CN115231296B - Material grabbing device and method for group transfer cylindrical batteries - Google Patents
Material grabbing device and method for group transfer cylindrical batteries Download PDFInfo
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- CN115231296B CN115231296B CN202210995093.0A CN202210995093A CN115231296B CN 115231296 B CN115231296 B CN 115231296B CN 202210995093 A CN202210995093 A CN 202210995093A CN 115231296 B CN115231296 B CN 115231296B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000463 material Substances 0.000 title claims description 53
- 230000000670 limiting effect Effects 0.000 claims abstract description 59
- 229910003460 diamond Inorganic materials 0.000 claims description 6
- 239000010432 diamond Substances 0.000 claims description 6
- 238000007599 discharging Methods 0.000 description 18
- 230000000694 effects Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
- H01M10/0422—Cells or battery with cylindrical casing
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- 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
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- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to a grabbing device for transferring cylindrical batteries in groups and a grabbing method thereof. The application not only can solve the problem of quick transfer after battery group grabbing, but also can solve the technical problem of accurate positioning. After the grabbing component grabs the battery, the grabbing component and the battery are lifted upwards by the lifting cylinder, the upper end and the lower end of the battery are limited by the first battery limiting hole and the second battery limiting hole, and the moving speed of the grabbing component and the battery can be greatly improved, so that the transfer efficiency is improved; the second battery limiting hole can correct the perpendicularity of the battery, and the position accuracy of battery placement is guaranteed.
Description
Technical Field
The application relates to the technical field of automatic feeding and discharging, in particular to a grabbing device for group transfer cylindrical batteries and a grabbing method thereof.
Background
In the production process of the cylindrical battery, an automatic battery charging and discharging device is used, and the movement speed of the automatic charging and discharging device and the placement accuracy of charging and discharging can directly influence the production efficiency of the cylindrical battery. The automatic feeding and discharging device mainly comprises a mobile manipulator and a grabbing device, the top of the cylindrical battery is generally clamped by a cylinder clamping jaw by the grabbing device of the conventional cylindrical battery, and the grabbing mode is low in battery positioning precision due to the fact that the lower half part of the cylindrical battery is not positioned, particularly for long-size cylindrical batteries, battery positioning precision is low due to the fact that the cylindrical battery is easy to deviate in the transferring process, and particularly relative position precision among batteries grabbed in groups cannot be guaranteed.
In particular, a core disadvantage of this gripping mode is that after the top of the battery is gripped, the center of gravity of the battery is below the jaws, and if the cylindrical battery is longer, the further the center of gravity of the battery is from the jaws. When the clamping jaw grabs the cylindrical head to move quickly, inertial force is easy to generate, so that the cylindrical battery is thrown off or the bottom of the cylindrical battery is deflected. To solve this problem, it is necessary to reduce the moving speed of the jaws, increase the gripping force of the jaws, and increase the inner diameter of the receiving cylindrical battery profile block. However, these measures inevitably lead to a decrease in the working efficiency of the loading and unloading system, a possibility of clamping damage to the battery, and an increase in the size of the cylindrical battery profiling block, which is to be improved.
Disclosure of Invention
The application provides a grabbing device and a grabbing method for group transfer of cylindrical batteries, aiming at solving the technical problems that the efficiency is low, the bottom of the cylindrical batteries is easy to deviate, and the feeding and discharging positioning precision is low due to the fact that the existing grabbing device cannot transfer quickly after the batteries are grabbed in groups.
On one hand, the material grabbing device for group transfer cylindrical batteries provided by the application adopts the following technical scheme: a gripping device for transferring cylindrical batteries in groups, comprising at least one group of gripping jigs, the gripping jigs comprising: a mounting frame; a gripping member fixing plate; the grabbing parts are arranged on the grabbing part fixing plate and used for grabbing a plurality of batteries; the battery upper positioning plate is arranged on the grabbing component fixing plate, and is provided with a plurality of first battery limiting holes for limiting the upper end of the battery; 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 end of the battery, and the upper and lower positions of the first battery limiting holes and the second battery limiting holes are corresponding; and the lifting cylinder is arranged on the mounting frame and used for driving the grabbing component fixing plate to lift or driving the battery lower positioning plate to lift.
