CN114834887B - Battery clamping manipulator, fork part of stacker and stacker - Google Patents

Battery clamping manipulator, fork part of stacker and stacker Download PDF

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Publication number
CN114834887B
CN114834887B CN202210446064.9A CN202210446064A CN114834887B CN 114834887 B CN114834887 B CN 114834887B CN 202210446064 A CN202210446064 A CN 202210446064A CN 114834887 B CN114834887 B CN 114834887B
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China
Prior art keywords
fork
battery
clamping
clamping jaw
bracket
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Active
Application number
CN202210446064.9A
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Chinese (zh)
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CN114834887A (en
Inventor
李泉辉
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Xiamen Henandao Intelligent Technology Co ltd
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Individual
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Priority to CN202210446064.9A priority Critical patent/CN114834887B/en
Publication of CN114834887A publication Critical patent/CN114834887A/en
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Publication of CN114834887B publication Critical patent/CN114834887B/en
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Classifications

    • 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
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Abstract

The application discloses a battery clamping manipulator, a fork part of a stacker and the stacker, wherein the battery clamping manipulator comprises a bracket, two clamping jaw parts and a first power mechanism arranged on the bracket; the two clamping jaw parts are opposite up and down, and the first power mechanism controls the distance between the two clamping jaw parts so as to clamp or loosen the battery. The battery clamping manipulator does not need to move up and down when clamping/loosening the battery, but only moves one or two clamping jaw parts by a small displacement in the up-down direction, so that the application does not need to use a tray in the production process transmission process of formation, capacity division, standing and the like of the battery, thereby achieving the purposes of reducing the production cost and the like.

