CN115535638A - Claw clamp of battery injection molding shell unstacking and stacking robot - Google Patents
Claw clamp of battery injection molding shell unstacking and stacking robot Download PDFInfo
- Publication number
- CN115535638A CN115535638A CN202211517553.5A CN202211517553A CN115535638A CN 115535638 A CN115535638 A CN 115535638A CN 202211517553 A CN202211517553 A CN 202211517553A CN 115535638 A CN115535638 A CN 115535638A
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- plate
- belt wheel
- fixing
- belt
- wheel
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/26—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the arrangement providing for spaces between the articles
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
Abstract
The invention discloses a gripper clamp of a battery injection molding shell unstacking and stacking robot, and relates to the technical field of intelligent unstacking and stacking equipment. The top of a fixed plate of the robot paw clamp is provided with a connecting flange, the shell grabbing device comprises a connecting frame which is oppositely arranged at the bottom of the fixed plate, the bottom of the connecting frame is rotatably provided with a connecting shaft, the end part of the connecting shaft is connected with a sucker fixing frame, and a shell sucker is arranged on the sucker fixing frame; one end of the connecting shaft is connected with the first transmission group, so that the sucker fixing frame can be turned over for 180 degrees; the fixed shaft of the backing plate grabbing device is rotatably connected with the bottom of the fixed plate, and two ends of the fixed shaft are connected with the backing plate sucker through the connecting plate. Snatch the casing of moulding plastics through the casing sucking disc to the battery, first transmission group realizes 180 upsets of casing sucking disc, makes it satisfy the casing and tears the requirement of pile up neatly and upset open, and it snatchs the backing plate to drive the backing plate sucking disc through second transmission group, satisfies the casing and tears the demand to the backing plate in the pile up neatly open, realizes tearing the pile up neatly to the automation of battery casing of moulding plastics.
Description
Technical Field
The invention relates to the technical field of intelligent unstacking and stacking equipment, in particular to a gripper clamp of a battery injection molding shell unstacking and stacking robot.
Background
Along with the popularization and the use of intelligent equipment, all links are developing towards the intelligent direction. Especially in the production of some products that the volume is relatively little, for example, the casing of moulding plastics that the battery was used, its casing is open-top's cavity casing usually, the casing of moulding plastics can be transported appointed position along with the conveyer belt after coming out from the injection molding machine, then it is good to take off and place a row of row on the backing plate by the staff and pile up a layer again, can put a backing plate and pile up a layer again after piling up, to last layer, for avoid long-time empty casing deposition after piling up, can buckle the casing of last layer back-off on the pile up, it transports away again after piling up, the user is hard when the labour cost is time spent, but current casing grabbing device does not have the function of upset back-off, also does not have the function of getting the backing plate, consequently, urgent need to design a battery mould plastics casing pile up neatening and stacking machine hand claw anchor clamps, both can accomplish the casing upset action and make things convenient for getting of the top layer casing and put, also can realize the snatching of backing plate in step.
Disclosure of Invention
The invention aims to provide a gripper clamp of a battery injection molding shell unstacking and stacking robot, which solves the problem that automatic unstacking and stacking of the existing shell is difficult to realize, further improves the automation degree and improves the production efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a battery is moulded plastics casing and is unstacked pile up neatly machine people hand claw anchor clamps which characterized in that: the clamp comprises a fixed plate, a connecting flange is arranged at the top of the fixed plate, a shell grabbing device and a base plate grabbing device are arranged at the bottom of the fixed plate, the shell grabbing device comprises a connecting frame which is oppositely arranged at the bottom of the fixed plate, a connecting shaft is rotatably arranged at the bottom of the connecting frame, the end part of the connecting shaft is connected with a sucker fixing frame, and a shell sucker is arranged on the sucker fixing frame; one end of one connecting shaft is connected with the first transmission group, and the first transmission group drives the connecting shaft to rotate, so that the sucker fixing frame can be turned over for 180 degrees; the backing plate grabbing device comprises a fixed shaft, the fixed shaft is rotatably connected with the bottom of the fixed plate, two ends of the fixed shaft are connected with the backing plate suckers through connecting plates, and the fixed shaft drives the backing plate suckers to adsorb the backing plate through the second transmission group.
