CN115846248A - Automatic detection of grabbing devices - Google Patents

Abstract

The invention relates to an automatic detection and grabbing device, which includes a grabbing device for transferring batteries to be recycled one by one and putting them into a battery tray, detecting the electrical parameters and positive and negative electrodes of the batteries to be recycled, and transferring the batteries to be recycled to the battery tray. The detecting device of the grabbing device and the conveying device used to send the battery tray into and out of the grabbing device, the detecting device and the grabbing device are arranged side by side, and the conveying device extends forward and backward and runs through the internal space of the grabbing device , the detection device is provided with a conveyor for transporting the batteries to be recycled, and the conveyor extends left and right and one end of the conveyor is inserted into the internal space of the grabbing device. The invention can automatically detect the positive and negative poles of the battery and the automatic stacking operation, so it can replace the traditional operation of manually sorting waste batteries, with high efficiency and low error rate.

Description

Automatic detection of grabbing devices

technical field

The invention relates to a device for automatic detection and sorting of waste batteries, which belongs to the technical field of battery disassembly, recovery and regeneration.

Background technique

With the development of new energy vehicles, a large number of batteries will be decommissioned or scrapped. These decommissioned or scrapped batteries need to be harmlessly treated and recycled.

After the battery pack is disassembled into single batteries, these batteries need to be tested and stored, or discharged. The traditional method is: manually inspect the batteries one by one, judge the direction of the positive and negative poles of the battery, and then store or discharge. Using this manual operation method, the labor intensity of workers is high, the detection efficiency is not high, and it is easy to make mistakes during sorting.

Contents of the invention

The purpose of the present invention is to provide an automatic detection and grasping device, which can automatically detect the positive and negative electrodes of the battery and automatically stack the operation, so it can replace the traditional operation of manually sorting waste batteries.

Main technical scheme of the present invention has:

An automatic detection and grabbing device, including a grabbing device for transferring the batteries to be recycled one by one and putting them into the battery tray, for detecting the electrical parameters and positive and negative electrodes of the batteries to be recycled, and transferring the batteries to be recycled to the grabbing device The detection device of the device and the conveying device used to send the battery tray into and out of the grasping device, the detection device and the grasping device are arranged side by side, the conveying device extends forward and backward and runs through the internal space of the grasping device, the detection device A conveyor for transporting batteries to be recovered is provided, and the conveyor is extended left and right and one end of the conveyor is inserted into the inner space of the grabbing device.

The grabbing device includes a servo grabbing mechanism that puts the battery to be recycled into the battery tray by grabbing and placing the battery to be recycled, an underframe as a basic structural member for installation, and a three-part servo grabbing mechanism installed on the underframe. An axis gantry mechanism, a jacking and positioning assembly for lifting and fixing the battery tray, a lateral servo adjustment mechanism for adjusting the lateral space size of the battery clamping position on the battery tray, and a horizontal servo adjustment mechanism for adjusting the battery clamping position on the battery tray The vertical servo adjustment mechanism of the vertical space size.

The detection device also includes a base as an installation base structure, a clamping mechanism fixedly installed relative to the base for clamping the battery to be recovered on the conveyor, and a blocking mechanism for temporarily stopping the battery to be recovered on the conveyor , the clamping mechanism to straighten the orientation of the battery to be recovered on the conveyor by clamping, the guide mechanism for guiding the battery to be recovered on the conveyor that is entering the grabbing device, and the electrical parameters and normalization of the battery to be recovered The detection mechanism for automatic detection of the negative electrode. The conveyor is installed on the base. Mechanism, blocking mechanism, diversion mechanism and clamping mechanism, wherein the diversion mechanism and the latter clamping mechanism are located in the internal space of the grabbing device, and the detection mechanism is arranged on the side of the battery conveyor and close to the previous clamping mechanism. The machine base is fixedly connected with the bottom frame.

