CN114211476A - Multirow snatchs material manipulator device - Google Patents

Abstract

The invention discloses a multi-row material grabbing manipulator device which comprises a rack assembly, manipulator assemblies and linear modules, wherein a plurality of groups of linear modules are arranged on the rack assembly side by side, and each group of linear modules is provided with one manipulator assembly in a sliding manner; the rack assembly comprises transverse supporting columns and a plurality of sets of supporting frames, the supporting frames are arranged on the same side of the transverse supporting columns side by side, and each set of supporting frame is horizontally paved with a group of linear modules; the manipulator assembly comprises an installation part, a vertical lifting part, a clamping jaw assembly and a sensor assembly, wherein the installation part is connected with the sliding part of the corresponding linear module; vertical lift portion vertical install in on the installation department, a mounting panel is joined in marriage to the lift end of vertical lift portion, and a plurality of clamping jaw subassemblies that are used for pressing from both sides tight battery are hung side by side to the bottom of mounting panel, the side-mounting of mounting panel a set of sensor subassembly at least. The invention has the beneficial effects that: simple structure, compatibility are strong, can be directly with the quick butt joint of current production line, improve the work efficiency of producing the line.

Description

Multirow snatchs material manipulator device

Technical Field

The invention relates to a double-row material grabbing manipulator device, and belongs to the technical field of lithium battery sorting.

Background

At present, new energy automobiles are vigorously advocated in China, the lithium battery industry also has great development, under the condition, the production effect and the efficiency requirement on the lithium battery are more and more strict, therefore, the production process of the battery core needs to be strengthened to effectively control so as to improve the efficiency and the productivity of a production line, and the lithium battery is automatically taken out during the separation of the related cylindrical lithium batteries, and mechanization is not yet solved.

Disclosure of Invention

In order to solve the problem of automation and mechanization of lithium battery taking in the sorting of cylindrical lithium batteries, the invention provides a double-row material grabbing manipulator device which has the advantages of simple structure, strong compatibility and the like, and can be directly and quickly butted with the existing production line, so that the working efficiency of the production line is improved.

The invention relates to a multi-row material grabbing manipulator device, which is characterized in that: the battery-grabbing device comprises a rack assembly for supporting, a manipulator assembly for grabbing a battery and a linear module for guiding the manipulator assembly to move linearly, wherein a plurality of groups of linear modules are arranged on the rack assembly side by side, and each group of linear modules is provided with a set of manipulator assembly in a sliding manner; the rack assembly comprises transverse supporting columns and a plurality of sets of supporting frames, the supporting frames are arranged on the same side of the transverse supporting columns side by side, a group of linear modules are horizontally paved on each set of supporting frame, and the linear modules are perpendicular to the transverse supporting columns; the axial direction of the transverse supporting column is taken as the transverse direction, and the axial direction of the linear module is taken as the longitudinal direction; the manipulator assembly comprises an installation part, a vertical lifting part, a clamping jaw assembly and a sensor assembly, and the installation part is connected with the sliding part of the corresponding linear module; the battery clamping device is characterized in that the vertical lifting part is vertically installed on the installation part, a mounting plate is assembled at the lifting end of the vertical lifting part, a plurality of clamping jaw assemblies used for clamping a battery are hung at the bottom of the mounting plate side by side, and at least one group of sensor assemblies used for detecting whether the clamping jaw assemblies reach the position of the battery are installed on the side face of the mounting plate.

Furthermore, the support frame comprises two longitudinal support columns and a connecting plate which are parallel to each other, and two groups of the longitudinal support columns are connected to the transverse support columns together; the connecting plate is connected between two longitudinal support columns in the same group.

Furthermore, each support frame is provided with a group of linear modules, and the longitudinal length of each group of linear modules is different.

Furthermore, the linear module comprises two linear guide rails which are parallel to each other, a sliding block which is slidably arranged on the linear guide rails and a servo motor which is used for driving the sliding block to longitudinally move, and the two linear guide rails are respectively arranged on two groups of longitudinal support columns of the corresponding support frame along the longitudinal direction; the four groups of sliding blocks are arranged in pairs, can be arranged on the linear guide rail in a sliding manner and are used for installing mechanical arm components; the servo motor is arranged at one end of one of the linear guide rails, and the output end of the servo motor is connected with the power input ends of the two linear guide rails and used for driving the sliding block to axially slide along the linear guide rails.