A further technical scheme is that the first transmission set comprises a first belt wheel, a first tensioning wheel, a second belt wheel, an opening synchronous belt and a first air cylinder, the first belt wheel is fixedly connected with one end of the connecting shaft, the first tensioning wheel and the second belt wheel are arranged below the fixing plate, the opening synchronous belt is meshed with the first belt wheel, the first tensioning wheel and the second belt wheel, the end portions of the opening synchronous belt are fixed on the sliding plate, the sliding plate is connected with a guide rail on the side wall of the connecting frame in a sliding mode, the top of the sliding plate is connected with an output shaft of the first air cylinder, the first air cylinder is fixed on the fixing plate, the first air cylinder drives the sliding plate to move up and down, and the opening synchronous belt drives the first belt wheel to rotate, so that the sucker fixing frame can overturn for 180 degrees.
The technical scheme is that an adjusting groove is formed in the fixing plate, a first tensioning wheel is connected to the bottom of the tensioning wheel positioning plate after penetrating through the adjusting groove, a limiting portion extends outwards from the upper portion of the side wall of the tensioning wheel positioning plate, a long waist-shaped hole is formed in the limiting portion, a limiting plate is arranged at one end, close to the tensioning wheel positioning plate, of the fixing plate, the first tensioning wheel and the second belt wheel are located at the uniform horizontal height, and the first belt wheel is located below the second belt wheel.
A further technical scheme is that the second transmission group comprises a second cylinder, a first synchronous belt, a third belt wheel, a fourth belt wheel, a gear transmission group, a fifth belt wheel, a sixth belt wheel and a second synchronous belt, the second cylinder is fixed below a fixed plate, the output end of the second cylinder is fixedly connected with the first synchronous belt, the third belt wheel is arranged on one of the fixed shafts, the fourth belt wheel is rotatably arranged below the fixed plate, the first synchronous belt is meshed with the third belt wheel and the fourth belt wheel, the fourth belt wheel is coaxially fixed with one gear in the gear transmission group, the fifth belt wheel is arranged on the other fixed shaft, the sixth belt wheel is rotatably arranged below the fixed plate, the second synchronous belt is meshed with the fifth belt wheel and the sixth belt wheel, and the sixth belt wheel is coaxially fixed with the other gear in the gear transmission group; the second cylinder drives the first synchronous belt to move, the first synchronous belt drives the third belt wheel to rotate, the backing plate suckers at two ends of one fixed shaft rotate, the fourth belt wheel drives the gear transmission set to drive the sixth belt wheel to synchronously rotate, the second synchronous belt drives the fifth belt wheel to rotate, the backing plate suckers at two ends of the other fixed shaft also rotate, and the four backing plate suckers adsorb the backing plate.
The technical scheme is that a second tensioning wheel is arranged below the first synchronous belt, the second tensioning wheel is rotatably arranged on a fixed rod, the fixed rod penetrates through an adjusting plate, an adjusting screw rod is arranged on the adjusting plate, the adjusting screw rod penetrates through the fixed rod and is meshed with the fixed rod, and the top of the adjusting plate is fixed at the bottom of the fixed plate.
The further technical scheme is that the end part of the adjusting screw rod extends out of the adjusting plate and is provided with an adjusting hole.
A support column is arranged at the top of the fixing plate, a cylinder positioning plate is arranged at the top of the support column, a rodless cylinder is arranged on the cylinder positioning plate, and the rodless cylinder is fixedly connected with the connecting flange.
A further technical scheme is that sliding blocks are arranged on two sides of the bottom of the connecting flange, a guide rail is arranged on the air cylinder positioning plate, and the guide rail is in sliding connection with the sliding blocks.
The working principle is as follows: the battery shell that comes out in the injection molding machine reaches appointed station along with the conveyer belt, and after the robot main part discernment, the casing sucking disc of control anchor clamps adsorbs battery shell, then places on the backing plate, and after the sign indicating number, the backing plate sucking disc adsorbs the backing plate sign indicating number on battery shell, and after the sign indicating number in proper order, to last layer, the casing sucking disc adsorbs battery shell, through a drive assembly drive casing sucking disc upset 180, with battery shell back-off on the backing plate, cover a backing plate again on the top and accomplish battery shell's pile up neatly. Unstacking proceeds the reverse.
In order to realize 180-degree turnover, the opening synchronous belt is driven by the first air cylinder to move up and down, and the opening synchronous belt drives the first belt wheel to rotate so as to drive the sucker fixing frame to do turnover action. And snatch to the absorption of backing plate, use four backing plate sucking discs, two a set of settings are on same fixed axle, drive first synchronous belt through the second cylinder and do reciprocating motion, first synchronous belt drives the third band pulley and rotates to drive the backing plate sucking disc and rotate, and the gear with the coaxial fixed gear of fourth band pulley and the coaxial fixed gear intermeshing of sixth band pulley are gear drive group, consequently fourth band pulley and sixth band pulley synchronous revolution, thereby drive second synchronous belt and fifth band pulley and rotate, thereby drive two other backing plate sucking discs synchronous revolution, thereby realize snatching the backing plate.