The detection mechanism can include a pillar, a vertical guide movement mechanism, a horizontal guide movement mechanism and a probe assembly; the pillar is fixed on the machine base; the vertical guide movement mechanism includes a vertical slider guide rail assembly installed on the pillar, a vertical Ball screw nut assembly and vertical servo motor, the vertical servo motor drives the vertical screw in the vertical ball screw nut assembly to rotate, and the vertical screw drives the vertical ladder nut in the vertical ball screw nut assembly Move up and down; the horizontal guide movement mechanism includes a horizontal beam and a horizontal slider guide rail assembly installed on the horizontal beam, a horizontal ball screw nut assembly and a horizontal servo motor, and the horizontal servo motor drives the horizontal screw in the horizontal ball screw nut assembly to rotate , the horizontal lead screw drives the horizontal forward trapezoidal nut and the horizontal reverse trapezoidal nut in the horizontal ball screw nut assembly to move horizontally and reversely synchronously, and the horizontal beam is opposite to the vertical ladder nut and the vertical trapezoidal nut in the vertical slider guide rail assembly fixed to the slider; the probe assembly includes two probe mounting plates, the two probe mounting plates are fixedly connected to the horizontal forward ladder nut and the horizontal reverse ladder nut respectively through a nut seat, and the two nut seats They are respectively fixedly connected with the two horizontal sliders in the guide rail assembly of the horizontal slider, and each of the two probe mounting plates is installed with a probe extending vertically downward.

The clamping mechanism may include a pair of clamping blocks, two cylinders and two cylinder supports. The cylinders are installed one-on-one on the top of the cylinder supports. It is fixed on the extended ends of the cylinder rods of the two cylinders, the bottom end of the cylinder support is fixed on the machine base, and the two cylinder supports are located on both sides of the battery conveyor.

The blocking mechanism may include a cylinder, a blocking block, a base plate, and a slider guide rail assembly, a ball screw assembly and a stepping motor installed on the base plate, the base plate is fixedly connected to the base, and the stepping motor drives the ball screw assembly. The trapezoidal screw rotates, and the rotation of the trapezoidal screw drives the trapezoidal nut in the ball screw assembly to move linearly, and the cylinder body is fixedly connected to the trapezoidal nut and the slider in the slider guide assembly; the blocking block is installed on the cylinder On the protruding end of the rod, the extending direction of the trapezoidal screw in the installed state is parallel to the conveying direction of the battery conveyor, the protruding direction of the cylinder rod is located on the horizontal plane and perpendicular to the conveying direction of the battery conveyor and is controlled by the battery conveyor The outside points to the inside.

The clamping mechanism can include a first clamping block and a second clamping block arranged face to face, and also include a cylinder, a ball screw nut assembly and a stepping motor, and the stepping motor drives the trapezoidal screw in the ball screw nut assembly to rotate , the trapezoidal screw drives the trapezoidal nut in the ball screw nut assembly to move, the first clamping block is fixedly connected to the trapezoidal nut, the second clamping block is fixed on the extended end of the cylinder rod of the cylinder, and the expansion and contraction direction of the cylinder rod is the same as The extension direction of the trapezoidal screw is horizontal and perpendicular to the conveying direction of the battery conveyor, the cylinder body, the stepping motor and the trapezoidal screw are fixedly installed relative to the machine base, and the first clamping block and the second clamping block are respectively in the step Driven by the motor and the cylinder, the batteries to be recovered on the battery conveyor are approached or moved away from both sides of the battery conveyor.

The guide mechanism may include a pair of guide plates arranged in parallel and an opening and closing mechanism that drives the guide plates to perform opening and closing movements. The guide plates extend horizontally and the board surfaces are upright. The opening and closing mechanism includes a fixed plate, two A guide pillar and a stepper motor, a lead screw and a slider guide rail assembly mounted on the fixed plate, the fixed plate is installed on the machine base, and a forward ladder nut and a reverse ladder nut are installed on the lead screw. Trapezoidal nut, and form a ball screw nut assembly with the trapezoidal screw, the stepping motor drives the trapezoidal screw to rotate, the trapezoidal screw drives the forward trapezoidal nut and the reverse trapezoidal nut to move in reverse synchronously, the forward direction The ladder nut and the reverse ladder nut are respectively fixedly connected to the lower end of a guide pillar, and the lower end of each guide pillar is also relatively fixedly connected to one or a group of sliders in the slider guide rail assembly. The tops of the two guide pillars One-to-one fixed connection with a pair of guide plates, the extension direction of the lead screw is perpendicular to the extension direction of the guide plate, and the guide plate is arranged above the battery conveyor and extends along the conveying direction of the battery conveyor.