Description

Battery clamping manipulator, fork part of stacker and stacker
Technical Field
The application relates to the technical field of battery processing, in particular to a battery clamping manipulator, a fork part of a stacker and the stacker.
Background
At present, in the production and processing process of the battery, the battery is conveyed by adopting a mode of matching a tray with a stacker, so that the battery is assisted to finish the production processes of formation, capacity division, standing and the like. The pallet is placed in a pallet jig in groups, a pallet fork of the stacker supports the pallet, the pallet and the batteries on the pallet are sent into a formation/capacity-dividing cabinet, after the formation/capacity division of the batteries is completed, the stacker removes the pallet and the batteries on the pallet from the formation/capacity-dividing cabinet, and finally the pallet and the batteries on the pallet are sent to a standing shelf for standing. In the process, a large number of trays are needed, and the defects of high cost, space occupation and the like of the trays exist.
In the battery production and processing process, a manipulator is often required to grasp the battery so as to liberate manpower and realize efficient operation. Currently, the two clamping jaw parts of the battery clamping manipulator in the prior art can only clamp two lateral narrow faces of a battery, because the two lateral wide faces of the battery are easy to deform due to stress, and are not suitable for clamping by the clamping jaw. Also, when such a battery gripping robot performs work, the entire robot needs to move in the up-down direction to grip or put down the battery.
The battery clamping manipulator is not suitable for sending the clamped battery into the battery formation/separation cabinet and the standing shelf, because the internal space of the battery formation/separation cabinet and the standing shelf in the prior art is limited, and after the manipulator sends the clamped battery into the formation/separation cabinet, the whole manipulator can be limited by the internal space of the formation/separation cabinet and can not move upwards or downwards, so that the whole manipulator can not put down the battery and withdraw from the formation/separation cabinet. For this reason, the above-mentioned tray is used as a conveying carrier for the batteries in the industry, and the conveying of the batteries is completed by combining a stacker, which causes the above-mentioned drawbacks.
Disclosure of Invention
Aiming at the technical problems in the prior art, the application provides a battery clamping manipulator, a fork part of a stacker and the stacker, which can directly send the clamped battery into or out of a formation/separation cabinet, a standing shelf and the like without a tray, thereby avoiding using the tray.
The technical scheme adopted for solving the technical problems is as follows: a battery clamping manipulator, a fork part of a stacker and the stacker comprise a bracket, two clamping jaw parts and a first power mechanism arranged on the bracket; the two clamping jaw parts are opposite up and down, and the first power mechanism controls the distance between the two clamping jaw parts so as to clamp or loosen the battery.
Further, the two clamping jaw parts respectively comprise a plurality of clamping jaws which are distributed at intervals along the width direction of the clamped batteries, so that the two clamping jaw parts can clamp the batteries at one time.
Further, first limiting blocks are respectively arranged at two opposite ends of each clamping jaw of one clamping jaw part in the length direction of the clamped battery so as to limit the battery in the length direction of the battery; each clamping jaw of the other clamping jaw part is provided with at least one second limiting block respectively so as to limit the battery in the width direction of the battery.
Further, the clamping jaw of one clamping jaw part is staggered from the clamping jaw of the other clamping jaw part up and down, so that other clamping jaws except for the two edge clamping jaws of the other clamping jaw part can clamp two adjacent batteries simultaneously, and second limiting blocks on the other clamping jaws are positioned between the two adjacent batteries.
Further, one of the two jaw members is movably connected to the bracket, and the other of the two jaw members is fixed to the bracket; the clamping jaw part capable of moving up and down further comprises a base plate, a plurality of clamping jaws of the clamping jaw part capable of moving up and down are respectively arranged on the base plate, the base plate is connected to the bracket in a manner of moving up and down, and the first power mechanism is connected with the base plate; the first power mechanism comprises a first motor arranged on the bracket and a first screw rod rotatably installed on the bracket, the first screw rod is positioned in the up-down direction and is in threaded connection with a first sliding block, and the first sliding block is fixedly connected with the base plate; the first screw rod is a trapezoidal screw rod.
Further, the base plate is connected with the bracket by a plurality of sliding guide mechanisms, and/or elastic blocks are respectively arranged on the clamping surfaces of the clamping jaws of the clamping jaw part capable of moving up and down.
Further, in the two jaw members, an upper jaw member is provided to the bracket so as to be movable up and down, and a lower jaw member is fixed to the bracket.
The application further provides a fork part of the stacker, which comprises a fork, a chassis and a second power mechanism, wherein the fork is movably arranged on the chassis; the battery clamping manipulator further comprises the battery clamping manipulator, and the support is arranged on the fork.
Further, the support is movably arranged on the fork along the moving direction of the fork, and the support and the fork are matched with a buffer mechanism for avoiding barriers in the advancing direction of the fork; the buffer mechanism comprises a first base, a second base, a guide rod and a spring, wherein the first base is fixed on the bracket, and the second base is fixed on the fork and is positioned behind the first base in the advancing direction of the fork; the guide rod is positioned in the moving direction of the fork, one end of the guide rod is fixedly connected with the first base, and the other end of the guide rod is movably connected with the second base so that the wire rod can axially move relative to the second base; the spring is sleeved on the guide rod, and two ends of the spring are respectively abutted to the first base and the second base; the number of the buffer mechanisms is a plurality.
