223 and a second air pipe joint 3224, the moving clamping claw cylinder 3221 is suspended at the bottom of the moving clamping claw mounting plate 3215, a pair of second clamping fingers 3222 is mounted at the clamping end of the moving clamping claw cylinder 3221, and a second air pipe joint 3224 is mounted at an air inlet of the moving clamping claw cylinder 3221 and is used for communicating with an air outlet of the integrated air pipe joint 231 and controlling the distance between the second clamping fingers 3222 to clamp or loosen the battery; the second friction strip 3223 is laid on the opposite clamping end surface of the second clamping finger 3222.
The device has the main working procedures as follows: the displacement manipulator is driven by the horizontal module to move to the position above the small-distance battery tray, the displacement mechanism is pushed by the horizontal driving cylinders at the two sides, the movable clamping jaw assembly is closed to the fixed clamping jaw assembly, the movable clamping jaw cylinder and the fixed clamping jaw cylinder are inflated, and the movable clamping jaw and the fixed clamping jaw are opened; the lifting driving device is pushed downwards, the lifting mechanism drives the clamping jaw mechanism to descend, when the clamping jaw mechanism descends to 30mm below the top surface of the battery, the lifting driving device stops, the movable clamping jaw cylinder and the fixed clamping jaw cylinder are closed, and the column battery is clamped. Then the lifting driving device pulls up the lifting mechanism to make the battery completely separate from the tray. The displacement manipulator is driven by the horizontal module to move to the top of the large-space battery tray, the displacement mechanism moves the clamping jaw assembly to be far away from the fixed clamping jaw assembly under the pulling of the horizontal driving cylinders on two sides, the movable clamping jaw assembly is far away from the fixed clamping jaw interval and is pulled open, the lifting driving device pushes out, the lifting mechanism descends, and when the battery enters a groove of the large-space tray for a certain distance, the lifting driving device stops, the movable clamping jaw and the fixed clamping jaw are opened, and the battery falls down. The lifting driving device pulls up the lifting mechanism and stops after reaching the upper preset position.
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 (10)
1. The utility model provides a cylinder battery snatchs shift manipulator device which characterized in that includes:
the lifting mechanism comprises a lifting driving device and a lifting connecting device, the lifting driving device is connected with a driving part of an external horizontal module, the lifting end of the lifting driving device is connected with a fixing part of the lifting connecting device, and the lifting part of the lifting driving device is connected with the pitch varying mechanism and used for driving the pitch varying mechanism to lift in the vertical direction;
the torque conversion mechanism is arranged below the lifting connecting device and comprises a support frame body, a horizontal driving device and an air supply device, the support frame body is horizontally arranged right below the lifting connecting device, and the middle part of the support frame body is connected with the lifting end of the lifting driving device; the two sets of horizontal driving devices are respectively arranged at two end parts of the support frame body, keep the telescopic ends of the horizontal driving devices opposite and are used for controlling the distance between the clamping jaw mechanisms; a variable-pitch guide shaft is arranged between the two sets of horizontal driving devices and used for mounting the clamping jaw mechanism; the air supply device is arranged on the support frame body, and the control end of the air supply device is provided with an electromagnetic valve which can be communicated with an external air source and is used for controlling the clamping or loosening of the clamping jaw mechanism;
the clamping jaw mechanism is arranged on the variable-pitch guide shaft and comprises a fixed jaw assembly and a movable jaw assembly, the fixed jaw assembly comprises a fixed jaw mounting part and a fixed jaw, and the top of the fixed jaw mounting part is fixedly arranged in the middle of the variable-pitch guide shaft and used for mounting the fixed jaw; the fixed claw is suspended at the bottom of the fixed claw mounting part, and a first air pipe joint of the fixed claw is communicated with a fixed claw air pipe connector pipeline of the air supply device; the movable claw assemblies are divided into two groups which are respectively arranged on two sides of the fixed claw assembly, each set of movable claw assembly comprises a movable claw fixing part and a movable claw, the movable claw fixing parts are slidably sleeved on the variable-pitch guide shaft, and two adjacent movable claw fixing parts are mutually connected through a connecting piece; the movable claw is suspended at the bottom of the movable claw mounting part, and a second air pipe connector of the movable claw is communicated with a movable claw air pipe connector pipeline of the air supply device.
