CN115231296A

CN115231296A - Material grabbing device and method for transferring cylindrical batteries in groups

Info

Publication number: CN115231296A
Application number: CN202210995093.0A
Authority: CN
Inventors: 廖翼兵; 王绍生
Original assignee: Shenzhen Lishi Zhizao Technology Co ltd
Current assignee: Shenzhen Lishi Zhizao Technology Co ltd
Priority date: 2022-08-18
Filing date: 2022-08-18
Publication date: 2022-10-25
Anticipated expiration: 2042-08-18
Also published as: CN115231296B

Abstract

The utility model relates to a grab material device and grab material method for shifting cylinder battery in groups, grab the material device and including grabbing material anchor clamps, grab material anchor clamps and include mounting bracket, gripping part fixed plate, a plurality of gripping parts, battery locating plate and lift cylinder down, be equipped with a plurality of first batteries on the battery locating plate and inject the hole, be equipped with a plurality of second batteries on the battery locating plate and inject the hole down, the position is corresponding about first battery is injectd the hole and the second battery is injectd the hole. This application can not only solve the battery and snatch the back in groups and move fast and carry, can also solve the technical problem of accurate positioning. After the grabbing component grabs the battery, the lifting cylinder can lift the grabbing component and the battery upwards together, the first battery limiting hole and the second battery limiting hole limit the upper end and the lower end of the battery, the moving speed of the grabbing component and the battery can be greatly improved, and therefore the transferring efficiency is improved; the second battery limiting hole can correct the verticality of the battery, and the position precision of the battery placement is guaranteed.

Description

Material grabbing device and method for transferring cylindrical batteries in groups

Technical Field

The application relates to the technical field of automatic feeding and discharging, in particular to a material grabbing device for transferring cylindrical batteries in groups and a material grabbing method thereof.

Background

In the production process of the cylindrical battery, the automatic battery feeding and discharging device can be used, and the movement speed of the automatic feeding and discharging device and the placing precision of feeding and discharging can directly influence the production efficiency of the cylindrical battery. The automatic feeding and discharging device mainly comprises a moving mechanical arm and a grabbing device, the grabbing device of the existing cylindrical battery generally adopts the top of a cylinder clamping jaw to clamp the cylindrical battery, and the grabbing mode is low in battery positioning precision due to the fact that the lower half portion of the cylindrical battery is not positioned, especially for the long-sized cylindrical battery, the battery is easy to shift in the transferring process, and especially the relative position precision between batteries which are grabbed in groups can not be guaranteed.

Specifically, the core drawback of this grasping is that after the top of the battery is grasped, the center of gravity of the battery is below the jaws, and if the cylindrical battery is longer, the center of gravity of the battery is further from the jaws. When the clamping jaws grasp the cylindrical head to move rapidly, inertial force is easily generated, so that the cylindrical battery is thrown away or the bottom of the cylindrical battery is deviated. To solve this problem, it is necessary to reduce the moving speed of the clamping jaws, increase the gripping force of the clamping jaws, and increase the inner diameter of the receiving cylindrical battery contour block. However, these measures inevitably cause the work efficiency of the charging and discharging system to be reduced, the battery may be damaged by clamping, and the size of the cylindrical battery contour block is increased, which needs to be improved.

Disclosure of Invention

The invention provides a grabbing device for transferring cylindrical batteries in groups and a grabbing method thereof, and aims to solve the technical problems that the existing grabbing device cannot rapidly move and carry batteries after the batteries are grabbed in groups, so that the efficiency is low, the bottoms of the cylindrical batteries are easy to deviate, and the positioning accuracy of feeding and discharging is low.

On the one hand, the utility model provides a grab material device for shifting cylinder battery in groups adopts following technical scheme: a material grabbing device for transferring cylindrical batteries in groups comprises at least one group of material grabbing clamps, and each material grabbing clamp comprises: a mounting frame; a gripping member fixing plate; the grabbing parts are arranged on the grabbing part fixing plates and used for grabbing the batteries; the battery upper positioning plate is arranged on the grabbing component fixing plate, and a plurality of first battery limiting holes are formed in the battery upper positioning plate and used for limiting the upper ends of the batteries; the battery lower positioning plate is arranged on the mounting frame, a plurality of second battery limiting holes are formed in the battery lower positioning plate and used for limiting the lower ends of the batteries, and the first battery limiting holes correspond to the second battery limiting holes in the vertical position; and the lifting cylinder is arranged on the mounting frame and used for driving the fixed plate of the grabbing part to lift or driving the lower positioning plate of the battery to lift.