Further, the device also comprises an induction retraction mechanism, wherein the induction retraction mechanism comprises an induction sheet and an induction switch, the induction sheet is arranged on the bracket, the induction switch is arranged on the fork, and the induction switch detects the induction sheet and outputs a signal for retracting the fork along with the backward movement of the bracket relative to the fork; the number of the fork and the battery clamping manipulators is two, and the fork corresponds to the battery clamping manipulators one by one; the second power mechanism drives the two forks to move in the same direction;
the second power mechanism comprises a second motor and a second screw rod, the second motor is arranged on the underframe, the second screw rod is rotationally connected to the underframe and located in the moving direction of the fork, a second sliding block is connected to the second screw rod in a threaded mode, and the second sliding block is fixedly connected with the fork.
The application further provides a stacker comprising a fork part, wherein the fork part of the stacker is adopted.
Compared with the prior art, the application has the following beneficial effects:
1. because the two clamping jaw parts are opposite up and down, the space between the two clamping jaw parts is controlled by the first power mechanism to clamp or loosen the battery, the whole manipulator is not required to move up and down when the battery clamping manipulator clamps or loosens the battery, but only one or two clamping jaw parts move for small displacement in the up-down direction, the requirement on the movement space in the height direction is low, and the internal space of the existing formation/separation cabinet and standing shelf is enough, so the clamped battery can be directly fed into or sent out of the formation/separation cabinet, the standing shelf and the like in the prior art, and the purpose of reducing the production cost and the like is achieved without using a tray in the transportation process of the battery.
2. The two clamping jaw parts respectively comprise a plurality of clamping jaws which are distributed at intervals along the width direction of the clamped batteries, so that the two clamping jaw parts can clamp the batteries at one time, and the batteries are transported from one station to the other station in groups, thereby greatly improving the working efficiency.
3. The first limiting block and the second limiting block are arranged, so that the manipulator can realize three-dimensional limiting on the clamped battery, thereby improving the working stability and firmness of the manipulator when clamping the battery and avoiding the phenomenon of battery slipping.
4. The clamping jaw of one clamping jaw part is staggered with the clamping jaw of the other clamping jaw part up and down, so that the second limiting blocks on the other clamping jaw can be shared by two adjacent batteries, the number of the second limiting blocks is reduced, the material cost of the other clamping jaw part is reduced, and the structure of the other clamping jaw part is simplified.
5. The first power mechanism comprises the first motor and a first screw rod, and is stable in work and convenient to adjust the clamping degree. Particularly, the first screw rod is a trapezoidal screw rod and has a self-locking function, so that the two clamping jaw parts can be effectively ensured to clamp the battery.
6. The buffer mechanism is arranged, so that the manipulator automatically retracts when the manipulator moves forwards to touch an object, thereby protecting a battery and preventing accidents.
7. The arrangement of the induction retraction mechanism can further improve the safety of the manipulator when the manipulator moves forwards to touch an object.
The application is described in further detail below with reference to the drawings and examples; the fork portion of the battery gripping robot and stacker of the present application and the stacker are not limited to the embodiments.
Drawings
FIG. 1 is a schematic view of the structure of a manipulator of the present application;
FIG. 2 is a schematic view of one of the jaws of the underlying jaw assembly of the present application;
FIG. 3 is a schematic view of one of the jaws of the upper jaw member of the present application;
FIG. 4 is a schematic view of a partial construction of a fork portion of the stacker of the present application;
FIG. 5 is an enlarged schematic view of portion A of FIG. 1;
FIG. 6 is a front view of the manipulator of the present application prior to clamping a battery;
FIG. 7 is an enlarged schematic view of portion B of FIG. 6;
FIG. 8 is a side view of the manipulator of the present application prior to clamping a battery;
FIG. 9 is a schematic perspective view of the fork portion of the present application after the manipulator grips the battery;
FIG. 10 is a schematic perspective view of the fork portion of the stacker of the present application;
fig. 11 is a schematic perspective view of a stacker of the present application.
Detailed Description
In the description of the present application, the directions or positional relationships indicated by "upper", "lower", "left", "right", "front" and "rear", etc. are used for convenience of description of the present application based on the directions or positional relationships shown in the drawings, and are not intended to indicate or imply that the apparatus referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the scope of protection of the present application. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances. In addition, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an associated object, meaning that there may be three relationships, e.g., a, and/or B, which may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