2. The cylindrical battery gripping and positioning manipulator device as claimed in claim 1, wherein: the lifting connecting device comprises a first horizontal supporting plate, a drag chain, a first drag chain connecting plate and a first linear bearing, wherein the two end parts of the first horizontal supporting plate are respectively provided with the first drag chain connecting plate, the first horizontal supporting plate is provided with a reinforcing rib along the length direction, and the two end parts are respectively provided with a through hole; the two drag chains are respectively arranged at two ends of the first horizontal supporting plate, the upper end of each drag chain is connected with the first drag chain connecting plate, and the lower end of each drag chain is connected with the end part of the supporting frame body; the first linear bearing is arranged at the through hole at the end part of the first horizontal supporting plate and is used for being in sliding fit with the supporting frame body.
3. The cylindrical battery gripping and positioning manipulator device as claimed in claim 2, wherein: the support frame body comprises a second horizontal support plate, a third horizontal support plate, a second drag chain connecting plate, a connecting strip, a lifting guide shaft, an end support column and a middle support column, the second horizontal support plate is horizontally erected above the third horizontal support plate through the end support column, and a drive mounting area for accommodating a horizontal drive device is reserved between the second horizontal support plate and the third horizontal support plate; the lifting guide shafts are divided into two groups and are respectively vertically and fixedly arranged at two end parts of the second horizontal support plate, the lifting guide shafts are arranged in the first linear bearings corresponding to the first horizontal support plate in a penetrating manner, and the upper ends of the lifting guide shafts in each group are connected together through a connecting strip after penetrating through the through holes and are used for preventing the lifting guide shafts from falling out of the through holes; the middle supporting column is arranged in the middle of the second horizontal supporting plate and the third horizontal supporting plate, the upper end of the middle supporting column is fixedly connected with the second horizontal supporting plate, and the lower end of the middle supporting column is fixedly connected with the fixed claw mounting part; the top of the second horizontal supporting plate is provided with an air supply device; and the second drag chain connecting plate is arranged on the side surface of the third horizontal supporting plate and used for fixing a drag chain.
4. The cylindrical battery gripping and positioning manipulator device as claimed in claim 3, wherein: the support body still includes overvoltage protection buffer gear, overvoltage protection buffer gear includes position detection sensor and sensor support, sensor support install in the bottom of third horizontal support board, position detection sensor install in on the sensor support.
5. The cylindrical battery gripping and positioning manipulator device as claimed in claim 4, wherein: the horizontal driving device comprises a horizontal driving air cylinder, a connecting rod, an oil pressure buffering head and an air cylinder support, wherein two sets of air cylinder supports are opposite and are fixedly arranged at two end parts of the third horizontal supporting plate respectively; the horizontal driving cylinders are arranged at the end part of the third horizontal supporting plate through cylinder supports, the telescopic ends of the two sets of horizontal driving cylinders are provided with first floating joints, and the two first floating joints are aligned to the moving claws sleeved on the variable-pitch guide shafts and used for adjusting the axial distance between the moving claws.
6. The cylindrical battery gripping and positioning manipulator device as claimed in claim 5, wherein: the gas supply device comprises an integrated gas pipe joint, a second floating joint, an electromagnetic valve mounting plate and an electromagnetic valve, wherein the integrated gas pipe joint and the electromagnetic valve mounting plate are fixedly arranged on the surface of the second horizontal supporting plate, and the top of the integrated gas pipe joint is provided with the second floating joint; the electromagnetic valve is installed on the electromagnetic valve fixing plate, a main air inlet of the integrated air pipe joint is communicated with an external air source through the electromagnetic valve, and a branch air outlet of the integrated air pipe joint is communicated with a first air pipe joint of the fixing claw and a second air pipe joint pipeline of the moving claw respectively and used for controlling the fixing claw and the moving claw to grasp or release.
7. The cylindrical battery gripping and positioning manipulator device as claimed in claim 6, wherein: the fixed claw mounting part comprises a fixed seat, a second linear bearing, a first buffering guide shaft, a first limiting block, a fixed clamping claw mounting plate and a first detection sheet, the fixed seat is fixedly sleeved in the middle of the connecting rod and the variable-pitch guide shaft, and the top of the fixed seat is fixedly connected with the bottom of the middle fixed shaft; the first buffer guide shaft is arranged between the fixed seat and the fixed clamping jaw mounting plate, the top end of the first buffer guide shaft is fixedly connected with the bottom of the fixed seat, the lower end of the first buffer guide shaft is in sliding fit with the second linear bearing, and a first spring is sleeved outside the first buffer guide shaft; the second linear bearing is fixedly arranged at the top of the fixed clamping jaw mounting plate; the first detection sheet is arranged on the fixed clamping jaw mounting plate and used for detecting the state of the fixed clamping jaw; the first limiting block is arranged at the end part of the fixed clamping jaw mounting plate.