Compared with the prior art, the invention has the beneficial effects that:
1. the battery injection molding casing is grabbed by arranging the casing sucker below the fixed plate, the 180-degree overturning of the casing sucker is realized through the first transmission group, the requirement for the disassembly and the overturning of the casing is met, the backing plate sucker is driven to grab the backing plate by the second transmission group, the requirement for the backing plate in the disassembly and the assembly of the casing is met, and the automatic disassembly and the assembly of the battery injection molding casing is realized.
2. The linear motion of the air cylinder and the opening synchronous belt is converted into the rotation of the first belt wheel through the first belt wheel, the first tensioning wheel, the second belt wheel, the opening synchronous belt and the first air cylinder to form a first transmission group, so that the 180-degree turnover of the sucker fixing frame is realized; and the take-up pulley locating plate combines the adjustment tank, realizes the tensioning to the opening hold-in range, avoids appearing skidding in the process.
3. Constitute second transmission group through second cylinder, first synchronous belt, third band pulley, fourth band pulley, gear drive group, fifth band pulley, sixth band pulley, second synchronous belt, realize the synchronization action of both sides band pulley, synchronous belt through gear drive group for backing plate sucking disc synchronization action, thereby the realization is snatched the accuracy of backing plate.
4. The synchronous belt is tensioned through the second tensioning wheel, the vertical position of the fixed rod can be adjusted by rotating the adjusting screw rod, and therefore the position of the second tensioning wheel is adjusted, and the synchronous belt is tensioned.
5. Through the arrangement of the rodless cylinder, the connecting flange is driven to do reciprocating motion, the position adjustment of a short stroke is realized, and the robot can be used in a narrow space conveniently.
Drawings
FIG. 1 is a schematic view of an angle structure of the present invention.
Fig. 2 is a schematic view of another embodiment of the present invention.
Fig. 3 is a schematic structural diagram of the first transmission set of the present invention.
Fig. 4 is a schematic structural diagram of a second transmission set in the present invention.
Fig. 5 is a schematic view of the installation of the second tensioner in the present invention.
In the figure: 1-fixed plate, 101-adjusting groove, 102-limiting plate, 2-connecting flange, 3-connecting frame, 4-connecting shaft, 5-sucker fixing frame, 6-shell sucker, 7-first belt wheel, 8-first tensioning wheel, 9-second belt wheel, 10-opening synchronous belt, 11-sliding plate, 12-first air cylinder, 13-fixed shaft, 14-backing sucker, 15-connecting plate, 16-tensioning wheel positioning plate, 17-second air cylinder, 18-first synchronous belt, 19-third belt wheel, 20-fourth belt wheel, 21-gear transmission set, 22-fifth belt wheel, 23-sixth belt wheel, 24-second synchronous belt, 25-second tensioning wheel, 26-fixed rod, 27-adjusting plate, 28-adjusting screw rod, 29-adjusting hole, 30-supporting column, 31-air cylinder positioning plate and 32-rodless air cylinder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 and 2 show a gripper clamp of a battery injection molding shell unstacking robot, wherein the gripper clamp comprises a connecting flange 2, and the connecting flange 2 is connected with a robot main body. The two sides of the bottom of the connecting flange 2 are provided with sliding blocks, the sliding blocks are in sliding connection with corresponding guide rails, the guide rails are installed on the cylinder positioning plate 31, the rodless cylinder 32 is arranged on the cylinder positioning plate 31, the output end of the rodless cylinder 32 is connected with the bottom of the connecting flange 2, the rodless cylinder 32 drives the connecting flange 2 to move in a short stroke along the moving direction of the connecting flange, and therefore position adjustment in a relatively small space can be achieved.