By adopting the technical scheme, the application not only can solve the problem of quick transfer after battery group grabbing, but also can solve the technical problem of accurate positioning. According to the application, the lifting air cylinder, the upper battery locating plate and the lower battery locating plate are arranged, after the grabbing component grabs the battery, the grabbing component and the battery are lifted upwards by the lifting air cylinder, the upper end of the battery can be limited by the first battery limiting hole on the upper battery locating plate, the lower end of the battery can be limited by the second battery limiting hole on the lower battery locating plate, so that the grabbing component and the battery can not deviate due to inertia when moving, the relative position precision between the batteries in the group can be ensured, the shaking amplitude of the lower end of the battery is extremely small, the clamping stability of the grabbing component is not easily influenced, and the moving speed of the grabbing component and the battery can be greatly improved, thereby improving the transfer efficiency; and because the limiting effect of the second battery limiting hole, the second battery limiting hole can correct the perpendicularity of the battery in the process of lifting the battery, the perpendicularity of the battery can be ensured to meet the requirement, the offset of the lower end of the battery is extremely small in the transferring process, and the position accuracy of the battery placement can be ensured in the discharging process. The longer the length of the battery is, the more remarkable the effect is, and the battery especially accords with the industry trend that the larger the diameter and the length of the current cylindrical battery are.
The application can also be that the battery is not moved, the lifting cylinder drives the battery lower positioning plate to descend, the relative movement of the battery and the battery lower positioning plate is realized, the principle is the same as that of the scheme above, the same technical effect is obtained, and the application belongs to the equivalent alternative scheme.
Preferably, the gripping member is a vacuum chuck or a cylinder jaw.
By adopting the technical scheme, the gripping member in the prior art can be used as the requirement of the gripping member is low.
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, through setting up the multiunit and grabbing material anchor clamps, 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 respectively provided with a chamfer or a rounding for guiding, the battery lower positioning plate is arranged on the mounting frame through a connecting plate, the cross section of the connecting plate is rectangular, and a plurality of through holes for weight reduction are further formed in the connecting plate.
Through adopting above-mentioned technical scheme, the lift cylinder is the three-bar cylinder, and the torsional resistance is strong, when snatchs part and battery and have great weight, can guarantee well that snatch the part fixed plate and not incline in the motion process, improves the stability of grabbing the material anchor clamps. Because the limiting effect is to be played, the clearance between the first battery limiting hole and the second battery limiting hole and the battery is smaller, the battery is easy to interfere with the battery upper positioning plate and the battery lower positioning plate, the occurrence of collision is opportunely caused, the lower ends of the first battery limiting hole and the second battery limiting hole are both provided with chamfers or rounds, the battery is guided, the battery can conveniently and smoothly enter the first battery limiting hole and the second battery limiting hole, and the probability of collision is reduced. The battery lower locating plate passes through the connecting plate setting on the mounting bracket, the length of connecting plate and the length positive correlation of battery, the longer battery, the length of connecting plate is also longer, again because the fixed firm reliable to the battery lower locating plate, so the intensity and the rigidity of connecting plate are enough, the cross section of connecting plate is rectangle, mainly used guarantees the rigidity of connecting plate, set up a plurality of through-holes on the connecting plate, the rigidity influence to the connecting plate is less, but can reduce the weight, reduce the whole weight of grabbing material anchor clamps, reduce the load of mobile manipulator.
Preferably, the automatic control device comprises an outer frame, a plurality of groups of grabbing clamps and an equal-distance changing mechanism, wherein the equal-distance changing mechanism comprises a distance changing cylinder, a guide rod and a diamond telescopic connecting rod, the guide rod is arranged on the outer frame, the plurality of groups of grabbing clamps are connected through the diamond telescopic connecting rod, one group of grabbing clamps are fixedly arranged on the outer frame, the rest grabbing clamps are slidingly arranged on the guide rod, and the distance changing cylinder is used for driving the plurality of groups of grabbing clamps to be close to or far away from each other so as to realize a distance changing function.