The conveyor also preferably includes a buffer conveyor, and the buffer conveyor is provided with a diversion mechanism and a clamping mechanism in sequence according to the conveying direction of the buffer conveyor, and the diversion mechanism and the clamping mechanism are also located inside the grasping device space.

The three-axis gantry mechanism may include four columns, a Z-direction movement mechanism, an X-direction movement mechanism, a Y-direction movement mechanism and a rotating motor, the bottom of the column is fixedly installed on the chassis, and two sets of Z-direction movement mechanisms extend Installed on the top of the front and rear two pairs of columns, the X-direction movement mechanism extends left and right and its left and right ends are installed on the left and right two sets of Z-direction movement mechanisms, and the Y-direction movement mechanism is installed on the X-direction movement mechanism, which is driven by the X-direction movement mechanism to move left and right , the rotating motor is installed on the Y-direction movement mechanism and moves up and down under the drive of the Y-direction movement mechanism, and the two groups of Z-direction movement mechanisms are kept synchronous through the synchronous pulley assembly; the servo grabbing mechanism includes a fixed frame, a servo motor , two sets of slider guide rail assemblies, a pair of clamping blocks, gears and two parallel gear racks that mesh with the gears at the same time, the sliders in the servo motor and slider guide rail assembly are installed on the fixed frame, and the gears are installed on the servo motor On the output shaft, a pair of clamping blocks and two racks are assembled into two small assemblies one by one, and the two small assemblies are assembled one-to-one with the two guide rails in the two sets of slider guide rail assemblies to form two large assemblies. , the fixed frame is fixedly connected with the output shaft of the rotating electrical machine through a connecting frame.

The jacking and positioning assembly may include a mounting base plate, a lifting plate, a sensor mounting plate, a guide rod, a cylinder, and a sensor for detecting whether the battery to be recovered is put in place. The cylinder barrel of the cylinder is fixed on the bottom surface of the mounting base plate, and the cylinder rod of the cylinder Pass through the installation bottom plate and be fixedly connected with the lifting plate, the sensor mounting plate is fixed on the top surface of the lifting plate, a plurality of the sensors are distributed at intervals and fixed on the sensor mounting plate, and the lifting plate is provided with a plurality of For the holes of the avoidance sensor, each hole corresponds to one of the sensors. The sensor mounting plate is also provided with a plurality of positioning pins. The position size and size of the positioning pins are consistent with the corresponding dimensions of the positioning holes on the battery tray. The upper end of the guide rod is fixed on the lifting plate, and the guide rod is connected to the installation base plate by sliding up and down relative to each other, and the installation base plate is fixedly connected to the base frame.

The longitudinal servo adjustment mechanism may include a mounting base, a geared motor, a universal bit, and a cylinder and a slider guide rail assembly installed on the mounting base. The geared motor is fixedly connected to the slider in the slider guide rail assembly, and the cylinder drives the deceleration. The motor slides linearly along the guide rail in the slider guide rail assembly, the universal bit is coaxially fixedly connected to the output shaft of the geared motor, and the output shaft of the geared motor is parallel to the cylinder rod of the cylinder and is in a horizontal state; the horizontal servo adjustment mechanism includes a pneumatic actuator device, support, shaft support, rotating shaft, angle seat, cylinder, slider guide assembly, servo motor and universal bit, the shell of the pneumatic actuator is fixedly connected to the bottom frame, and the support is fixed on the shell of the pneumatic actuator On the top, the rotating shaft is installed on the support through two shaft supports, and the rotating shaft is driven by the pneumatic actuator to rotate in a fixed angle in both directions within a certain angle range. The angle seat is sleeved on the rotating shaft and fixedly connected to the rotating shaft. The guide rail in the cylinder body and the slider guide rail assembly is fixedly installed on the corner seat, the extension direction of the cylinder and the guide rail is perpendicular to the different plane of the rotating shaft, the servo motor is fixedly connected to the slider in the slider guide rail assembly, and the cylinder drives the servo motor along the straight line of the guide rail Sliding, the universal bit is coaxially fixedly connected to the output shaft of the servo motor. In the installed state, the shaft extends horizontally from front to back, and the two positions before and after the pneumatic actuator indexing correspond to the output shaft of the servo motor in vertical and horizontal states.