The bottom of the cylinder positioning plate 31 is connected with the fixing plate 1 through the support columns 30, and the number of the support columns 30 is four. A first cylinder 12 is fixed on the top of the fixed plate 1, and the output end of the first cylinder 12 extends out of the fixed plate 1 to be connected with the sliding plate 11. The bottom of the fixed plate 1 is relatively provided with a connecting frame 3, the bottom of the connecting frame 3 is respectively provided with a connecting shaft 4 in a rotating way, and one end of each connecting shaft 4 is connected with a sucker fixing frame 5. The other end of the connecting shaft 4 close to the first cylinder 12 side is fixedly connected with the first belt wheel 7, a first tensioning wheel 8 and a second belt wheel 9 are arranged below the fixing plate 1, and the opening synchronous belt 10 is meshed with the first belt wheel 7, the first tensioning wheel 8 and the second belt wheel 9. Two ends of the open timing belt 10 are respectively fixed on two sides of the sliding plate 11, the sliding plate 11 is slidably connected with the guide rail on the side wall of the connecting frame 3, and the first cylinder 12 is fixed on the fixed plate 1. As shown in fig. 3, the first pulley 7, the first tension pulley 8, the second pulley 9, the open timing belt 10, and the first cylinder 12 constitute a first transmission set, the first tension pulley 8 and the second pulley 9 are located at a uniform horizontal height, and the first pulley 7 is located below the second pulley 9. The fixing plate 1 is provided with an adjusting groove 101, the bottom of the tensioning wheel positioning plate 16 penetrates through the adjusting groove 101 and then is connected with a first tensioning wheel 8, the upper portion of the side wall of the tensioning wheel positioning plate 16 extends outwards to form a limiting portion, a long waist-shaped hole is formed in the limiting portion, and a limiting plate 102 is arranged at one end, close to the tensioning wheel positioning plate 16, of the fixing plate 1. By adjusting the horizontal position of the tensioning wheel positioning plate 16 on the adjusting groove 101, the position of the first tensioning wheel 8 can be adjusted, so that the open timing belt 10 is tensioned and prevented from slipping. The limit plate 102 defines the minimum distance between the first tensioning wheel 8 and the second pulley 9.
The sucking disc snatchs the process as follows, and sucking disc mount 5 is located horizontal position, and the casing of moulding plastics to the battery snatchs and sign indicating number on the backing plate, and when needing the upset, behind casing sucking disc 6 snatchs battery case, first cylinder 12 drove sliding plate 11 upward movement, and opening hold-in range 10 drives first pulley 7 and rotates for 180 upsets are realized to sucking disc mount 5. For making the casing sucking disc 6 keep the level after the upset, be provided with proximity switch and spacing post on the link 3 lateral wall, spacing post and the buffering cushion looks adaptation on the sucking disc mount 5, after the upset of sucking disc mount 5 targets in place, the first cylinder 12 stop motion of proximity switch control, spacing post and buffering cushion contact ensure that casing sucking disc 6 keeps the level simultaneously.
In order to make the shell that once snatchs many, the shell sucking disc 6 is provided with 8, 4 work in groups. The sucker fixing frame 5 is provided with a proximity switch on one side of the shell sucker 6 to identify whether the shell is firmly grabbed.
And backing plate grabbing device includes fixed axle 13, and fixed axle 13 is provided with two, sets up the both sides in fixed plate 1 bottom relatively, rotates through support and fixed plate 1 bottom and is connected, and fixed axle 13 both ends are connected with backing plate sucking disc 14 through connecting plate 15, and connecting plate 15 is the L template and the higher authority is provided with proximity switch, and fixed axle 13 passes through second transmission group and drives backing plate sucking disc 14 and adsorb the backing plate.
As shown in fig. 4, the second transmission set includes a second cylinder 17, a first synchronous belt 18, a third pulley 19, a fourth pulley 20, a gear transmission set 21, a fifth pulley 22, a sixth pulley 23, and a second synchronous belt 24. The second cylinder 17 is fixed below the fixing plate 1, the output end of the second cylinder 17 is fixedly connected with the first synchronous belt 18, the third belt wheel 19 is arranged on one of the fixing shafts 13, the fourth belt wheel 20 is rotatably arranged below the fixing plate 1, the first synchronous belt 18 is meshed with the third belt wheel 19 and the fourth belt wheel 20, the fourth belt wheel 20 is coaxially fixed with one gear in the gear transmission set, the fifth belt wheel 22 is arranged on the other fixing shaft 13, the sixth belt wheel 23 is rotatably arranged below the fixing plate 1, the second synchronous belt 24 is meshed with the fifth belt wheel 22 and the sixth belt wheel 23, and the sixth belt wheel 23 is coaxially fixed with the other gear in the gear transmission set.