Further, the mounting part of the manipulator assembly comprises a movable plate and a reinforcing plate; the vertical lifting part comprises a linear bearing, a guide shaft, a connecting block, a vertical lifting cylinder, a floating joint, a vertical lifting cylinder connecting block and a gas pipe block assembly, the movable plate is a rectangular plate, and two end parts in the long edge direction of the movable plate are respectively erected on two linear modules of the supporting frame and connected with the sliding block; two groups of reinforcing plates are arranged on two sides of the long edge of the movable plate; four groups of linear bearings are respectively embedded on the movable plate; the four groups of guide shafts are respectively arranged in the corresponding linear bearings in a penetrating manner, the guide shafts are divided into one group two by two and are arranged on two transversely opposite sides of the vertical lifting cylinder, the tops of the two guide shafts in the same group are connected with one connecting block, the bottoms of the guide shafts are jointly connected on the same mounting plate, the mounting plate is a rectangular plate, and two sides of the long edge of the mounting plate are respectively provided with one rib plate; the vertical lifting cylinder is vertically arranged on the movable plate, and the lifting end of the vertical lifting cylinder penetrates through the movable plate; the vertical lifting cylinder connecting block is arranged on the mounting plate right below the vertical lifting cylinder; the floating joint is arranged at the lifting end of the vertical lifting cylinder and is aligned with the vertical lifting cylinder connecting block right below; the air pipe block assemblies are four in number and are arranged on the mounting plate, the vertical lifting air cylinder is communicated with the clamping jaw assembly through the air pipe block assemblies and an external air source pipeline respectively, and the air pipe block assemblies are used for controlling the vertical lifting air cylinder and the clamping jaw assembly to act.

Furthermore, the clamping jaw assembly comprises a clamping jaw fixing block, a fixing seat, a spring cushion block, a base, a cylinder fixing block, a limiting block, a detection piece, a clamping jaw cylinder and a clamping jaw, wherein the clamping jaw fixing block is arranged below the mounting plate and connected to the mounting plate; the fixed seats are provided with four groups, wherein two groups are arranged at two ends of the clamping jaw fixed block, and the other two groups are arranged at two ends of the cylinder fixed block; the two groups of springs are arranged between the spring cushion block and the clamping jaw fixing plate, the upper ends of the springs are connected with the clamping jaw fixing plate, and the lower ends of the springs are connected to the base through the spring cushion block; two groups of bases are arranged at two ends of the cylinder fixing block respectively; two groups of limiting blocks are arranged below two ends of the cylinder fixing block; the detection piece is arranged in the middle of the cylinder fixing block; the clamping jaw air cylinder is arranged below the air cylinder fixing block, and two clamping ends, opposite to the clamping jaw air cylinder, are respectively provided with a clamping jaw for clamping a battery.

Furthermore, the two groups of sensor assemblies comprise sensor mounting plates and sensors, and the sensor mounting plates are arranged on the side surfaces of the mounting plates; the sensor set up in on the sensor mounting panel for whether detect clamping jaw assembly reachs the battery position.

The method for taking materials by using the multi-row material grabbing manipulator device comprises the following steps:

1) the vertical lifting cylinder acts, the clamping jaw assembly moves downwards, and the sensor assembly receives data and judges whether the battery reaches the position;

2) when the manipulator assembly reaches the position of the battery, the clamping jaw cylinder acts to clamp the battery;

3) after the battery is clamped, a servo motor in the linear module acts to drive the manipulator assembly to move linearly along the linear module;

4) after reaching the position, the clamping jaw air cylinder acts to place the batteries one by one in a temporary storage position.

The invention has the beneficial effects that: the double-row material grabbing manipulator device has the advantages of being simple in structure, strong in compatibility and the like, and can be directly and rapidly butted with an existing production line, so that the working efficiency of the production line is improved.

Drawings

Fig. 1 is a structural diagram of the present invention (taking a double-row material grabbing manipulator device as an example);

FIG. 2 is a block diagram of the robot assembly of the present invention;

FIG. 3 is a block diagram of the jaw assembly of the present invention;

FIG. 4 is a block diagram of the rack assembly of the present invention;

FIG. 5 is a top view of the linear module of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