The beneficial effects of the present invention are:

After adopting the present invention, the detection of electrical parameters such as voltage, electric quantity and internal resistance, the judgment of positive and negative poles, and the sorting and stacking of waste batteries can all be automatically completed, and the degree of automation is high, and manual participation is usually not required in the process, which can be extremely efficient. Greatly reduce manual labor intensity, improve detection and sorting efficiency, and reduce error rate.

The invention is basically compatible with all square aluminum and steel lithium batteries on the market.

Description of drawings

Fig. 1 a is the structural representation (remove upper cover) of an embodiment of the automatic detection grabbing equipment of the present invention;

Fig. 1b is the top view (with upper cover) of Fig. 1a;

Fig. 1c is a side view (with upper cover) of Fig. 1a;

Figure 2a is a schematic structural view of the grasping device in Figure 1a (remove the upper cover);

Fig. 2b is a top view of Fig. 2a (remove upper cover);

Fig. 2c is a side view (with upper cover) of Fig. 2a;

Fig. 3 is a schematic structural view of the three-axis gantry mechanism described in Fig. 2a;

Fig. 4 is a structural schematic diagram of the servo grabbing mechanism described in Fig. 2a;

Fig. 5 is a structural schematic diagram of the jacking positioning assembly described in Fig. 2a;

Fig. 6 is a structural schematic diagram of the longitudinal servo adjustment mechanism described in Fig. 2a;

Fig. 7 is a structural schematic diagram of the horizontal servo adjustment mechanism described in Fig. 2a;

Figure 8a is a schematic structural view of the detection device in Figure 1a (remove the upper cover);

Figure 8b is a top view of Figure 8a (removing the upper cover);

Figure 8c is a side view (with an upper cover) of Figure 8a;

Fig. 9 is a schematic structural diagram of the detection mechanism described in Fig. 8a;

Fig. 10 is a schematic structural view of the clamping mechanism described in Fig. 8b;

Fig. 11 is a schematic structural diagram of the blocking mechanism described in Fig. 8b;

Fig. 12 is a schematic structural view of the clamping mechanism described in Fig. 8b;

Fig. 13 is a schematic structural view of the flow guide mechanism in Fig. 8b.

Reference signs:

1. Grabbing device;

1.1 Three-axis gantry mechanism; 1.1.1 Column; 1.1.2 Z-direction movement mechanism; 1.1.3 X-direction movement mechanism; 1.1.4 Y-direction movement mechanism;

1.2 Longitudinal servo adjustment mechanism; 1.2.1 Mounting seat; 1.2.2 Cylinder joint; 1.2.3 Slider guide rail assembly; 1.2.4 Universal bit; 1.2.5 Support plate; ; 1.2.8 geared motor; 1.2.9 cylinder;

1.3 Lifting positioning component; 1.3.1 Positioning pin; 1.3.2 Sensor mounting plate; 1.3.3 Lifting plate; 1.3.4 Guide rod; 1.3.5 Linear bearing; .8 Cylinder joints; 1.3.9 Sensors;

1.4 Chassis;

1.5 Servo grabbing mechanism; 1.5.1 Connecting frame; 1.5.2 Servo motor; 1.5.3 Gear; 1.5.4 Fixed frame; 1.5.5 Rack;

1.6 Horizontal servo adjustment mechanism; 1.6.1 Fixed pole; 1.6.2 Pneumatic actuator; 1.6.3 Support; 1.6.4 Servo motor; Support; 1.6.8 mounting plate; 1.6.9 cylinder joint; 1.6.10 cylinder; 1.6.11 angle seat; 1.6.12 shaft support; 1.6.13 shaft;

1.7 upper cover;