Through adopting above-mentioned technical scheme, this application can not only solve the battery and snatch the back in groups and move fast and carry, can also solve the technical problem of accurate positioning. The lifting cylinder, the upper battery positioning plate and the lower battery positioning plate are arranged, after the grabbing component grabs the battery, the grabbing component and the battery can be lifted upwards together by the lifting cylinder, the upper end of the battery can be limited by the first battery limiting hole in the upper battery positioning plate, and the lower end of the battery can be limited by the second battery limiting hole in the lower battery positioning plate, so that when the grabbing component and the battery move, the battery can be prevented from deviating due to inertia, the relative position precision among the batteries in a group can be ensured, the shaking amplitude of the lower end of the battery is extremely small, the stability of clamping of the grabbing component is not easily influenced, the moving speed of the grabbing component and the battery can be greatly improved, and the transfer efficiency is improved; and because the limiting action in second battery limited hole, at the in-process that the battery promoted, the second battery limited hole can be rectified the straightness that hangs down of battery, can guarantee that the straightness that hangs down of battery satisfies the demand, moves the in-process that carries, and the offset of battery lower extreme is also minimum, when the unloading, can guarantee the position precision that the battery was put. The longer the length of this application battery, the effect is more outstanding, accords with present cylinder battery diameter and length more and does bigger industry trend more especially.

This application also can be the battery motionless, and locating plate descends under the lift cylinder drives the battery, realizes the relative motion of locating plate under battery and the battery, and is the same in principle with above scheme, also must obtain the same technological effect, belongs to equal alternative.

Preferably, the gripping means is a vacuum chuck or a cylinder gripper.

Through adopting above-mentioned technical scheme, because this application to the required step-down of grabbing the part, so can follow the grabbing part among the prior art.

Preferably, the material grabbing device comprises an outer frame and a plurality of groups of material grabbing clamps, and the plurality of groups of material grabbing clamp arrays are arranged on the outer frame.

Through adopting above-mentioned technical scheme, grab the material anchor clamps through setting up the multiunit, can once only press from both sides and get more batteries, improve holistic transfer efficiency.

Preferably, the lifting cylinder is a three-rod cylinder, the lower ends of the first battery limiting hole and the second battery limiting hole are provided with chamfers or rounded corners for guiding, the lower battery positioning plate is arranged on the mounting frame through a connecting plate, the cross section of the connecting plate is rectangular, and the connecting plate is further provided with a plurality of through holes for reducing weight.

Through adopting above-mentioned technical scheme, the lift cylinder is three pole cylinders, and antitorque commentaries on classics can the reinforce, when grabbing component and battery have great weight, can guarantee well that the grabbing component fixed plate does not incline in the motion process, improves the stability of grabbing material anchor clamps. Because will play limiting displacement, so first battery is injectd hole and second battery and is injectd the less that clearance setting between hole and the battery was injectd to the hole, the battery produces the interference with battery upper positioning plate and battery lower positioning plate easily, the condition that can lead to the collision takes place in the opportunity, first battery is injectd hole and second battery and is injectd the hole lower extreme and all be equipped with chamfer or radius, have the guide effect to the battery, make things convenient for the battery to get into smoothly that first battery is injectd the hole and the second battery is injectd downtheholely, reduce the probability that the collision takes place. The battery is locating plate down and is passed through the connecting plate setting on the mounting bracket, the length of connecting plate and the length positive correlation of battery, the battery is longer more, the length of connecting plate is in order to be longer, again because the fixed of locating plate will be firm reliable under the battery, so the intensity and the rigidity of connecting plate will be enough, the cross section of connecting plate is the rectangle, mainly used guarantees the rigidity of connecting plate, set up a plurality of through-holes on the connecting plate, it is less to the rigidity influence of connecting plate, nevertheless can subtract heavy, reduce the whole weight of grabbing material anchor clamps, reduce the load of removing the manipulator.

Preferably, grab material anchor clamps and equidistant mechanism including outer frame, multiunit, equidistant mechanism includes displacement cylinder, guide bar and rhombus telescopic link, the guide bar sets up on outer frame, and the multiunit is grabbed the material anchor clamps and is passed through the connection of rhombus telescopic link, and wherein a set of material anchor clamps of grabbing are fixed to be set up on outer frame, and remaining material anchor clamps of grabbing set up on the guide bar with sliding, the displacement cylinder is used for driving the multiunit and grabs the material anchor clamps and be close to each other or keep away from, realizes the displacement function.