8. The cylindrical battery gripping and positioning manipulator device as claimed in claim 7, wherein: the fixed claw comprises a fixed clamping claw cylinder, a first clamping finger, a first friction strip and a first air pipe connector, the fixed clamping claw cylinder is suspended at the bottom of the fixed clamping claw mounting plate, a pair of first clamping fingers are mounted at the clamping end of the fixed clamping claw cylinder, and the first air pipe connector is mounted at an air inlet of the fixed clamping claw cylinder, is communicated with a gas outlet of the integrated air pipe connector and is used for controlling the distance between the first clamping fingers to clamp or loosen the battery; the first friction strip is paved on the clamping end face opposite to the first clamping finger.
9. The cylindrical battery gripping and positioning manipulator device as claimed in claim 6, wherein: the movable claw mounting part comprises a sliding seat, a third linear bearing, a second buffer guide shaft, a second limiting block, a movable clamping claw mounting plate and a second detection sheet, the sliding seat is slidably sleeved in the middle of the connecting rod and the variable-pitch guide shaft, and the adjacent sliding seats, the adjacent sliding seats and the fixed seats are mutually connected through connecting sheets and used for realizing linkage between the sliding seats and the fixed seats; the second buffer guide shaft is arranged between the sliding seat and the movable clamping jaw mounting plate, the top end of the second buffer guide shaft is fixedly connected with the bottom of the sliding seat, the lower end of the second buffer guide shaft is in sliding fit with the third linear bearing, and a second spring is sleeved outside the second buffer guide shaft; the third linear bearing is fixedly arranged at the top of the movable clamping jaw mounting plate; the second detection sheet is arranged on the movable clamping jaw mounting plate and used for detecting the state of the movable clamping jaw; the second limiting block is arranged at the end part of the movable clamping jaw mounting plate.
10. The cylindrical battery gripping and positioning manipulator device as claimed in claim 9, wherein: the movable claw comprises a movable clamping claw cylinder, a second clamping finger, a second friction strip and a second air pipe connector, the movable clamping claw cylinder is suspended at the bottom of the movable clamping claw mounting plate, a pair of second clamping fingers is mounted at the clamping end of the movable clamping claw cylinder, and a second air pipe connector is mounted at an air inlet of the movable clamping claw cylinder and is used for being communicated with a branch air outlet of the integrated air pipe connector and controlling the distance between the second clamping fingers to clamp or loosen the battery; the second friction strip is paved on the clamping end face opposite to the second clamping finger.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665677.7A CN113264367A (en) | 2021-06-16 | 2021-06-16 | Cylindrical battery snatchs manipulator device that shifts |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665677.7A CN113264367A (en) | 2021-06-16 | 2021-06-16 | Cylindrical battery snatchs manipulator device that shifts |
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| CN113264367A true CN113264367A (en) | 2021-08-17 |
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| CN202110665677.7A Pending CN113264367A (en) | 2021-06-16 | 2021-06-16 | Cylindrical battery snatchs manipulator device that shifts |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114308727A (en) * | 2021-12-31 | 2022-04-12 | 浙江杭可科技股份有限公司 | Square lithium cell loading attachment |
| CN114590580A (en) * | 2022-02-24 | 2022-06-07 | 盐城国投中科新能源科技有限公司 | Cell stacking clamping jaw device |
| CN116142781A (en) * | 2023-04-14 | 2023-05-23 | 杭州深度视觉科技有限公司 | Pitch-changing manipulator and conveying device |
| CN114308727B (en) * | 2021-12-31 | 2024-05-10 | 浙江杭可科技股份有限公司 | Square lithium battery loading attachment |
-
2021
- 2021-06-16 CN CN202110665677.7A patent/CN113264367A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114308727A (en) * | 2021-12-31 | 2022-04-12 | 浙江杭可科技股份有限公司 | Square lithium cell loading attachment |
| CN114308727B (en) * | 2021-12-31 | 2024-05-10 | 浙江杭可科技股份有限公司 | Square lithium battery loading attachment |
| CN114590580A (en) * | 2022-02-24 | 2022-06-07 | 盐城国投中科新能源科技有限公司 | Cell stacking clamping jaw device |
| CN116142781A (en) * | 2023-04-14 | 2023-05-23 | 杭州深度视觉科技有限公司 | Pitch-changing manipulator and conveying device |
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