By adopting the technical scheme, the equal-distance-changing mechanism is additionally arranged, the distance between the plurality of groups of grabbing clamps can be quickly adjusted, so that distance-changing feeding and discharging can be realized, namely, after batteries are grabbed according to a certain distance, the distance is changed, the distance between the batteries is increased or decreased, and then the batteries are moved to a discharging position for discharging, so that the equal-distance-changing mechanism is high in flexibility, the batteries can be thickened or thinned during feeding and discharging, and the equal-distance-changing mechanism is suitable for transferring materials between feeding and discharging positions with different requirements on the distance, and belongs to a special scene application of feeding and discharging. The diamond-shaped telescopic connecting rods are used for ensuring that a plurality of groups of grabbing fixtures can realize equal-distance-changing movement when the distance is changed, so that the battery can be uniformly thickened or thinned.
Preferably, the outer frame includes roof and two curb plates, the mounting bracket includes 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.
Through adopting above-mentioned technical scheme, outer frame is used for guaranteeing whole grabbing the bulk strength of material device, and the first slider of mounting bracket slides and sets up on the guide bar, realizes grabbing the free translation of material anchor clamps, and four guide bars guarantee grabbing the removal precision of material anchor clamps, also can improve the structural rigidity of whole device simultaneously.
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 in floating connection with the second sliding block, and the first sliding block and the second sliding block of the material grabbing clamp are fixedly connected.
By adopting the technical scheme, when the number of the grabbing jigs arranged is large, the thrust of the variable-pitch cylinder needs to be increased, after the thrust is increased, poor vertical components are easily generated by the thrust due to the assembly precision and the precision of the variable-pitch cylinder, and the vertical components easily influence the free translation of the grabbing jigs.
Preferably, a position sensing piece is arranged on the first sliding block of one group of grabbing clamps, a position sensor is arranged at the corresponding position of the top plate, and the position sensor senses the position of the grabbing clamp 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 sensing piece or position sensor, can set up the settlement position at both ends when grabbing the material anchor clamps and remove, when grabbing the setting position at both ends of material anchor clamps, the position sensor senses the back, and the displacement cylinder will stop the motion, keeps current interval state.
Preferably, the grabbing device further comprises a battery bottom assembly, the battery bottom assembly comprises a bottom fixing plate, an L-shaped arm, a bottom pocket plate and a bottom pocket cylinder, the bottom pocket fixing plate is arranged on the outer frame, the L-shaped arm is hinged to the bottom pocket fixing plate through a first shaft, the bottom pocket plate is arranged on the L-shaped arm, one end of the bottom pocket cylinder is hinged to the bottom pocket fixing plate through a second shaft, and the other end of the bottom pocket cylinder is hinged to the L-shaped arm through a third shaft and used for driving the L-shaped arm to rotate so that the bottom pocket plate can bottom the battery.
By adopting the technical scheme, after the grabbing component grabs the battery and the lifting cylinder lifts the battery, the bottom pocket cylinder drives the L-shaped arm to rotate again, so that the bottom pocket plate carries out bottom pocket on the battery, and the battery cannot fall off even if the grabbing is unstable or the power and the gas are off and the like, thereby thoroughly solving the technical problem that the battery can fall off in the transferring process; the battery bottom assembly is a safety auxiliary mechanism, is a physical guarantee, can further increase the number of the battery to be grabbed once, and can be faster in transfer speed, so that the efficiency of the grabbing device is higher and more reliable.