Through adopting above-mentioned technical scheme, this application has set up displacement mechanism such as, can interval between the material anchor clamps is grabbed to the quick adjustment multiunit, thereby can realize that the displacement goes up unloading, snatch the battery earlier according to certain interval promptly after, then carry out the displacement, interval grow or diminish between the battery, remove to the unloading position again, carry out the unloading, the flexibility is strong, the battery can become dense or become sparse during last unloading, be applicable to the material transfer between the unloading position that has different requirements to the interval, a special scene that belongs to goes up is used. The rhombic telescopic connecting rods are used for ensuring that the plurality of groups of material grabbing clamps can move at equal variable distances when the distances are changed, so that the batteries can be uniformly densified or thinned.

Preferably, outer frame includes roof and two curb plates, the mounting bracket includes the lift cylinder mounting panel and fixes the first slider in lift cylinder mounting panel both sides, the both ends of guide bar set up respectively on two curb plates, first slider slides and sets up on the guide bar, guide bar quantity is four.

By adopting the technical scheme, the outer frame is used for guaranteeing the overall strength of the whole grabbing device, the first sliding block of the mounting frame is arranged on the guide rods in a sliding mode, free translation of the grabbing fixture is achieved, the four guide rods guarantee the moving precision of the grabbing fixture, and meanwhile the structural rigidity of the whole grabbing device can be improved.

Preferably, the top plate is further provided with a guide rail and a second sliding block, the second sliding block is arranged on the guide rail in a sliding mode, a cylinder shaft of the variable pitch cylinder is connected with the second sliding block in a floating mode, and the first sliding block and the second sliding block of one group of material grabbing fixtures are fixedly connected.

Through adopting above-mentioned technical scheme, when grabbing the quantity that material anchor clamps were arranged when more, the thrust of displacement cylinder needs to strengthen, thrust increases the back, because the precision reason of equipment precision and displacement cylinder itself, thrust produces bad vertical component easily, this vertical component influences the free translation of grabbing material anchor clamps easily, guide rail and second slider have been add to this application, second slider moving direction is accurate, can offset this vertical component, has guaranteed the smoothness of grabbing material anchor clamps translation better.

Preferably, a position sensing piece is arranged on a first sliding block of one group of the material grabbing clamps, a position sensor is arranged at a corresponding position of the top plate, and the position sensor senses the position of the material grabbing clamps through the position sensing piece.

Through adopting above-mentioned technical scheme, can accurately respond to the position of grabbing the material anchor clamps through the position sensor, through the position of adjustment position response piece or position sensor, can set up the settlement position of grabbing both ends when the material anchor clamps remove, when grabbing the settlement position at material anchor clamps arrival both ends, the position sensor senses the back, and the displacement cylinder will stop motion, keeps current interval state.

Preferably, grab material device still includes battery pocket bottom subassembly, battery pocket bottom subassembly includes pocket bottom fixed plate, L shape arm, pocket bottom plate and pocket bottom cylinder, the fixed plate sets up on outer frame at the bottom of the pocket, L shape arm articulates on pocket bottom fixed plate through the primary shaft, the pocket bottom plate sets up on L shape arm, pocket bottom cylinder one end articulates on pocket bottom fixed plate through the secondary shaft, and the other end articulates on L shape arm through the third axle for it is rotatory to drive L shape arm, so that the pocket bottom plate carries out the pocket bottom to the battery.

By adopting the technical scheme, after the grabbing component grabs the battery and the lifting cylinder lifts the battery, the pocket bottom cylinder drives the L-shaped arm to rotate again, so that the pocket bottom plate pockets the battery, the battery cannot fall off even under the conditions of insecure grabbing, power failure, gas failure and the like, and the technical problem that the battery can fall off in the transferring process is thoroughly solved; the battery pocket bottom assembly is a physical guarantee for a safety auxiliary mechanism, the number of batteries which are grabbed once can be further increased, the transfer speed can be faster, and the efficiency of the grabbing device is higher and more reliable.

In another aspect, the present application discloses a material grabbing method of the above material grabbing device for transferring cylindrical batteries in groups, which includes the following steps:

moving the material grabbing device to the position above the material taking position, and descending to enable a plurality of grabbing parts on the material grabbing clamp to grab the batteries;

starting a lifting cylinder to lift the grabbing part fixing plate, the grabbing part, the upper battery positioning plate and the battery to a preset position together, or to lower the lower battery positioning plate to the preset position;

then moving the material grabbing device to the position above the blanking position, and descending;

grabbing the battery by using a grabbing component;

starting a lifting cylinder, and lowering the grabbing part fixing plate, the grabbing part, the battery upper positioning plate and the battery to a preset position together, or lifting the battery lower positioning plate to the preset position;

the grabbing component loosens the battery and falls into a blanking position.