2. Detection device;

2.1 Detection mechanism; 2.1.1 Pillar; 2.1.2 Tail support; 2.1.3 Vertical slider guide rail assembly; 2.1.4 Horizontal positive ladder nut; 2.1.5 Horizontal servo motor; 2.1.6 Horizontal motor seat; 2.1.7 Support; 2.1.8 Horizontal beam; 2.1.9 Installation and connection corner piece; 2.1.10 Vertical ball screw nut assembly; 2.1.11 Front support; 2.1.12 Vertical motor seat; 2.1.13 Vertical 2.1.14 Horizontal slider guide rail assembly; 2.1.15 Horizontal lead screw; 2.1.16 Horizontal reverse ladder nut; 2.1.17 Nut seat; 2.1.18 Probe mounting plate; 2.1.19 Probe;

2.2 machine base; 2.3 buffer conveyor; 2.4 battery conveyor;

2.5 Clamping mechanism; 2.5.1 Cylinder support; 2.5.2 Cylinder; 2.5.3 Clamping block;

2.6 blocking mechanism; 2.6.1 trapezoidal screw; 2.6.2 tail support; 2.6.3 bottom plate; 2.6.4 pillar; 2.6.5 slider guide rail assembly; 2.6.8 screw support; 2.6.9 trapezoidal nut; 2.6.10 block; 2.6.11 cylinder; 2.6.12 nut seat;

2.7 Clamping mechanism; 2.7.1 The first pillar; 2.7.2 Mounting base; 2.7.3 Stepper motor; 2.7.4 Support; Seat; 2.7.8 splint; 2.7.9 first clamp block; 2.7.10 second clamp block; 2.7.11 cylinder; 2.7.12 second pillar;

2.8 diversion mechanism; 2.8.1 guide plate; 2.8.2 guide connecting rod; 2.8.3 guide pillar; 2.8.4 stepper motor; .8 forward trapezoidal nut; 2.8.9 slider guide rail assembly; 2.8.10 nut holder; 2.8.11 lead screw trapezoid;

2.9 Upper cover;

3. Conveying device; 4. Operation panel; 5. Battery to be recycled; 6. Battery tray.

Detailed ways

As shown in Figures 1-13, the present invention discloses an automatic detection and grasping device, which includes a grasping device 1 for transferring batteries 5 to be recycled one by one and putting them into a battery tray 6, and a device for detecting batteries to be recycled. Electrical parameters, positive and negative electrodes, a detection device 2 for transferring batteries to be recycled to the grabbing device, and a conveying device 3 for sending the battery tray into and out of the grabbing device. The detection device and the grabbing device are arranged side by side, and the conveying device is laid forward and backward and runs through the inner space of the grabbing device. The inner space of the detection device 2 is provided with a conveyor for transporting batteries to be recycled, and the conveyor extends left and right and one end of the conveyor is inserted into the inner space of the grabbing device. The above-mentioned parts are the main body of the mechanical structure of the automatic detection and grabbing device, and are the main content to be protected by the present invention. The automatic detection and grabbing equipment is also provided with a control system and an operation panel 4 , and the operation panel 4 is installed on the detection device 2 in this embodiment. The control system is used to control the actions of the above-mentioned mechanical structures and the mutual action coordination according to the manual input instructions (such as start instructions) and parameters (such as the width and thickness of the battery to be recovered), etc., and the existing technical means can be used accomplish. The electrical parameters may include voltage, electricity, internal resistance, etc., and the detection results may be stored in the memory of the control system. The positive and negative information of the battery needs to be fed back to the grabbing device, so that the grabbing device can keep the direction of the battery poles consistent when putting the battery into the battery tray. The electrical implementation scheme for the detection of electrical parameters and positive and negative poles can be realized by using existing technical means. The automatic detection and grasping equipment can fully automatically complete the detection, sorting and installation of batteries to be recycled, which greatly reduces the labor intensity, improves the detection and sorting efficiency, and significantly reduces the error rate.

The grasping device and the detection device are respectively provided with an upper cover 1.7 and an upper cover 2.9, respectively forming a relatively independent operation space, and the two spaces communicate.