Referring to fig. 1-3, a battery clamping manipulator of the present application includes a bracket 1, two jaw members 2, 3, and a first power mechanism 4 disposed on the bracket 1; the two clamping jaw parts 2 and 3 are opposite to each other up and down, and the first power mechanism 4 controls the distance between the two clamping jaw parts 2 and 3 so as to clamp or unclamp a battery. Specifically, one of the two jaw members 2, 3 is movably disposed on the bracket 1, the other jaw member of the two jaw members 2, 3 is fixed on the bracket 1, the upper jaw member 2 is movably disposed on the bracket 1, and the lower jaw member 3 is fixed on the bracket 1, but not limited thereto. The first power mechanism 4 is connected to the jaw member that is movable up and down (i.e. the upper jaw member 2) to control the movement of the jaw member (i.e. the upper jaw member 2) up or down. In other embodiments, the two clamping jaw parts are respectively arranged on the bracket in a manner of up-down movement, and the first power mechanism is respectively connected with the two clamping jaw parts to control the two clamping jaw parts to move towards or away from each other. Since the two jaw members 2, 3 are vertically opposite to each other, when the two jaw members 2, 3 clamp the battery, the two jaw members 2, 3 are respectively contacted with the top surface and the bottom surface of the battery to clamp the battery.
In this embodiment, the two jaw members 2, 3 respectively include a plurality of jaws 21/31 spaced apart along the width direction of the clamped battery, so that the two jaw members 2, 3 can clamp a plurality of batteries, specifically, but not limited to, 16 batteries at a time. The longitudinal direction of each jaw of the two jaw members 2, 3 is located in the longitudinal direction of the gripped battery, and the width direction of each jaw is located in the width direction of the battery. The vertically movable jaw member (i.e., the upper jaw member 2) further includes a base plate 22, the plurality of jaws of the vertically movable jaw member are respectively fixed to the base plate 22, the base plate 22 is vertically movably connected to the bracket 1, and the first power mechanism 4 is connected to the base plate 22.
In this embodiment, as shown in fig. 2, the length of each clamping jaw 31 of one clamping jaw part is greater than the length of the battery, and two opposite ends of each clamping jaw 31 of one clamping jaw part in the length direction of the clamped battery are respectively provided with a first limiting block 32 to limit the battery in the length direction of the battery. As shown in fig. 3, each jaw 21 of the other jaw member is provided with at least one second stopper 23 to limit the battery in the width direction thereof. The clamping jaw 31 of one clamping jaw part is staggered up and down with the clamping jaw 21 of the other clamping jaw part, so that the other clamping jaw except the two edge clamping jaws of the other clamping jaw part can clamp two adjacent batteries simultaneously, and the second limiting blocks 23 on the other clamping jaw are respectively positioned between the two adjacent batteries. One of the jaw members is in particular the lower jaw member 3 and the other jaw member is in particular the upper jaw member 2, but is not limited thereto, and in other embodiments one of the jaw members is in particular the upper jaw member and the other jaw member is in particular the lower jaw member.
In this embodiment, the first power mechanism 4 includes a first motor disposed on the support 1 and a first screw rod rotatably mounted on the support 1, where the first screw rod is located in an up-down direction and is in threaded connection with a first slider, and the first slider is fixedly connected with the jaw component that can move up and down (i.e. the upper jaw component 2), and specifically, the first slider is fixedly connected with the base plate 22 of the upper jaw component 2. The first screw rod is a trapezoidal screw rod and has a self-locking function, so that the two clamping jaw parts can be effectively ensured to clamp the battery. In other embodiments, the first power mechanism includes a cylinder or the like.
In this embodiment, the substrate 22 is connected to the bracket 1 by using a plurality of sliding guide mechanisms 5, so as to improve the connection strength between the substrate 22 and the bracket 1, and avoid the influence of heavy quality of the clamped battery on the stability of the operation.
In this embodiment, elastic blocks 24 are respectively disposed on the clamping surfaces of the clamping jaws 21 of the clamping jaw members capable of moving up and down (i.e., the upper clamping jaw member 2), as shown in fig. 3, so as to prevent the battery from being damaged when the clamping jaws are pressed too tightly due to the height error of the battery. A backing plate 33 is provided on the clamping surface of each jaw 31 of the lower jaw member 3, and the first stopper 32 is fixed to the backing plate 33, as shown in fig. 2.
The battery clamping manipulator can be installed on a fork 7 of a stacker when in use, as shown in fig. 4-10, so that the fork 7 of the stacker drives the whole manipulator to translate and/or lift.
According to the battery clamping manipulator disclosed by the application, when a battery is clamped, each clamping jaw 31 of the lower clamping jaw part 3 respectively supports the bottom surface of the corresponding battery 40, and simultaneously, two first limiting blocks 32 on each clamping jaw 31 respectively limit the battery 40 in the length direction, so that the battery 40 cannot displace along the length direction; as shown in fig. 6-8, as the first motor of the first power mechanism 4 is started, the upper clamping jaw part 2 moves downwards until the elastic blocks 24 on the clamping jaw parts 21 contact the top surface of the battery 40 respectively, and meanwhile, the second limiting blocks 23 on the upper clamping jaw part 2 are matched in pairs to limit the battery 40 in the width direction, so that the battery 40 cannot displace along the width direction, as shown in fig. 9. The battery 40 is clamped by the upper clamping jaw part 2 and the lower clamping jaw part 3 in the height direction, so that the manipulator can realize three-dimensional limit on the clamped battery 40, thereby improving the working stability and the firmness of the manipulator when clamping the battery and avoiding the phenomenon of battery sliding.