By adopting the technical scheme, after the grabbing component grabs the battery and the lifting cylinder lifts the grabbing component and the battery upwards, the first battery limiting hole and the second battery limiting hole can limit the upper end and the lower end of the battery, so that the shaking amplitude of the lower end of the battery is extremely small when the grabbing component and the battery move, the clamping stability of the grabbing component is not easily influenced, the moving speed of the grabbing component and the battery can be greatly improved, and the transfer efficiency is improved; due to the limiting effect of the second battery limiting hole, the offset of the lower end of the battery is extremely small, and the position accuracy of the battery can be ensured during blanking.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the battery group grabbing device can not only solve the problem of quick transfer after battery group grabbing, but also solve the technical problem of accurate positioning;

2. the additionally arranged equal-pitch mechanism can quickly adjust the space among a plurality of groups of material grabbing clamps, so that variable-pitch material loading and unloading can be realized, the flexibility is strong, the material shifting mechanism is suitable for material transfer among material loading and unloading positions with different requirements on the space, and the material shifting mechanism belongs to a special scene application of material loading and unloading;

3. the technical problem that the battery can drop in the transfer process is thoroughly solved by the bottom assembly of the battery pocket, the bottom assembly of the battery pocket is a safety auxiliary mechanism, physical guarantee is provided, the number of the batteries which are grabbed once can be further increased, the transfer speed can be faster, and the efficiency of the grabbing device is higher and more reliable.

Drawings

FIG. 1 is a perspective view of a first embodiment of a material grabbing device according to the present application;

FIG. 2 is a front view of a first embodiment of the material grabbing device of the present application;

FIG. 3 is a side view of a first embodiment of the apparatus of the present application;

fig. 4 is a schematic view of the internal structure (hidden outer frame) of the first embodiment of the material grabbing device of the present application;

FIG. 5 is a perspective view of a material grasping fixture according to one embodiment of the present disclosure;

FIG. 6 is a schematic half-sectional view of a material grasping clamp according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram showing the battery of the material handling clamp after being lifted according to one embodiment;

FIG. 8 is an inverted view of the gripper assembly according to one embodiment;

FIG. 9 is a perspective view of a second embodiment of the material grabbing device of the present application;

FIG. 10 is a front view of a second embodiment of the material grabbing device of the present application;

FIG. 11 is a side view of a second embodiment of the material grasping device according to the present application;

FIG. 12 is a schematic diagram showing a state after lifting of two batteries according to the embodiment of the material grabbing device;

FIG. 13 is a schematic view of the battery bottom pocket assembly of the second embodiment in an operating position;

FIG. 14 is a schematic view of an intermediate pitch mechanism according to an embodiment;

fig. 15 is a schematic structural view of another angle of the second pitch-varying mechanism according to the second embodiment.

Description of the reference numerals: 10. a material grabbing clamp; 11. a mounting frame; 111. a lifting cylinder mounting plate; 112. a first slider; 12. a gripping member fixing plate; 13. a gripping member; 14. a lifting cylinder; 15. a battery upper positioning plate; 151. the first cell defines an aperture; 16. a battery lower positioning plate; 161. the second cell defines an aperture; 17. a connecting plate; 171. a through hole; 20. an outer frame; 21. a top plate; 22. a side plate; 30. an equal pitch mechanism; 31. a variable pitch cylinder; 32. a guide bar; 33. a diamond-shaped telescopic connecting rod; 34. a guide rail; 35. a second slider; 36. a position sensing sheet; 37. a position sensor; 40. a battery pocket assembly; 41. a pocket bottom fixing plate; 42. an L-shaped arm; 43. a pocket bottom plate; 44. a bottom-pocket cylinder; 45. a first shaft; 46. a second shaft; 47. a third axis; 100. a battery.

Detailed Description

The present application is described in further detail below with reference to figures 1-15.

The first embodiment is as follows:

referring to fig. 1, 2 and 3, an embodiment of the present application discloses a material grabbing device for transferring cylindrical batteries in groups, which includes an outer frame 20 and a plurality of groups of material grabbing fixtures 10 (specifically, six groups, each group can grab four batteries 100, and can grab twenty-four batteries 100 altogether at the same time), where the plurality of groups of material grabbing fixtures 10 are arranged on the outer frame 20 in an array. By arranging a plurality of groups of gripping fixtures 10, more batteries 100 can be gripped at one time, and the overall transfer efficiency is improved.

Referring to fig. 5, 6 and 8, the gripping jig 10 includes a mounting frame 11, a gripping member fixing plate 12, a plurality of gripping members 13, a battery upper positioning plate 15, a battery lower positioning plate 16 and a lifting cylinder 14, the plurality of gripping members 13 being provided on the gripping member fixing plate 12 for gripping a plurality of batteries 100; the battery upper positioning plate 15 is arranged on the grabbing part fixing plate 12, and a plurality of first battery limiting holes 151 are formed in the battery upper positioning plate 15 and used for limiting the upper end of the battery 100; the battery lower positioning plate 16 is arranged on the mounting frame 11, a plurality of second battery limiting holes 161 are formed in the battery lower positioning plate 16 and used for limiting the lower ends of the batteries 100, and the first battery limiting holes 151 and the second battery limiting holes 161 are in corresponding vertical positions (coaxial up and down); the lifting cylinder 14 is arranged on the mounting frame 11 and is used for driving the grabbing part fixing plate 12 to lift or driving the battery lower positioning plate 16 to lift.