With reference to the accompanying drawings:

embodiment 1 the invention provides a double-row material grabbing manipulator device, which includes a manipulator assembly 100 for grabbing a battery, a rack assembly 3 for supporting the manipulator assembly, and a linear module 4 for the manipulator assembly to perform linear motion; two groups of linear modules 4 are arranged on the rack component 3 side by side, and a set of manipulator component is slidably arranged on each group of linear modules; the rack component 3 comprises a horizontal support column 31 and two sets of support frames, namely a first support frame 32 and a second support frame 33, which are horizontally arranged, the first support frame 32 and the second support frame 33 are arranged side by side on the same side of the horizontal support column 31, a group of linear modules 4 are horizontally paved on the first support frame 32 and the second support frame 33, and the linear modules 4 are vertical to the horizontal support column 31; the axial direction of the transverse supporting column is taken as the transverse direction, and the axial direction of the linear module is taken as the longitudinal direction; in this embodiment, the two sets of manipulator assemblies 100 are a first manipulator assembly 1 and a second manipulator assembly 2, which are respectively arranged on the corresponding linear modules, and the two sets of manipulator assemblies have the same structure and different positions; the manipulator assembly comprises a mounting part, a vertical lifting part, a clamping jaw assembly 112 and a sensor assembly 113; the mounting part is connected with the sliding part of the corresponding linear module; the vertical lifting part is vertically arranged on the mounting part, a mounting plate 108 is assembled at the lifting end of the vertical lifting part, 16 groups of clamping jaw assemblies 112 used for clamping the battery are hung side by side at the bottom of the mounting plate 108, and two groups of sensor assemblies 113 used for detecting whether the clamping jaw assemblies reach the position of the battery are arranged on the side surface of the mounting plate 108.

The first support frame 32 and the second support frame 33 have the same structure, and each support frame comprises two longitudinal support columns 301 and a connecting plate 302 which are parallel to each other, wherein two groups of the longitudinal support columns 301 are connected to the transverse support column 31; the connecting plate 302 is connected between two longitudinal support posts 301 of the same group. The first support frame 32 and the second support frame 33 are different in that the longitudinal length of the longitudinal support column 301 of the first support frame 32 is smaller than the longitudinal length of the longitudinal support column 301 of the second support frame 33.

The first support frame 32 and the second support frame 33 are respectively provided with a group of the linear modules 4, and the longitudinal length of each group of the linear modules 4 is equal to that of the linear module 4. The two groups of linear modules 4 are identical in structure and different in longitudinal length, each group of linear modules 4 comprises two linear guide rails 41 which are parallel to each other, a sliding block 42 which is slidably arranged on the linear guide rails and a servo motor 43 which is used for driving the sliding block to longitudinally move, the two groups of linear guide rails 41 are arranged on the two groups of longitudinal support columns 301, the sliding block 42 is provided with four blocks, every two blocks are one group and are respectively slidably arranged on the two groups of linear guide rails; the servo motor 43 is arranged at one end of the group of linear guide rails 41, and the output end of the servo motor 43 is connected with the power input ends of the two linear guide rails 41 and is used for driving the sliding block to slide along the axial direction of the linear guide rails.

The transverse outer sides of the first support frame 32 and the second support frame 33 are respectively provided with a set of drag chain assembly 34, which comprises drag chain plates 341 and drag chains 342, the drag chain plates are arranged on the outer sides of the longitudinal support columns 301, and drag chain grooves are arranged on the drag chain plates along the longitudinal direction; the drag chain is laid in the drag chain groove, and the pulling end of the drag chain is connected with the manipulator assembly.

The mounting part of the manipulator assembly comprises a movable plate 101 and a reinforcing plate 102; the vertical lifting part comprises a linear bearing 103, a guide shaft 104, a connecting block 105, a vertical lifting cylinder 106, a floating joint 107, a mounting plate 108, a rib plate 109, a vertical lifting cylinder connecting block 110 and a gas pipe block assembly 111; the movable plate 101 is a rectangular plate, is arranged on the linear module 41, and is connected with the sliding block; two groups of reinforcing plates 102 are arranged on two sides of the long side of the movable plate 101, four groups of linear bearings 103 are respectively embedded on the movable plate 101, four groups of guide shafts 104 are respectively arranged in the linear bearings 103 in a penetrating manner, and two groups of guide shafts 104 are respectively arranged on two opposite sides of the vertical lifting cylinder 106 in the transverse direction; the tops of two guide shafts 104 in the same group are connected with one connecting block 105, the bottoms of the guide shafts 104 are connected to the same mounting plate 108 together, the mounting plate is a rectangular plate, and two rib plates are mounted on two sides of the long edge of the mounting plate respectively; the vertical lifting cylinder 106 is arranged on the movable plate 101, and a lifting end of the vertical lifting cylinder 106 passes through the movable plate 101; the vertical lifting cylinder connecting block 110 is arranged on the mounting plate 108 right below the vertical lifting cylinder 106; the floating joint 107 is arranged at the lower end of the air cylinder 106 and is aligned with the vertical lifting air cylinder connecting block 110 right below; there are four air pipe block subassemblies 111, set up in on the mounting panel 108, and vertical lift cylinder 106 the clamping jaw cylinder 11209 passes through air pipe block subassembly 111 respectively and outside air supply pipeline intercommunication.