The battery clamping manipulator disclosed by the application does not need to move up and down when clamping/loosening the battery, but only moves a small displacement in the up-down direction of the upper clamping jaw part 2, so that the requirement on the movement space in the height direction is low, and the internal space of the existing formation/separation cabinet and standing shelf can be met, therefore, the application can directly send the clamped battery into or out of the formation/separation cabinet and the standing shelf of the battery without adopting a tray, and the purposes of reducing the production cost and the like are achieved. In addition, the manipulator can clamp a plurality of batteries (particularly, but not limited to 16 batteries) at one time, so that groups of batteries can be conveyed from one station to another station, and the conveying modes in the production processes of battery formation, capacity division, standing and the like are realized, so that the working efficiency is greatly improved.
Referring to fig. 1 to 10, a fork portion of a stacker according to the present application includes a fork 7 and a battery clamping manipulator according to the present application, where the bracket 1 is disposed on the fork 7.
In this embodiment, the bracket 1 is movably disposed on the fork 7 along the moving direction of the fork 7, and specifically, the bracket 1 is mounted on the bracket 1 by using a plurality of linear guide rails 6. The bracket 1 is matched with the fork 7 with a buffer mechanism 10 for avoiding barriers in the advancing direction of the fork 7. The moving direction of the fork 7 is the same as the length direction of the battery held by the manipulator of the present application, but is not limited thereto.
In this embodiment, as shown in fig. 5, the buffer mechanism 10 includes a first base 101, a second base 102, a guide rod 104, and a spring 103, wherein the first base 101 is fixed to the bracket 1, and the second base 102 is fixed to the fork 7 and is located behind the first base 101 in the advancing direction of the fork 7; the guide rod 104 is positioned in the moving direction of the fork 7, one end of the guide rod 104 is fixedly connected with the first base 101, and the other end of the guide rod 104 is movably connected with the second base 102 so that the wire rod can axially move relative to the second base 102; the spring 103 is sleeved on the guide rod 104, and two ends of the spring 103 are respectively abutted against the first base 101 and the second base 102; the number of the buffer mechanisms 10 is plural, specifically two, but not limited thereto.
In this embodiment, the present application further includes an induction retraction mechanism, where the induction retraction mechanism includes an induction plate 20 and an induction switch 30, the induction plate 20 is disposed on the bracket 1, the induction switch 30 is disposed on the fork 7, and as the bracket 1 retreats relative to the fork 7, the induction switch 30 detects the induction plate 20 and outputs a signal for retracting the fork 7.
In this embodiment, the fork part of the present application further includes a chassis 8 and a second power mechanism 9, where the fork 7 is movably disposed on the chassis 8, and the second power mechanism 9 is disposed on the chassis and connected to the fork 7 to drive the fork 7 to move relative to the chassis. As shown in fig. 4 and 10, the number of the fork 7 and the battery clamping manipulator is two, and the fork 7 corresponds to the battery clamping manipulator one by one; the second power mechanism 9 drives the two forks 7 to move in the same direction and synchronously.
In this embodiment, the second power mechanism 9 includes a second motor and a second screw, where the second motor is disposed on the chassis 8, the second screw is rotatably connected to the chassis 8 and located in the moving direction of the fork 7, and a second slider is screwed on the second screw and is fixedly connected to the fork 7. Since the number of the forks 7 is two, the number of the second sliders is at least two, and each fork corresponds to at least one second slider. When the second motor is started, the two forks 7 and the battery clamping manipulator on the forks can be driven by the second screw rod and the two second sliding blocks to move in the same direction.
In this embodiment, the present application further includes a lifting driving mechanism, which is configured to drive the chassis and each component thereon to move up and down, so as to implement a lifting function of the battery clamping manipulator.
The fork part of the stacker of the application relates to the structure, the structure and the working principle of the battery clamping manipulator, and the description of the fork part is referred to before and is not repeated.
Referring to fig. 11, a stacker according to the present application includes a fork portion 50, where the fork portion 50 is a fork portion of the stacker according to the present application described above. The stacker further comprises a top rail 60, a ground rail 70 and a stacker body 80, wherein the top rail 60 and the ground rail 70 are respectively horizontally arranged, are vertically parallel and are perpendicular to the moving direction of the fork 7, the stacker body 80 moves between the top rail 60 and the ground rail 70 along the top rail 60 and the ground rail 70, and the fork part 50 moves up and down on the stacker body 80.
The stacker of the application can be used as transport equipment in the production processes of battery formation/capacity division, standing and the like, and a plurality of batteries (particularly, but not limited to 16 batteries) are clamped and transported to corresponding production stations in a one-time mode.
The battery clamping manipulator, the fork part of the stacker and the stacker are the same as or can be realized by adopting the prior art.
The above embodiment is only used for further illustrating a battery clamping manipulator and a fork portion of a stacker and the stacker of the present application, but the present application is not limited to the embodiment, and any simple modification, equivalent variation and modification made to the above embodiment according to the technical substance of the present application falls within the scope of the technical solution of the present application.