In another aspect, the application discloses a method for grabbing the grabbing device for transferring cylindrical batteries in groups, which comprises the following steps:
moving the grabbing device to the position above the material taking position, and descending to enable a plurality of grabbing components on the grabbing clamp to grab the battery;
starting a lifting cylinder, lifting the grabbing component fixing plate, the grabbing component, the battery upper positioning plate and the battery to a preset position together, or descending the battery lower positioning plate to a preset position;
then the grabbing device is moved to the position above the blanking position and descends;
grabbing the battery by utilizing a grabbing component;
starting a lifting cylinder, and descending the grabbing component fixing plate, the grabbing component, the upper battery locating plate and the battery to a preset position or lifting the lower battery locating plate to a preset position;
the grabbing component loosens the battery and falls into the 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 affected, 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 limiting hole of the second battery, the offset of the lower end of the battery is extremely small, and the position accuracy of the battery placement can be ensured during blanking.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the application not only can solve the problem of quick transfer after battery group grabbing, but also can solve the technical problem of accurate positioning;
2. the added equal-distance-changing mechanism can quickly adjust the intervals among a plurality of groups of grabbing clamps, so that the variable-distance feeding and discharging can be realized, the flexibility is high, the device is suitable for transferring materials among feeding and discharging positions with different requirements on the intervals, and the device belongs to a special scene application of feeding and discharging;
3. the battery pocket bottom assembly thoroughly solves the technical problem that the battery can fall off in the transferring process, is a safety auxiliary mechanism, is a physical guarantee, can further increase the number of the once-grabbing batteries, and can be higher in transferring speed, so that the efficiency of the grabbing device is higher and more reliable.
Drawings
FIG. 1 is a perspective view of a first embodiment of a 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 material handling apparatus of the present application;
FIG. 4 is a schematic view of the internal structure (hidden outer frame) of a first embodiment of the material grabbing device;
FIG. 5 is a perspective view of a grabbing clamp according to a first embodiment of the grabbing device of the present application;
FIG. 6 is a schematic diagram showing a semi-section of a material grabbing clamp in a first embodiment of the material grabbing device;
fig. 7 is a schematic diagram showing a state after the grabbing clamp battery is lifted in the first embodiment;
FIG. 8 is an inverted schematic view of a material grabbing clamp according to the first 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 grabbing device of the present application;
FIG. 11 is a side view of a second embodiment of the material handling apparatus of the present application;
fig. 12 is a schematic view of a second battery lifted state of the material grabbing device according to the embodiment of the application;
FIG. 13 is a schematic view showing a battery bottom assembly in an operating position according to the second embodiment;
FIG. 14 is a schematic diagram of a medium pitch mechanism according to the second embodiment;
fig. 15 is a schematic view illustrating another angle of the medium pitch mechanism according to the second embodiment.
Reference numerals illustrate: 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 positioning plate on the battery; 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. a constant-pitch mechanism; 31. a variable-pitch cylinder; 32. a guide rod; 33. a diamond-shaped telescopic connecting rod; 34. a guide rail; 35. a second slider; 36. a position sensing piece; 37. a position sensor; 40. a battery bottom assembly; 41. a bottom-holding fixing plate; 42. an L-shaped arm; 43. a pocket bottom plate; 44. a bottom-holding cylinder; 45. a first shaft; 46. a second shaft; 47. a third shaft; 100. and a battery.
Detailed Description
The application is described in further detail below with reference to fig. 1-15.
Embodiment one:
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 jigs 10 (specifically, six groups of four batteries 100 can be grabbed in each group, twenty-four batteries 100 can be grabbed simultaneously in total), wherein the plurality of groups of material grabbing jigs 10 are arranged on the outer frame 20 in an array. By providing a plurality of groups of gripping jigs 10, more batteries 100 can be gripped at one time, and the overall transfer efficiency can be improved.
Referring to fig. 5, 6 and 8, the gripping fixture 10 includes a mounting frame 11, a gripping member fixing plate 12, a plurality of gripping members 13, an upper battery positioning plate 15, a lower battery positioning plate 16 and a lifting cylinder 14, the plurality of gripping members 13 being disposed on the gripping member fixing plate 12 for gripping 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 arranged on the battery lower positioning plate 16 and are used for limiting the lower end of the battery 100, and the upper and lower positions of the first battery limiting holes 151 and the second battery limiting holes 161 are corresponding (upper and lower coaxial centers); the lifting cylinder 14 is arranged on the mounting frame 11 and is used for driving the grabbing component fixing plate 12 to lift or driving the battery lower locating plate 16 to lift.
Referring to fig. 6, the gripping member 13 is a vacuum chuck (a conventional cylinder jaw may be used to also grip the battery 100). Since the present application has a low requirement for the gripping member 13, the gripping member 13 of the prior art can be used.
Referring to fig. 5, the lifting cylinder 14 is a three-rod cylinder. The three-rod air cylinder has strong torsion resistance, and can well ensure that the grabbing component fixing plate 12 does not incline in the moving process when the grabbing component 13 and the battery 100 have large weight, so that the stability of the grabbing clamp 10 is improved.