Sixteen groups of clamping jaw assemblies 112 are transversely suspended at the bottom of the mounting plate 108 side by side and comprise clamping jaw fixing blocks 11201, fixing seats 11202, springs 11203, spring cushion blocks 11204, a base 11205, cylinder fixing blocks 11206, limiting blocks 11207, a detection piece 11208, a clamping jaw cylinder 11209 and clamping jaws 11210. The clamping jaw fixing blocks 11201 are arranged below the mounting plate 108 and connected to the mounting plate 108, four groups of the fixing seats 11202 are provided, two groups of the fixing seats 11201 are arranged at two ends of the clamping jaw fixing blocks 11201, the other two groups of the fixing seats 11202 are arranged at two ends of the cylinder fixing blocks 11206, two groups of the springs 11203 are arranged between the spring cushion blocks 11205 and the clamping jaw fixing blocks 11201, the upper ends of the springs 11204 are connected with the clamping jaw fixing plates, and the lower ends of the springs 11203 are connected to the base 11025 through the two groups of the spring cushion blocks 11204; two groups of the bases 11025 are arranged on the cylinder fixing block 11206, two groups of the limiting blocks 11207 are arranged below two ends of the cylinder fixing block 11206, the detection piece 11208 is arranged in the middle of the cylinder fixing block 11206, two groups of the clamping jaw cylinders 11209 are arranged below the cylinder fixing block 11206, and two clamping jaws are respectively arranged at two opposite clamping ends of each clamping jaw cylinder and used for clamping a battery 11211; the clamping jaws 11210 are provided with four groups, wherein two groups are arranged below one group of clamping jaw air cylinders 11209, and the other two groups are arranged below the other group of clamping jaw air cylinders 11209; there are two sets of batteries 11211, set up respectively under two sets of clamping jaws 11210, are got by the clamp, sensor assembly 113 has two sets ofly, including sensor mounting panel 1131 and sensor 1132, sensor mounting panel 1131 set up in the mounting panel 108 side, sensor 1132 set up in on the sensor mounting panel 1131 for whether detect clamping jaw assembly reachs the battery position.

Example 2: the double-row material grabbing manipulator device is utilized to explain material taking actions:

1) the vertical lifting cylinder 106 acts, the clamping jaw assembly 112 moves downwards, and the sensor assembly 113 receives data and judges whether the battery reaches the position;

2) when the manipulator assembly reaches the position of the battery, the clamping jaw cylinder 11209 acts to clamp the battery;

3) after the battery is clamped, the servo motor 43 in the linear module 4 acts to drive the manipulator assembly to move linearly along the linear module 4;

4) after reaching the position, the gripper cylinder 11209 is actuated to place the batteries one by one in a temporary storage 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 (7)

1. The utility model provides a multirow material manipulator device of grabbing which characterized in that: the battery-grabbing device comprises a rack assembly for supporting, a manipulator assembly for grabbing a battery and a linear module for guiding the manipulator assembly to move linearly, wherein a plurality of groups of linear modules are arranged on the rack assembly side by side, and each group of linear modules is provided with a set of manipulator assembly in a sliding manner; the rack assembly comprises transverse supporting columns and a plurality of sets of supporting frames, the supporting frames are arranged on the same side of the transverse supporting columns side by side, a group of linear modules are horizontally paved on each set of supporting frame, and the linear modules are perpendicular to the transverse supporting columns; the axial direction of the transverse supporting column is taken as the transverse direction, and the axial direction of the linear module is taken as the longitudinal direction; the manipulator assembly comprises an installation part, a vertical lifting part, a clamping jaw assembly and a sensor assembly, and the installation part is connected with the sliding part of the corresponding linear module; the battery clamping device is characterized in that the vertical lifting part is vertically installed on the installation part, a mounting plate is assembled at the lifting end of the vertical lifting part, a plurality of clamping jaw assemblies used for clamping a battery are hung at the bottom of the mounting plate side by side, and at least one group of sensor assemblies used for detecting whether the clamping jaw assemblies reach the position of the battery are installed on the side face of the mounting plate.