Claims (9)

1. A battery clamping manipulator comprises a bracket, two clamping jaw parts and a first power mechanism arranged on the bracket; the method is characterized in that: the first power mechanism controls the interval between the two clamping jaw parts so as to clamp or loosen a battery;
the two clamping jaw parts respectively comprise a plurality of clamping jaws which are distributed at intervals along the width direction of the clamped battery, so that the two clamping jaw parts can clamp a plurality of batteries at one time; the clamping jaw of one clamping jaw part is staggered with the clamping jaw of the other clamping jaw part up and down, so that the other clamping jaw of the other clamping jaw part except for the two edge clamping jaws can respectively clamp two adjacent batteries at the same time.
2. The battery gripping robot of claim 1, wherein: the clamping jaws of one clamping jaw part are respectively provided with first limiting blocks at two opposite ends of the clamped battery in the length direction so as to limit the battery in the length direction of the battery; each clamping jaw of the other clamping jaw part is provided with at least one second limiting block respectively so as to limit the battery in the width direction of the battery.
3. The battery gripping robot of claim 2, wherein: and the second limiting blocks on the other clamping jaws are respectively positioned between two adjacent batteries.
4. The battery gripping robot of any one of claims 1-3, wherein: one of the two jaw members is movably connected to the bracket and the other of the two jaw members is fixed to the bracket; the clamping jaw part capable of moving up and down further comprises a base plate, a plurality of clamping jaws of the clamping jaw part capable of moving up and down are respectively arranged on the base plate, the base plate is connected to the bracket in a manner of moving up and down, and the first power mechanism is connected with the base plate; the first power mechanism comprises a first motor arranged on the bracket and a first screw rod rotatably installed on the bracket, the first screw rod is positioned in the up-down direction and is in threaded connection with a first sliding block, and the first sliding block is fixedly connected with the base plate; the first screw rod is a trapezoidal screw rod.
5. The battery gripping robot of claim 4, wherein: the base plate is connected with the bracket by adopting a plurality of sliding guide mechanisms, and/or elastic blocks are respectively arranged on the clamping surfaces of the clamping jaws of the clamping jaw part capable of moving up and down.
6. The pallet fork part of the stacker comprises a pallet fork, a bottom frame and a second power mechanism, wherein the pallet fork is movably arranged on the bottom frame, and the second power mechanism is arranged on the bottom frame and is connected with the pallet fork so as to drive the pallet fork to move relative to the bottom frame; the method is characterized in that: the battery clamping robot of any one of claims 1-5, wherein the bracket is disposed on the fork.
7. The pallet fork portion of the stacker of claim 6 wherein: the support is movably arranged on the fork along the moving direction of the fork, and is matched with the fork with a buffer mechanism for avoiding barriers in the advancing direction of the fork; the buffer mechanism comprises a first base, a second base, a guide rod and a spring, wherein the first base is fixed on the bracket, and the second base is fixed on the fork and is positioned behind the first base in the advancing direction of the fork; the guide rod is positioned in the moving direction of the fork, one end of the guide rod is fixedly connected with the first base, and the other end of the guide rod is movably connected with the second base so that the wire rod can axially move relative to the second base; the spring is sleeved on the guide rod, and two ends of the spring are respectively abutted to the first base and the second base; the number of the buffer mechanisms is a plurality.
8. The pallet fork portion of a stacker according to claim 6 or 7 wherein: the device comprises a support, a fork, a sensing switch, a sensing sheet and a sensing mechanism, wherein the sensing sheet is arranged on the support, the sensing switch is arranged on the fork, and the sensing sheet is detected by the sensing switch and outputs a signal for retracting the fork along with the backward movement of the support relative to the fork; the number of the fork and the battery clamping manipulators is two, and the fork corresponds to the battery clamping manipulators one by one; the second power mechanism drives the two forks to move in the same direction; the second power mechanism comprises a second motor and a second screw rod, the second motor is arranged on the underframe, the second screw rod is rotationally connected to the underframe and located in the moving direction of the fork, a second sliding block is connected to the second screw rod in a threaded mode, and the second sliding block is fixedly connected with the fork.
9. A stacker comprising a fork portion, characterized in that: the fork portion employing a fork portion of a stacker as in any one of claims 6-8.
CN202210446064.9A 2022-04-26 2022-04-26 Battery clamping manipulator, fork part of stacker and stacker Active CN114834887B (en)