Referring to fig. 8, the lower ends of the first and second battery limiting holes 151 and 161 are provided with a chamfer or a radius for guiding (may be designed as a bell-mouth structure). Because the limiting effect is to be achieved, the gaps between the first battery limiting hole 151 and the second battery limiting hole 161 and the battery 100 are smaller, the battery 100 is easy to interfere with the battery upper positioning plate 15 and the battery lower positioning plate 16, collision is opportunely caused, chamfers or rounding are arranged at the lower ends of the first battery limiting hole 151 and the second battery limiting hole 161, the battery 100 is guided, and the battery 100 can conveniently and smoothly enter the first battery limiting hole 151 and the second battery limiting hole 161, so that 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 connection plate 17, the cross section of the connection plate 17 is rectangular, and a plurality of through holes 171 for weight reduction are further formed in the connection plate 17. The battery lower locating 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 the length of the battery 100, the longer the battery 100 is, the longer the connecting plate 17 is, and the strength and rigidity of the connecting plate 17 are enough because the battery lower locating plate 16 is firmly and reliably fixed, the cross section of the connecting plate 17 is rectangular and is mainly used for guaranteeing the rigidity of the connecting plate 17, a plurality of through holes 171 are formed in the connecting plate 17, the influence on the rigidity of the connecting plate 17 is small, but the weight can be reduced, the overall weight of the grabbing clamp 10 is reduced, and the load of a mobile manipulator is reduced.
The material grabbing method of the material grabbing device for transferring the cylindrical batteries in groups comprises the following steps of: when the trays of the cylindrical batteries need to be assembled or the batteries 100 need to be transferred to a processing station, the material grabbing device is moved to the position above the material taking position by using the moving manipulator and descends, so that the plurality of grabbing components 13 on the material grabbing clamp 10 grab the batteries 100;
starting the lifting cylinder 14 to lift the grabbing component fixing plate 12, the grabbing component 13, the upper battery locating plate 15 and the battery 100 together to a preset position;
then the grabbing device is moved to the position above the blanking position and descends, (at the moment, 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);
gripping the battery 100 with the gripping member 13;
starting the lifting cylinder 14 to lower the grabbing component fixing plate 12, the grabbing component 13, the upper battery locating plate 15 and the battery 100 to a preset position;
the gripping member 13 releases the battery 100 and falls into the discharging position.
The application not only can solve the problem of quick transfer after the batteries 100 are grabbed in groups, but also can solve the technical problem of accurate positioning. According to the application, the lifting air cylinder 14, the upper battery locating plate 15 and the lower battery locating plate 16 are arranged, after the battery 100 is grabbed by the grabbing component 13, the grabbing component 13 and the battery 100 are lifted upwards by the lifting air cylinder 14, the upper end of the battery 100 can be limited by the first battery limiting hole 151 on the upper battery locating plate 15, the lower end of the battery 100 can be limited by the second battery limiting hole 161 on the lower battery locating plate 16, so that the relative position precision between the batteries 100 in a group can be ensured because the batteries 100 cannot shift due to inertia when the grabbing component 13 and the battery 100 move, the shaking amplitude of the lower end of the battery 100 is extremely small, the clamping stability of the grabbing component 13 is not easily influenced, the moving speed of the grabbing component 13 and the battery 100 can be greatly improved, and the transfer efficiency is improved; and because the limiting function of the second battery limiting hole 161, the second battery limiting hole 161 can correct the perpendicularity of the battery 100 in the lifting process of the battery 100, so that the perpendicularity of the battery 100 can be ensured to meet the requirement (the traditional battery 100 grabbing device can not 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 positioning accuracy of the battery 100 can be ensured in the blanking process. The longer the length of the battery 100, the more remarkable the effect, and the battery is in particular in line with the industry trend that the larger the diameter and the length of the current cylindrical battery 100 are.
The application can also be that the battery 100 is not moved, the lifting cylinder 14 drives the battery lower positioning plate 16 to descend, the relative movement of the battery 100 and the battery lower positioning plate 16 is realized, the same technical effect is obtained in principle as the scheme above, and the application belongs to the equivalent alternative scheme.