2. A multi-row material picking robot apparatus as claimed in claim 1, wherein: the supporting frame comprises two longitudinal supporting columns and a connecting plate which are parallel to each other, and two groups of the longitudinal supporting columns are connected to the transverse supporting columns together; the connecting plate is connected between two longitudinal support columns in the same group.

3. A multi-row material picking robot apparatus as claimed in claim 2, wherein: and a group of linear modules is arranged on each support frame, and the longitudinal length of each group of linear modules is different.

4. A multi-row material grabbing robot apparatus as claimed in claim 3, wherein: the linear module comprises linear guide rails parallel to each other, a sliding block slidably arranged on the linear guide rails and a servo motor for driving the sliding block to longitudinally move, and the linear guide rails are respectively arranged on two groups of longitudinal supporting columns of the corresponding supporting frame along the longitudinal direction; the sliding blocks are grouped in pairs, can be arranged on the linear guide rail in a sliding mode respectively, and are used for installing mechanical arm components; the servo motor is arranged at one end of one of the linear guide rails, and the output end of the servo motor is connected with the power input ends of the two linear guide rails and used for driving the sliding block to axially slide along the linear guide rails.

5. The multi-row material grabbing robot device according to claim 4, wherein: the mounting part of the manipulator assembly comprises a movable plate and a reinforcing plate; the vertical lifting part comprises a linear bearing, a guide shaft, a connecting block, a vertical lifting cylinder, a floating joint, a vertical lifting cylinder connecting block and a gas pipe block assembly, the movable plate is a rectangular plate, and two end parts in the long edge direction of the movable plate are respectively erected on two linear modules of the supporting frame and connected with the sliding block; two groups of reinforcing plates are arranged on two sides of the long edge of the movable plate; the linear bearings are respectively embedded on the movable plates; the guide shafts are respectively arranged in the corresponding linear bearings in a penetrating manner, the guide shafts are grouped into a group in pairs and are respectively arranged on two transversely opposite sides of the vertical lifting cylinder, the tops of the two guide shafts in the same group are connected with one connecting block, the bottoms of the guide shafts are jointly connected onto the same mounting plate, the mounting plate is a rectangular plate, and two rib plates are respectively arranged on two sides of the long edge of the mounting plate; the vertical lifting cylinder is vertically arranged on the movable plate, and the lifting end of the vertical lifting cylinder penetrates through the movable plate; the vertical lifting cylinder connecting block is arranged on the mounting plate right below the vertical lifting cylinder; the floating joint is arranged at the lifting end of the vertical lifting cylinder and is aligned with the vertical lifting cylinder connecting block right below; the air pipe block assemblies are four in number and are arranged on the mounting plate, and the vertical lifting air cylinder and the clamping jaw assemblies are communicated with an external air source pipeline through the air pipe block assemblies respectively.

6. The multi-row material grabbing robot device according to claim 5, wherein: the clamping jaw assembly comprises a clamping jaw fixing block, a fixing seat, a spring cushion block, a base, a cylinder fixing block, a limiting block, a detection piece, a clamping jaw cylinder and a clamping jaw, wherein the clamping jaw fixing block is arranged below the mounting plate and connected to the mounting plate; the fixed seats are provided with four groups, wherein two groups are arranged at two ends of the clamping jaw fixed block, and the other two groups are arranged at two ends of the cylinder fixed block; the two groups of springs are arranged between the spring cushion block and the clamping jaw fixing plate, the upper ends of the springs are connected with the clamping jaw fixing block, and the lower ends of the springs are connected to the base through the spring cushion block; two groups of bases are arranged at two ends of the cylinder fixing block respectively; two groups of limiting blocks are arranged below two ends of the cylinder fixing block; the detection piece is arranged in the middle of the cylinder fixing block; the clamping jaw air cylinder is arranged below the air cylinder fixing block, and two clamping ends, opposite to the clamping jaw air cylinder, are respectively provided with a clamping jaw for clamping a battery.

7. The multi-row material grabbing robot device according to claim 6, wherein: the sensor assemblies are divided into two groups, each group comprises a sensor mounting plate and a sensor, and the sensor mounting plates are arranged on the side surfaces of the mounting plates; the sensor set up in on the sensor mounting panel for whether detect clamping jaw assembly reachs the battery position.

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