Referring to fig. 6, the gripping member 13 is a vacuum chuck (a conventional cylinder gripper may be used, and may also function to grip the battery 100). Since the requirements for the gripping elements 13 are low, the prior art gripping elements 13 can be used.

Referring to fig. 5, the lifting cylinder 14 is a three-rod cylinder. The three-rod cylinder has strong anti-torsion capability, and when the grabbing component 13 and the battery 100 have large weights, the grabbing component fixing plate 12 can be well prevented from inclining in the movement process, and the stability of the grabbing fixture 10 is improved.

Referring to fig. 8, the lower ends of the first and second

battery defining holes

151 and 161 are provided with a chamfer or radius for guiding (which may be designed as a bell-mouth-shaped structure). Because the limiting function is to be achieved, the gap between the first battery limiting hole 151 and the second battery limiting hole 161 and the battery 100 is small, the battery 100 is easily interfered with the upper battery positioning plate 15 and the lower battery positioning plate 16, and collision is caused, the lower ends of the first battery limiting hole 151 and the second battery limiting hole 161 are provided with chamfers or rounded circles to guide the battery 100, so that the battery 100 can smoothly enter the first battery limiting hole 151 and the second battery limiting hole 161, and the probability of collision is reduced.

Referring to fig. 5, the battery lower positioning plate 16 is disposed on the mounting frame 11 through a connecting plate 17, the connecting plate 17 has a rectangular cross section, and the connecting plate 17 is further provided with a plurality of through holes 171 for reducing weight. The battery lower positioning plate 16 is arranged on the mounting frame 11 through the connecting plate 17, the length of the connecting plate 17 is positively correlated with that of the battery 100, the longer the battery 100 is, the longer the length of the connecting plate 17 is, and the battery lower positioning plate 16 is firmly and reliably fixed, so that the strength and the rigidity of the connecting plate 17 are enough, the cross section of the connecting plate 17 is rectangular, the connecting plate is mainly used for ensuring the rigidity of the connecting plate 17, the connecting plate 17 is provided with a plurality of through holes 171, the influence on the rigidity of the connecting plate 17 is small, the weight can be reduced, the whole weight of the material grabbing clamp 10 is reduced, and the load of the mobile manipulator is reduced.

The material grabbing method of the material grabbing device for the grouped transfer cylindrical batteries comprises the following steps: when the tray of the cylindrical battery needs to be assembled or the battery 100 needs to be transferred to a processing station, the material grabbing device is moved to the position above the material taking position by using a moving mechanical handle and is lowered, so that the plurality of grabbing parts 13 on the material grabbing clamp 10 grab the battery 100;

starting a lifting cylinder 14 to lift the grabbing part fixing plate 12, the grabbing part 13, the battery upper positioning plate 15 and the battery 100 to a preset position;

then the material grabbing device is moved to the position above the blanking position and is descended, (at this time, the top of the battery 100 is sleeved into the second battery limiting hole 161 on the battery lower positioning plate 16 for preliminary positioning, and then sleeved into the first battery limiting hole 151 on the battery upper positioning plate 15 for accurate positioning);

grasping the battery 100 with the grasping member 13;

starting a lifting cylinder 14, and lowering the grabbing part fixing plate 12, the grabbing parts 13, the battery upper positioning plate 15 and the battery 100 to a preset position together;

the gripper 13 releases the battery 100 and drops it into the blanking position.

The battery 100 can be quickly moved after being grabbed in groups, and the technical problem of accurate positioning can be solved. According to the battery lifting device, the lifting cylinder 14, the upper battery positioning plate 15 and the lower battery positioning plate 16 are arranged, after the grabbing parts 13 grab the battery 100, the grabbing parts 13 and the battery 100 can be lifted upwards by the lifting cylinder 14, the upper ends of the battery 100 can be limited by the first battery limiting holes 151 in the upper battery positioning plate 15, the lower ends of the battery 100 can be limited by the second battery limiting holes 161 in the lower battery positioning plate 16, so that when the grabbing parts 13 and the battery 100 move, the battery 100 can be prevented from being deviated due to inertia, the relative position precision among the batteries 100 in a group can be ensured, the shaking amplitude of the lower ends of the battery 100 is extremely small, the clamping stability of the grabbing parts 13 is not easily influenced, the moving speed of the grabbing parts 13 and the battery 100 can be greatly improved, and the transferring efficiency is improved; moreover, due to the limiting effect of the second battery limiting hole 161, in the process of lifting the battery 100, the second battery limiting hole 161 can correct the verticality of the battery 100, so that the verticality of the battery 100 can meet requirements (the traditional battery 100 grabbing device cannot correct the position of the battery 100), the offset of the lower end of the battery 100 is extremely small in the transferring process, and the position accuracy of placing the battery 100 can be guaranteed during discharging. The longer the length of the battery 100 is, the more prominent the effect is, and the industry trend that the diameter and the length of the cylindrical battery 100 are larger at present is particularly met.