Priority Applications (1)

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CN202210446064.9A CN114834887B (en) 2022-04-26 2022-04-26 Battery clamping manipulator, fork part of stacker and stacker

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002145448A (en) * 2000-11-08 2002-05-22 Kawasaki Heavy Ind Ltd Reversal piling up device
CN107298307A (en) * 2017-07-26 2017-10-27 江苏金帆新程装备有限公司 The catching robot of lead-acid accumulator
CN207001743U (en) * 2017-07-13 2018-02-13 广东顺力智能物流装备股份有限公司 A kind of flip type piler
CN110371648A (en) * 2019-07-05 2019-10-25 宁波利维能储能系统有限公司 A kind of rectangular cell module carrying mechanism
CN110936349A (en) * 2019-11-29 2020-03-31 浙江杭可科技股份有限公司 Battery clamping manipulator device
CN112952182A (en) * 2021-01-26 2021-06-11 宜春清陶能源科技有限公司 Battery standing system and method
CN214081475U (en) * 2020-09-22 2021-08-31 大族激光科技产业集团股份有限公司 Press from both sides and get mechanism and have its battery manufacture equipment
CN113442123A (en) * 2021-06-24 2021-09-28 广东利元亨智能装备股份有限公司 Manipulator, transfer device and formation equipment
CN113731838A (en) * 2021-09-03 2021-12-03 扬州工业职业技术学院 Battery detection system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002145448A (en) * 2000-11-08 2002-05-22 Kawasaki Heavy Ind Ltd Reversal piling up device
CN207001743U (en) * 2017-07-13 2018-02-13 广东顺力智能物流装备股份有限公司 A kind of flip type piler
CN107298307A (en) * 2017-07-26 2017-10-27 江苏金帆新程装备有限公司 The catching robot of lead-acid accumulator
CN110371648A (en) * 2019-07-05 2019-10-25 宁波利维能储能系统有限公司 A kind of rectangular cell module carrying mechanism
CN110936349A (en) * 2019-11-29 2020-03-31 浙江杭可科技股份有限公司 Battery clamping manipulator device
CN214081475U (en) * 2020-09-22 2021-08-31 大族激光科技产业集团股份有限公司 Press from both sides and get mechanism and have its battery manufacture equipment
CN112952182A (en) * 2021-01-26 2021-06-11 宜春清陶能源科技有限公司 Battery standing system and method
CN113442123A (en) * 2021-06-24 2021-09-28 广东利元亨智能装备股份有限公司 Manipulator, transfer device and formation equipment
CN113731838A (en) * 2021-09-03 2021-12-03 扬州工业职业技术学院 Battery detection system

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Denomination of invention: A battery gripping robot arm and a fork part of a stacker crane and a stacker crane

Granted publication date: 20230822

Pledgee: Agricultural Bank of China Limited Xiamen Lianqian Branch

Pledgor: Li Quanhui

Registration number: Y2024980001502

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Effective date of registration: 20240129

Address after: No. 9-2 Butang Middle Road, Tongxianggao New City, Torch High tech Zone, Xiamen City, Fujian Province, 361100

Patentee after: Xiamen henandao Intelligent Technology Co.,Ltd.

Country or region after: China

Address before: 363500 No. 33 Daping, zhaiping village, xiuzuan Town, Zhao'an County, Zhangzhou City, Fujian Province

Patentee before: Li Quanhui

Country or region before: China