The backing plate grabbing process is as follows: the second cylinder 17 drives the first synchronous belt 18 to move, the first synchronous belt 18 drives the third belt wheel 19 to rotate, the backing plate suckers 14 at two ends of one fixed shaft 13 rotate, synchronously, the fourth belt wheel 20 drives the gear transmission set to drive the sixth belt wheel 23 to rotate synchronously, the second synchronous belt 24 drives the fifth belt wheel 22 to rotate, the backing plate suckers 14 at two ends of the other fixed shaft 13 also rotate, and the four backing plate suckers 14 adsorb backing plates.
In order to prevent the synchronous belt from slipping, a second tension pulley 25 is arranged below the first synchronous belt 18 and the second synchronous belt 24, as shown in fig. 5, the second tension pulley 25 is rotatably arranged on a fixing rod 26, the fixing rod 26 is arranged on an adjusting plate 27 in a penetrating manner, a hollow frame is arranged on the adjusting plate 27, an adjusting screw rod 28 is rotatably arranged on the frame, the adjusting screw rod 28 penetrates through the fixing rod 26 and is meshed with the fixing rod 26, and the top of the adjusting plate 27 is fixed at the bottom of the fixing plate 1. The end of the adjusting screw 28 extends out of the adjusting plate 27 and is provided with an adjusting hole 29. The auxiliary tool is threaded in the adjusting hole 29, then the adjusting screw 28 is rotated, the fixing rod 26 moves up and down to drive the second tension pulley 25 to move up and down, and therefore the synchronous belt is tensioned.
During the use, the battery case that comes out in the injection molding machine reaches appointed station along with the conveyer belt, after the robot main part discernment, the casing sucking disc of control anchor clamps adsorbs battery case, then place on the backing plate, after piling up the one deck, the backing plate sucking disc adsorbs the backing plate sign indicating number on battery case, after piling up in proper order, to last one deck, the casing sucking disc adsorbs the battery case back, through a drive assembly drive casing sucking disc upset 180, with battery case back-off on the backing plate, cover a backing plate again on the top and accomplish battery case's pile up neatly. Unstacking is performed in reverse.
While the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope of the disclosure. More particularly, various variations and modifications are possible in the component parts or arrangements within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts or arrangements, other uses will also be apparent to those skilled in the art.
Claims (8)
1. The utility model provides a battery casing hacking robot hand claw anchor clamps of moulding plastics which characterized in that: the clamp comprises a fixing plate (1), a connecting flange (2) is arranged at the top of the fixing plate (1), a shell grabbing device and a base plate grabbing device are arranged at the bottom of the fixing plate (1), the shell grabbing device comprises a connecting frame (3) which is oppositely arranged at the bottom of the fixing plate (1), a connecting shaft (4) is rotatably arranged at the bottom of the connecting frame (3), the end part of the connecting shaft (4) is connected with a sucker fixing frame (5), and a shell sucker (6) is arranged on the sucker fixing frame (5); one end of one connecting shaft (4) is connected with a first transmission set, and the first transmission set drives the connecting shaft (4) to rotate, so that the sucker fixing frame (5) can turn over for 180 degrees; the backing plate grabbing device comprises a fixing shaft (13), the fixing shaft (13) is rotatably connected with the bottom of the fixing plate (1), two ends of the fixing shaft (13) are connected with backing plate suckers (14) through connecting plates (15), and the fixing shaft (13) drives the backing plate suckers (14) to adsorb a backing plate through a second transmission set.
2. The gripper clamp of the battery injection molding shell unstacking and stacking robot as claimed in claim 1, wherein: the first transmission set comprises a first belt wheel (7), a first tensioning wheel (8), a second belt wheel (9), an opening synchronous belt (10) and a first air cylinder (12), the first belt wheel (7) is fixedly connected with one end of the connecting shaft (4), the first tensioning wheel (8) and the second belt wheel (9) are arranged below the fixing plate (1), the opening synchronous belt (10) is meshed with the first belt wheel (7), the first tensioning wheel (8) and the second belt wheel (9), the end portions of the opening synchronous belt are fixed on the sliding plate (11), the sliding plate (11) is in sliding connection with a guide rail on the side wall of the connecting frame (3), the top of the sliding plate (11) is connected with an output shaft of the first air cylinder (12), the first air cylinder (12) is fixed on the fixing plate (1), the first air cylinder (12) drives the sliding plate (11) to move up and down, the opening synchronous belt (10) drives the first belt fixing frame (7) to rotate, and the sucker (5) can turn 180 degrees.