This application also can be that battery 100 is motionless, and locating plate 16 descends under the lift cylinder 14 drive battery, realizes battery 100 and battery locating plate 16's relative motion down, and is the same in principle with above scheme, also must obtain the same technological effect, belongs to the equal alternative.

The second embodiment:

referring to fig. 9, 10 and 11, the grabbing device comprises an outer frame 20, a plurality of groups of grabbing clamps 10 and an equal-pitch mechanism 30, wherein the equal-pitch mechanism 30 comprises a pitch cylinder 31, a guide rod 32 and a diamond-shaped telescopic connecting rod 33, the guide rod 32 is arranged on the outer frame 20, the groups of grabbing clamps 10 are connected through the diamond-shaped telescopic connecting rod 33, one group of grabbing clamps 10 are fixedly arranged on the outer frame 20, the rest grabbing clamps 10 are slidably arranged on the guide rod 32, and the pitch cylinder 31 is used for driving the groups of grabbing clamps 10 to approach or move away from each other, so that a pitch varying function is realized.

This application has add displacement mechanism 30, can interval between the material anchor clamps 10 is grabbed to the quick adjustment multiunit, thereby can realize that the displacement goes up unloading, snatch battery 100 back according to certain interval earlier promptly, then carry out the displacement, interval grow or diminish between battery 100, remove to the unloading position again, carry out the unloading, the flexibility is strong, battery 100 can become dense or become sparse during unloading, be applicable to the material transfer between the unloading position that has different requirements to the interval, a special scene that belongs to last unloading is used. The diamond-shaped telescopic connecting rods 33 are used for ensuring that the multiple groups of material grabbing clamps 10 can move at equal variable distances when the distances are changed, so that the batteries 100 can be uniformly densified or thinned.

Referring to fig. 14 and 15, the outer frame 20 includes a top plate 21 and two side plates 22, the mounting frame 11 includes a lifting cylinder mounting plate 111 and first sliders 112 fixed to two sides of the lifting cylinder mounting plate 111, two ends of the guide rods 32 are respectively disposed on the two side plates 22, the first sliders 112 are slidably disposed on the guide rods 32, and the number of the guide rods 32 is four. The outer frame 20 is used for ensuring the overall strength of the whole material grabbing device, the first sliding blocks 112 of the mounting frame 11 are arranged on the guide rods 32 in a sliding mode, free translation of the material grabbing clamp 10 is achieved, the four guide rods 32 ensure the moving precision of the material grabbing clamp 10, and meanwhile the structural rigidity of the whole device can be improved.

Referring to fig. 14 and 15, a guide rail 34 and a second slider 35 are further disposed on the top plate 21, the second slider 35 is slidably disposed on the guide rail 34, a cylinder shaft of the pitch-variable cylinder 31 is connected with the second slider 35 in a floating manner, and the first slider 112 and the second slider 35 of one group of the material-grasping fixtures 10 are fixedly connected. When grabbing the quantity that material anchor clamps 10 arranged when more, the thrust of displacement cylinder 31 needs to strengthen, thrust increases the back, because the precision reason of equipment precision and displacement cylinder 31 itself, thrust produces bad vertical component easily, this vertical component influences the free translation of grabbing material anchor clamps 10 easily, this application has add guide rail 34 and second slider 35, and second slider 35 moving direction is accurate, can offset this vertical component, has guaranteed the smooth degree of grabbing material anchor clamps 10 translation better.

Referring to fig. 14 and 15, a position sensing sheet 36 is disposed on the first sliding block 112 of one of the material gripping clamps 10, a position sensor 37 is disposed at a corresponding position of the top plate 21, and the position sensor 37 senses the position of the material gripping clamp 10 through the position sensing sheet 36. Can accurately respond to the position of grabbing material anchor clamps 10 through position inductor 37, through the position of adjustment position response piece 36 or position inductor 37, can set up the settlement position of grabbing material anchor clamps 10 both ends when removing, when grabbing material anchor clamps 10 and reach the settlement position at both ends, position inductor 37 senses the back, and displacement cylinder 31 will stop motion, keeps present interval state.