Embodiment two:
referring to fig. 9, 10 and 11, the material grabbing device comprises an outer frame 20, a plurality of groups of material 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 telescopic connecting rod 33, the guide rod 32 is arranged on the outer frame 20, the plurality of groups of material grabbing clamps 10 are connected through the diamond telescopic connecting rod 33, one group of material grabbing clamps 10 are fixedly arranged on the outer frame 20, the rest material grabbing clamps 10 are slidingly arranged on the guide rod 32, and the distance changing cylinder 31 is used for driving the plurality of groups of material grabbing clamps 10 to be close to or far away from each other so as to realize a distance changing function.
The application is additionally provided with the equal-distance changing mechanism 30, so that the distance between the plurality of groups of grabbing fixtures 10 can be quickly adjusted, and therefore, the variable-distance loading and unloading can be realized, namely, after the batteries 100 are grabbed according to a certain distance, the distance between the batteries 100 is changed to be larger or smaller, and then the batteries 100 are moved to the unloading position for unloading, so that the flexibility is high, the batteries 100 can be thickened or thinned during loading and unloading, and the variable-distance grabbing fixture is suitable for transferring materials between loading and unloading positions with different requirements on the distance, and belongs to a special scene application of loading and unloading. The diamond-shaped telescopic connecting rod 33 is used for ensuring that the plurality of groups of grabbing fixtures 10 can realize equal-distance-changing movement during distance changing, so that the battery 100 can be uniformly thickened 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 on both sides of the lifting cylinder mounting plate 111, both 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 guaranteeing the overall strength of the whole grabbing device, the first sliding blocks 112 of the installation frame 11 are arranged on the guide rods 32 in a sliding mode, free translation of the grabbing clamp 10 is achieved, the four guide rods 32 guarantee the moving precision of the grabbing clamp 10, and meanwhile the structural rigidity of the whole grabbing device can be improved.
Referring to fig. 14 and 15, the top plate 21 is further provided with a guide rail 34 and a second slider 35, the second slider 35 is slidably disposed on the guide rail 34, and the cylinder shaft of the distance-changing cylinder 31 is in floating connection with the second slider 35, where the first slider 112 of the group of grabbing jigs 10 is fixedly connected with the second slider 35. When the number of the arrangement of the grabbing jigs 10 is large, the thrust of the variable-pitch cylinder 31 needs to be increased, after the thrust is increased, poor vertical components are easily generated by the thrust due to the assembly precision and the precision of the variable-pitch cylinder 31, and the vertical components easily influence the free translation of the grabbing jigs 10.
Referring to fig. 14 and 15, a position sensing piece 36 is provided on the first slider 112 of one group of the grabbing jigs 10, and a position sensor 37 is provided at a corresponding position of the top plate 21, and the position sensor 37 senses the position of the grabbing jigs 10 through the position sensing piece 36. The position sensor 37 can accurately sense the position of the grabbing clamp 10, the position sensing piece 36 or the position sensor 37 can be adjusted to set the set positions of the two ends of the grabbing clamp 10 when moving, and when the grabbing clamp 10 reaches the set positions of the two ends, the distance changing cylinder 31 stops moving after sensing the position sensor 37, so that the current distance state is maintained.
Referring to fig. 9, 12 and 13, the material grabbing device further includes a battery bottom assembly 40, where the battery bottom assembly 40 includes a bottom fixing plate 41, an L-shaped arm 42, a bottom plate 43 and a bottom cylinder 44, the bottom fixing plate 41 is disposed on the outer frame 20, the L-shaped arm 42 is hinged to the bottom fixing plate 41 through a first shaft 45, the bottom plate 43 is disposed on the L-shaped arm 42, one end of the bottom cylinder 44 is hinged to the bottom 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 plate 43 performs bottom of the battery 100.