The battery tray is provided with a plurality of battery clamping positions arranged vertically and horizontally, and the vertical and horizontal space dimensions of the battery clamping positions are adjustable to adapt to different sizes of batteries to be discharged.

The grabbing device includes a servo grabbing mechanism 1.5 for grabbing the battery to be recycled from the conveyor and putting it into the battery tray by grabbing and placing the battery to be recycled, the chassis 1.4 as the basic structure for installation, and the chassis 1.4 installed on the chassis for The three-axis gantry mechanism 1.1 that moves the servo grabbing mechanism in the space, the jacking and positioning assembly 1.3 for lifting and fixing the battery tray, and the horizontal servo adjustment for adjusting the horizontal space size of the battery clamping position on the battery tray A mechanism 1.6 and a longitudinal servo adjustment mechanism 1.2 for adjusting the longitudinal space dimension of the battery clamping position on the battery tray. After the battery to be recycled enters the grabbing device from the detection device, the three-axis gantry mechanism will drive the servo grabbing mechanism to grab the battery to be recycled and send it to an empty battery clamping position. Before the recovered batteries are sent to the battery clamping position, the jacking and positioning component first lifts the battery tray away from the conveying device 3 and fixes it, and then the horizontal servo adjustment mechanism and the longitudinal servo adjustment mechanism act to adjust the space size of the battery clamping position to match The size of the battery to be recycled is suitable for the preparation of the battery to be recycled. The upper cover 1.7 is fixed on the chassis.

In addition to the conveyor, the detection device also includes a base 2.2 as an installation base structure and a clamping mechanism 2.5 fixedly installed relative to the base for clamping the batteries to be recovered on the conveyor, for temporarily stopping The blocking mechanism 2.6 for the battery to be recovered on the conveyor, the clamping mechanism 2.7 to straighten the orientation of the battery to be recovered on the conveyor by clamping, and the guide mechanism for guiding the battery to be recovered on the conveyor that is entering the grabbing device 2.8 and detection mechanism 2.1 for automatic detection of electrical parameters and positive and negative electrodes of the battery to be recycled. Conveyors are mounted on the frame, said conveyors comprising battery conveyors 2.4. Along the line of the battery conveyor, a clamping mechanism 2.5, a blocking mechanism 2.6, a clamping mechanism 2.7, a blocking mechanism 2.6, a diversion mechanism 2.8 and a clamping mechanism 2.7 are arranged in sequence according to the conveying direction of the battery conveyor, wherein the diversion mechanism 2.8 and its The adjacent clamping mechanism 2.7, ie the latter clamping mechanism, is located in the inner space of the gripping device. The detection mechanism is also arranged on the side of the battery conveyor and close to the previous clamping mechanism. The clamping mechanism automatically clamps the battery to facilitate the detection of the detection mechanism. The machine base is fixedly connected with the bottom frame. The diversion mechanism is hung on the machine base and the chassis simultaneously, and the rear clamping mechanism 2.7 is fixed on the chassis. When the battery to be recovered is stopped by the latter blocking mechanism, use the clamping mechanism in front of the blocking mechanism, that is, the previous clamping mechanism to position and clamp the battery to be recovered so that the pole of the battery can be connected with the probe of the detection mechanism on the battery. Align in the thickness direction, and then the detection mechanism performs automatic detection on the battery to be recycled. After automatic detection, the battery to be recycled enters the internal space of the grasping device through the guide mechanism, until it is positioned and clamped to a correct position by the latter clamping mechanism, and waits for the servo grasping mechanism. The upper cover 2.9 is fixed on the machine base.

The detection mechanism includes a pillar 2.1.1, a vertical guiding movement mechanism, a horizontal guiding movement mechanism and a probe assembly. The pillar 2.1.1 is fixed on the base. The vertical guide moving mechanism includes a vertical slider guide rail assembly 2.1.3, a vertical ball screw nut assembly 2.1.10 and a vertical servo motor 2.1.13 installed on the pillar. The vertical servo motor is installed on the pillar 2.1.1 through the vertical motor base 2.1.12. The vertical slider guide rail assemblies are preferably arranged in pairs on the left and right sides. The vertical servo motor drives the vertical lead screw in the vertical ball screw nut assembly to rotate, and the vertical lead screw drives the vertical ladder nut in the vertical ball screw nut assembly 2.1.10 to move up and down. Wherein the vertical lead screw is supported on the pillar 2.1.1 through the front support 2.1.11 and the tail support 2.1.2.