Referring to fig. 9, 12 and 13, the material grabbing device further includes a battery bottom pocket assembly 40, the battery bottom pocket assembly 40 includes a bottom pocket fixing plate 41, an L-shaped arm 42, a bottom pocket plate 43 and a bottom pocket cylinder 44, the bottom pocket fixing plate 41 is disposed on the outer frame 20, the L-shaped arm 42 is hinged to the bottom pocket fixing plate 41 through a first shaft 45, the bottom pocket plate 43 is disposed on the L-shaped arm 42, one end of the bottom pocket cylinder 44 is hinged to the bottom pocket fixing plate 41 through a second shaft 46, and the other end is hinged to the L-shaped arm 42 through a third shaft 47, so as to drive the L-shaped arm 42 to rotate, so that the bottom pocket plate 43 carries out bottom pocket operation on the battery 100.

The material grabbing method of the material grabbing device for the grouped transfer cylindrical batteries comprises the following steps:

moving the material grabbing device to the position above the material taking position, and descending to enable the plurality of grabbing parts 13 on the material grabbing clamp 10 to grab the batteries 100;

starting a lifting cylinder 14 to lift the grabbing part fixing plate 12, the grabbing parts 13, the battery upper positioning plate 15 and the battery 100 to a preset position;

starting the variable-pitch cylinder 31, driving one of the material grabbing clamps 10 to move by the variable-pitch cylinder 31, driving the other material grabbing clamps 10 to move by the material grabbing clamp 10 through the diamond telescopic connecting rod 33, and changing the pitch to the required pitch size to realize equal-pitch movement;

the bottom-pocket cylinder 44 is started, the bottom-pocket cylinder 44 pushes the L-shaped arm 42 to rotate, and the bottom-pocket plate 43 is driven to move to carry out bottom pocket on the battery 100;

the bottom pocket cylinder 44 is started again, the bottom pocket cylinder 44 pushes the L-shaped arm 42 to rotate reversely, and the bottom pocket plate 43 is driven to move away from the bottom of the battery 100 (to return to the original position);

the grabbing part 13 loosens the battery 100 and falls into a blanking position;

moving the material grabbing device to a position above a new material taking position;

starting the variable-pitch cylinder 31, driving one of the material grabbing clamps 10 to move by the variable-pitch cylinder 31, and driving the other material grabbing clamps 10 to move by the material grabbing clamp 10 through the diamond telescopic connecting rod 33 to return to the original distance;

the above transfer operation is repeated.

After the grabbing component 13 grabs the battery 100 and the lifting cylinder 14 lifts the battery 100, the bottom-pocket cylinder 44 drives the L-shaped arm 42 to rotate, so that the bottom-pocket plate 43 pockets the battery 100, and the battery 100 cannot fall off even if grabbing is not firm or power and gas are cut off, so that the technical problem that the battery 100 falls off in the transferring process is thoroughly solved; the battery bottom-pocket assembly 40 is a safety auxiliary mechanism, is a physical guarantee, can further increase the quantity of once grabbing the battery 100, and the transfer speed can be faster, so that the efficiency of the grabbing device is higher and more reliable.

The material grabbing device and the material grabbing method for transferring the cylindrical batteries in groups can be applied to full-automatic drying equipment of new energy automobile power batteries, are used for grabbing the cylindrical batteries in groups, and can also be applied to other scenes.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A gripping device for transferring cylindrical batteries in groups, characterized in that it comprises at least one group of gripping grippers (10), said gripping grippers (10) comprising:

a mounting frame (11);

a gripping member fixing plate (12);

a plurality of grasping parts (13) provided on the grasping part fixing plate (12) for grasping the plurality of batteries (100);

the battery upper positioning plate (15) is arranged on the grabbing component fixing plate (12), and a plurality of first battery limiting holes (151) are formed in the battery upper positioning plate (15) and used for limiting the upper end of the battery (100);

the battery lower positioning plate (16) is arranged on the mounting frame (11), a plurality of second battery limiting holes (161) are formed in the battery lower positioning plate (16) and used for limiting the lower ends of the batteries (100), and the upper positions and the lower positions of the first battery limiting holes (151) and the second battery limiting holes (161) are corresponding to each other;

and the lifting cylinder (14) is arranged on the mounting rack (11) and is used for driving the grabbing component fixing plate (12) to lift or driving the battery lower positioning plate (16) to lift.

2. Gripping device for transferring cylindrical batteries in groups according to claim 1, characterized in that said gripping means (13) are vacuum suction cups or cylinder jaws.