The material grabbing method of the material grabbing device for group transfer cylindrical batteries in the second embodiment of the application comprises the following steps:
moving the grabbing device to a position above the material taking position and descending to enable the grabbing components 13 on the grabbing clamp 10 to grab the battery 100;
starting the lifting cylinder 14 to lift the grabbing component fixing plate 12, the grabbing component 13, the upper battery locating plate 15 and the battery 100 together to a preset position;
starting a distance-changing air cylinder 31, wherein the distance-changing air cylinder 31 drives one of the grabbing clamps 10 to move, and the grabbing clamps 10 drive the other grabbing clamps 10 to move through a diamond-shaped telescopic connecting rod 33, so that the distance is changed to a required distance size, and the equal distance-changing movement is realized;
starting the bottom-holding cylinder 44, wherein the bottom-holding cylinder 44 pushes the L-shaped arm 42 to rotate, and drives the bottom-holding plate 43 to move to hold the battery 100;
then the grabbing device is moved to the position above the blanking position and descends;
the bottom catch cylinder 44 is started again, and the bottom catch cylinder 44 pushes the L-shaped arm 42 to reversely rotate, so that the bottom pocket plate 43 is driven to move away from the bottom of the battery 100 (to restore to the original position);
starting the lifting cylinder 14 to lower the grabbing component fixing plate 12, the grabbing component 13, the upper battery locating plate 15 and the battery 100 to a preset position;
the grabbing component 13 loosens the battery 100 and falls into a discharging position;
moving the grabbing device to a position above the new material taking position;
starting a distance-changing cylinder 31, wherein the distance-changing cylinder 31 drives one of the grabbing clamps 10 to move, and the grabbing clamps 10 drive the other grabbing clamps 10 to move through a diamond-shaped telescopic connecting rod 33 so as to restore the original distance;
repeating the transfer operation.
After the grabbing component 13 grabs the battery 100 and the lifting cylinder 14 lifts the battery 100, the bottom holding cylinder 44 drives the L-shaped arm 42 to rotate again, so that the bottom holding plate 43 holds the battery 100, and even if the grabbing is not firm or the power and the air are cut off, the battery 100 cannot fall off, and the technical problem that the battery 100 falls off in the transferring process is thoroughly solved; the battery bottom assembly 40 is a safety auxiliary mechanism, which is a physical guarantee, and can further increase the number of the battery 100 to be grabbed at one time, and the transfer speed can be faster, so that the efficiency of the grabbing device is higher and more reliable.
The grabbing device and the grabbing method for group transfer of the cylindrical batteries can be applied to full-automatic drying equipment of the power batteries of the new energy automobiles, and can be used for group grabbing of the cylindrical batteries and can also be applied to other scenes.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (9)
1. A gripping device for transferring cylindrical batteries in groups, characterized by comprising at least one group of gripping jigs (10), said gripping jigs (10) comprising:
a mounting frame (11);
a gripping member fixing plate (12);
a plurality of gripping members (13) provided on the gripping member fixing plate (12) for gripping 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 are 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 are used for limiting the lower end of the battery (100), and the upper and lower positions of the first battery limiting holes (151) and the second battery limiting holes (161) are corresponding;
the lifting cylinder (14) is arranged on the mounting frame (11) and is used for driving the grabbing component fixing plate (12) and the battery (100) to lift together and lift or descend to a preset position, and the second battery limiting hole (161) is also used for correcting the verticality of the battery (100) in the lifting process of the battery (100); or the second battery limiting hole (161) is used for correcting the verticality of the battery (100) in the process of descending the battery lower positioning plate (16) and driving the battery lower positioning plate (16) to ascend or descend to a preset position;
the material grabbing device further comprises an outer frame (20) and a plurality of groups of material grabbing clamps (10), and the plurality of groups of material grabbing clamps (10) are arranged on the outer frame (20) in an array manner;
the battery lower positioning plate (16) is arranged on the mounting frame (11) through the connecting plate (17).
2. Gripping device for group transfer cylindrical batteries according to claim 1, characterized in that the gripping member (13) is a vacuum chuck or a cylinder jaw.
3. The grabbing device for transferring cylindrical batteries in groups according to claim 1, wherein the lifting cylinder (14) is a three-rod cylinder, the lower ends of the first battery limiting hole (151) and the second battery limiting hole (161) are respectively provided with a chamfer or a rounding for guiding, the cross section of the connecting plate (17) is rectangular, and a plurality of through holes (171) for reducing weight are further formed in the connecting plate (17).