The horizontal guide moving mechanism includes a horizontal beam 2.1.8, a horizontal slider guide rail assembly 2.1.14 installed on the horizontal beam, a horizontal ball screw nut assembly and a horizontal servo motor 2.1.5. The horizontal servo motor is installed on the horizontal beam through the horizontal motor base 2.1.6. The horizontal servo motor drives the horizontal screw 2.1.15 in the horizontal ball screw nut assembly to rotate, and the horizontal screw drives the horizontal forward ladder nut 2.1.4 and the horizontal reverse ladder nut 2.1 in the horizontal ball screw nut assembly. 16 synchronized horizontal reverse movement. Wherein the horizontal lead screw is supported on the horizontal beam by the two left and right bearings 2.1.7. The horizontal beam is fixed relative to the vertical ladder nut and the vertical slider in the vertical slider guide rail assembly. In the embodiment shown in the accompanying drawings, the horizontal beam is fixed on the vertical slider by means of the installation connecting angle fitting 2.1.9.

The probe assembly includes two probe mounting plates 2.1.18, the two probe mounting plates are fixedly connected to the horizontal forward ladder nut and the horizontal reverse ladder nut respectively through a nut seat 2.1.17, and the two nuts The seats are respectively fixedly connected with the two horizontal sliders in the horizontal slider guide rail assembly. A probe 2.1.19 extending vertically downwards is mounted on each of the two probe mounting plates. The rotation of the horizontal servo motor can finally drive the two probes to automatically adjust the horizontal spacing to adapt to the different positive and negative electrode spacings of the batteries to be recycled. The rotation of the vertical servo motor can finally drive the probe to automatically change its height to adapt to the different heights of the batteries to be recovered.

The clamping mechanism includes a pair of clamping blocks 2.5.3, two cylinders 2.5.2 and two cylinder supports 2.5.1 arranged face to face, and the cylinders 2.5.2 are installed on the top of the cylinder supports one by one. The extension direction of the cylinder rods is oppositely arranged, and the two clamping blocks are respectively fixed on the extension ends of the cylinder rods of the two cylinders, and the bottom end of the cylinder support is fixed on the machine base. In the installed state, the two cylinder supports are located on both sides of the battery conveyor, and the two cylinders stretch to drive the two clamps to move. When the cylinder rods of the two cylinders stretch out and drive the two clamps to approach each other, the battery to be recovered on the battery conveyor can be clamped. Tight fix.

The blocking mechanism includes a cylinder 2.6.11, a blocking block 2.6.10, a base plate 2.6.3, and a slider guide rail assembly 2.6.5, a ball screw assembly and a stepping motor 2.6.7 installed on the base plate. The bottom plate is fixedly connected with respect to the base. The stepper motor drives the ladder screw 2.6.1 in the ball screw assembly to rotate, and the rotation of the ladder screw drives the ladder nut 2.6.9 in the ball screw assembly to move linearly. In the embodiment shown in the drawings, the trapezoidal screw 2.6.1 is installed on the base plate through the screw support 2.6.8 and the tail support 2.6.2, and the stepper motor 2.6.7 is installed on the base plate through the motor base 2.6.6 . The cylinder block is fixedly connected to the ladder nut and the slider in the slider guide rail assembly. In the embodiment shown in the drawings, the cylinder block and the ladder nut 2.6.9 can be connected by means of a nut seat 2.6.12. The blocking block is installed on the extended end of the cylinder rod. In the installed state, the extension direction of the ladder screw is parallel to the conveying direction of the battery conveyor, and the extending direction of the cylinder rod is on the horizontal plane and perpendicular to the direction of the battery conveyor. The conveying direction is from the outside of the battery conveyor to the inside. Stepper motor 2.6.7 rotation will drive the cylinder to adjust the left and right positions, that is, to adjust the blocking distance, so as to adapt to the batteries to be recovered in different widths. The cylinder rod of the air cylinder is stretched out, which will temporarily stop the batteries to be recovered on the battery conveyor. The cylinder rod of the cylinder is retracted, and the battery to be recovered is released. When installing the blocking mechanism, one or two pillars 2.6.4 can be used to support the base plate 2.6.3, and the bottom of the pillars 2.6.4 is then fixed on the machine base.