3. The gripper clamp of the battery injection molding shell unstacking and stacking robot as claimed in claim 2, wherein: the adjustable tensioning wheel is characterized in that an adjusting groove (101) is formed in the fixing plate (1), a first tensioning wheel (8) is connected to the bottom of the tensioning wheel positioning plate (16) after the bottom of the tensioning wheel positioning plate passes through the adjusting groove (101), a limiting part extends outwards from the upper part of the side wall of the tensioning wheel positioning plate (16), a long waist-shaped hole is formed in the limiting part, a limiting plate (102) is arranged at one end, close to the tensioning wheel positioning plate (16), of the fixing plate (1), the first tensioning wheel (8) and the second belt wheel (9) are located at the same horizontal height, and the first belt wheel (7) is located below the second belt wheel (9).
4. The battery injection molded housing unstacking and stacking robot gripper clamp of claim 1, the method is characterized in that: the second transmission set comprises a second cylinder (17), a first synchronous belt (18), a third belt wheel (19), a fourth belt wheel (20), a gear transmission set (21), a fifth belt wheel (22), a sixth belt wheel (23) and a second synchronous belt (24), the second cylinder (17) is fixed below the fixing plate (1), the output end of the second cylinder (17) is fixedly connected with the first synchronous belt (18), the third belt wheel (19) is arranged on one fixing shaft (13), the fourth belt wheel (20) is rotatably arranged below the fixing plate (1), the first synchronous belt (18) is meshed with the third belt wheel (19) and the fourth belt wheel (20), the fourth belt wheel (20) is coaxially fixed with one gear in the gear transmission set, the fifth belt wheel (22) is arranged on the other fixing shaft (13), the sixth belt wheel (23) is rotatably arranged below the fixing plate (1), the second synchronous belt (24) is meshed with the fifth belt wheel (22) and the sixth belt wheel (23), and the other coaxial fixing shaft of the gear transmission set is fixed with the other gear; the second cylinder (17) drives the first synchronous belt (18) to move, the first synchronous belt (18) drives the third belt wheel (19) to rotate, the backing plate suckers (14) at two ends of one fixed shaft (13) rotate, synchronously, the fourth belt wheel (20) drives the gear transmission set to drive the sixth belt wheel (23) to synchronously rotate, the second synchronous belt (24) drives the fifth belt wheel (22) to rotate, the backing plate suckers (14) at two ends of the other fixed shaft (13) also rotate, and the four backing plate suckers (14) adsorb backing plates.
5. The battery injection molded housing unstacking and stacking robot gripper clamp of claim 4, the method is characterized in that: a second tensioning wheel (25) is arranged below the first synchronous belt (18), the second tensioning wheel (25) is rotatably arranged on a fixing rod (26), the fixing rod (26) penetrates through an adjusting plate (27), an adjusting screw rod (28) is arranged on the adjusting plate (27), the adjusting screw rod (28) penetrates through the fixing rod (26) and is meshed with the fixing rod, and the top of the adjusting plate (27) is fixed to the bottom of the fixing plate (1).
6. The gripper clamp of the battery injection molding shell unstacking and stacking robot as claimed in claim 5, wherein: the end part of the adjusting screw rod (28) extends out of the adjusting plate (27) and is provided with an adjusting hole (29).
7. The gripper clamp of the battery injection molding shell unstacking and stacking robot as claimed in claim 1, wherein: the top of the fixing plate (1) is provided with a supporting column (30), the top of the supporting column (30) is provided with a cylinder positioning plate (31), a rodless cylinder (32) is arranged on the cylinder positioning plate (31), and the rodless cylinder (32) is fixedly connected with the connecting flange (2).
8. The gripper clamp of the battery injection molding shell unstacking and stacking robot as claimed in claim 7, wherein: the two sides of the bottom of the connecting flange (2) are provided with sliding blocks, the cylinder positioning plate (31) is provided with a guide rail, and the guide rail is in sliding connection with the sliding blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211517553.5A CN115535638B (en) | 2022-11-30 | 2022-11-30 | Claw clamp of battery injection molding shell unstacking and stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211517553.5A CN115535638B (en) | 2022-11-30 | 2022-11-30 | Claw clamp of battery injection molding shell unstacking and stacking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115535638A true CN115535638A (en) | 2022-12-30 |
| CN115535638B CN115535638B (en) | 2023-04-11 |
Family
ID=84722741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211517553.5A Active CN115535638B (en) | 2022-11-30 | 2022-11-30 | Claw clamp of battery injection molding shell unstacking and stacking robot |
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