4. The grabbing device for transferring cylindrical batteries in groups according to claim 1, comprising 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 telescopic connecting rod (33), the guide rod (32) is arranged on an outer frame (20), a plurality of groups of grabbing clamps (10) are connected through the diamond telescopic connecting rod (33), one group of grabbing clamps (10) is fixedly arranged on the outer frame (20), the rest grabbing clamps (10) are slidingly 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 be close to or far from each other to realize a distance changing function.
5. The grabbing device for transferring cylindrical batteries in groups according to claim 4, wherein the outer frame (20) comprises a top plate (21) and two side plates (22), the 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 the guide rod (32) are respectively arranged on the two side plates (22), the first sliding blocks (112) are slidably arranged on the guide rod (32), and the number of the guide rods (32) is four.
6. The grabbing device for group transfer of cylindrical batteries according to claim 5, wherein the top plate (21) is further provided with a guide rail (34) and a second slide block (35), the second slide block (35) is slidably arranged on the guide rail (34), a cylinder shaft of the variable-distance cylinder (31) is in floating connection with the second slide block (35), and a first slide block (112) of the group grabbing clamp (10) is fixedly connected with the second slide block (35).
7. The grabbing device for group transfer of cylindrical batteries according to claim 5, wherein a first slider (112) of one group of grabbing jigs (10) is provided with a position sensing piece (36), 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 grabbing jigs (10) through the position sensing piece (36).
8. The grabbing device for transferring cylindrical batteries in groups according to claim 4, further comprising a battery bottom assembly (40), wherein the battery bottom assembly (40) comprises a bottom fixing plate (41), an L-shaped arm (42), a bottom fixing plate (43) and a bottom air cylinder (44), the bottom fixing plate (41) is arranged on the outer frame (20), the L-shaped arm (42) is hinged on the bottom fixing plate (41) through a first shaft (45), the bottom fixing plate (43) is arranged on the L-shaped arm (42), one end of the bottom air cylinder (44) is hinged on the bottom fixing plate (41) through a second shaft (46), and the other end of the bottom air cylinder (44) is hinged on the L-shaped arm (42) through a third shaft (47) for driving the bottom fixing plate (43) to rotate so that the bottom fixing plate (43) can bottom the battery (100).
9. A gripping method of a gripping device for group transfer cylindrical batteries according to any one of claims 1 to 8, characterized by comprising the steps of:
moving the grabbing device to the position above the material taking position, and descending to enable a plurality of grabbing components (13) on the grabbing clamp (10) to grab the battery (100);
starting a lifting cylinder (14) to lift the grabbing component fixing plate (12), the grabbing component (13), the battery upper positioning plate (15) and the battery (100) to a preset position, wherein the second battery limiting hole (161) is also used for correcting the verticality of the battery (100) in the lifting process of the battery (100); or lowering the battery lower positioning plate (16) to a predetermined position, the second battery defining hole (161) also being used for correcting the verticality of the battery (100) during the lowering of the battery lower positioning plate (16);
then the grabbing device is moved to the position above the blanking position and descends;
gripping the battery (100) with the gripping member (13);
starting a lifting cylinder (14), and descending the grabbing component fixing plate (12), the grabbing component (13), the upper battery locating plate (15) and the battery (100) to a preset position or lifting the lower battery locating plate (16) to a preset position;
the grabbing component (13) loosens the battery (100) and falls into the blanking position.
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| CN202210995093.0A CN115231296B (en) | 2022-08-18 | 2022-08-18 | Material grabbing device and method for group transfer cylindrical batteries |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116197936A (en) * | 2023-02-04 | 2023-06-02 | 深圳力士智造科技有限公司 | A fully automatic loading and unloading manipulator for cylindrical batteries |
| CN116946868A (en) * | 2023-07-28 | 2023-10-27 | 三一锂能有限公司 | Battery swapping devices and tram swapping cars |
| CN117049163B (en) * | 2023-10-13 | 2024-03-29 | 宁德时代新能源科技股份有限公司 | Grasping device, gripping equipment, battery production line and control method |
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