3. The grabbing device for transferring cylindrical batteries in groups according to claim 1 is characterized by comprising an outer frame (20) and a plurality of groups of grabbing clamps (10), wherein the plurality of groups of grabbing clamps (10) are arranged on the outer frame (20) in an array.

4. The grabbing device for transferring cylindrical batteries in groups according to claim 1, wherein said lifting cylinder (14) is a three-rod cylinder, the lower ends of said first battery defining hole (151) and said second battery defining hole (161) are provided with a chamfer or a radius for guiding, said lower battery positioning plate (16) is disposed on said mounting frame (11) through a connecting plate (17), the cross section of said connecting plate (17) is rectangular, and said connecting plate (17) is further provided with a plurality of through holes (171) for weight reduction.

5. The grabbing device for transferring cylindrical batteries in groups according to claim 1 comprises an outer frame (20), a plurality of groups of grabbing clamps (10) and an equal-distance-changing mechanism (30), wherein the equal-distance-changing mechanism (30) comprises a distance-changing cylinder (31), a guide rod (32) and a diamond-shaped telescopic connecting rod (33), the guide rod (32) is arranged on the outer frame (20), the plurality of groups of grabbing clamps (10) are connected through the diamond-shaped telescopic connecting rod (33), one group of grabbing clamps (10) is fixedly arranged on the outer frame (20), the rest grabbing clamps (10) are slidably arranged on the guide rod (32), and the distance-changing cylinder (31) is used for driving the plurality of groups of grabbing clamps (10) to approach or move away from each other to realize the distance-changing function.

6. The grabbing device for transferring cylindrical batteries in groups according to claim 5 is characterized in that said outer frame (20) comprises a top plate (21) and two side plates (22), said mounting frame (11) comprises a lifting cylinder mounting plate (111) and first sliding blocks (112) fixed on two sides of the lifting cylinder mounting plate (111), two ends of said guide rods (32) are respectively arranged on two side plates (22), said first sliding blocks (112) are slidably arranged on said guide rods (32), and the number of said guide rods (32) is four.

7. The material grabbing device for the grouped transfer cylindrical batteries according to claim 6, wherein a guide rail (34) and a second sliding block (35) are further arranged on the top plate (21), the second sliding block (35) is slidably arranged on the guide rail (34), the cylinder shaft of the variable pitch cylinder (31) is in floating connection with the second sliding block (35), and the first sliding block (112) and the second sliding block (35) of the group of material grabbing clamps (10) are fixedly connected.

8. The material grabbing device for grouped transferring cylindrical batteries according to claim 6, wherein a position sensing piece (36) is arranged on the first sliding block (112) of a group of material grabbing clamps (10), a position sensor (37) is arranged at a corresponding position of the top plate (21), and the position sensor (37) senses the position of the material grabbing clamps (10) through the position sensing piece (36).

9. The material grabbing device for the grouped transfer cylindrical batteries is characterized by further comprising a battery bottom-pocket assembly (40), wherein the battery bottom-pocket assembly (40) comprises a bottom-pocket fixing plate (41), an L-shaped arm (42), a bottom-pocket plate (43) and a bottom-pocket cylinder (44), the bottom-pocket fixing plate (41) is arranged on the outer frame (20), the L-shaped arm (42) is hinged to the bottom-pocket fixing plate (41) through a first shaft (45), the bottom-pocket plate (43) is arranged on the L-shaped arm (42), one end of the bottom-pocket cylinder (44) is hinged to the bottom-pocket fixing plate (41) through a second shaft (46), and the other end of the bottom-pocket cylinder is hinged to the L-shaped arm (42) through a third shaft (47) and used for driving the L-shaped arm (42) to rotate so that the bottom-pocket plate (43) can bottom the battery (100).

10. A method for the handling of the handling device for transferring cylindrical cells in groups according to any one of claims 1 to 9, characterized in that it comprises the following steps:

moving the grabbing device to the position above the material taking position and descending to enable a plurality of grabbing parts (13) on the grabbing clamp (10) to grab the batteries (100);

starting a lifting cylinder (14), lifting the grabbing part fixing plate (12), the grabbing part (13), the battery upper positioning plate (15) and the battery (100) to a preset position together, or lowering the battery lower positioning plate (16) to the preset position;

then moving the material grabbing device to the position above the blanking position and descending;

gripping the battery (100) with a gripping member (13);

starting a lifting cylinder (14), and lowering a grabbing part fixing plate (12), a grabbing part (13), a battery upper positioning plate (15) and a battery (100) to a preset position together, or lifting a battery lower positioning plate (16) to the preset position;

the grabbing component (13) loosens the battery (100) and falls into a blanking position.