The clamping mechanism includes a first clamping block 2.7.9 and a second clamping block 2.7.10 arranged face to face, and also includes a cylinder 2.7.11, a ball screw nut assembly and a stepping motor 2.7.3, and a stepping motor 2.7. 3 drives the trapezoidal screw 2.7.5 in the ball screw nut assembly to rotate, the trapezoidal screw 2.7.5 drives the ladder nut 2.7.6 in the ball screw nut assembly to move, and the first clamping block 2.7.9 is opposite to the ladder Type nut 2.7.6 is fixedly connected, and the second clamping block 2.7.10 is fixed on the cylinder rod extension end of cylinder 2.7.11, and the expansion direction of cylinder rod and the extension direction of trapezoidal screw 2.7.5 are the same level and both Perpendicular to the conveying direction of the battery conveyor, the cylinder body of the cylinder 2.7.11, the stepper motor 2.7.3 and the trapezoidal lead screw 2.7.5 are fixedly installed relative to the base. In the embodiment shown in the drawings, the lead screw 2.7.5 is supported on the mounting base 2.7.2 by the front and rear two supports 2.7.4, and the first clamping block 2.7.9 passes through the splint 2.7.8 and the nut seat 2.7. 7 is fixedly connected with the trapezoidal nut 2.7.6, and the nut seat 2.7.7 is fixedly connected with the slider in the slider guide rail assembly provided on the mounting base 2.7.2. The installation seat 2.7.2 is supported on the machine base through the first pillar 2.7.1, and the cylinder 2.7.11 is supported on the machine base through the second pillar 2.7.12. In the installed state, the first pillar 2.7.1 and the second pillar 2.7.12 are located on both sides of the battery conveyor, and the first clamping block 2.7.9 and the second clamping block 2.7.10 are respectively on the stepper motor 2.7.3 and the cylinder Driven by 2.7.11, approach or move away from the batteries to be recovered on the battery conveyor from both sides of the battery conveyor. After the recovered battery moves along the battery conveyor and stops, the stepper motor 2.7.3 moves first to drive the first clamping block 2.7.9 to extend from one side to the battery to provide positioning for the battery. The extension distance is automatically adjusted according to the battery thickness parameter. The goal is to ensure that the centers of the poles of batteries of various specifications coincide with the centers of the probes, and then the cylinder 2.7.11 moves again to drive the second clamping block 2.7.10 to extend from the other side to the battery, and align the battery to be recovered And clamp it firmly. After the detection is carried out, the stepper motor 2.7.3 and the cylinder 2.7.11 act in reverse simultaneously to release the battery. The use of a clamping mechanism can ensure the accuracy of contact between the electrode post of the battery to be recovered and the probe.

The guide mechanism includes a pair of guide plates 2.8.1 arranged in parallel and an opening and closing mechanism that drives the guide plates to perform opening and closing movements. The guide plate extends horizontally and the plate surface is upright. The opening and closing mechanism includes a fixed plate 2.8.7, two guide pillars 2.8.3 and a stepping motor 2.8.4 installed on the fixed plate, a lead screw 2.8.11 and a slider guide rail assembly 2.8.9 , the fixed plate is installed on the machine base. The stepper motor 2.8.4 is installed on the fixed plate through the motor base 2.8.5. The forward trapezoidal nut 2.8.8 and the reverse trapezoidal nut 2.8.12 are co-installed on the trapezoidal screw 2.8.11, and form a ball screw nut assembly with the trapezoidal screw. The stepping motor 2.8.4 drives the ladder screw 2.8.11 to rotate, and the ladder screw drives the forward ladder nut 2.8.8 and the reverse ladder nut 2.8.12 to move synchronously and reversely. The forward ladder nut 2.8.8 and the reverse ladder nut 2.8.12 are respectively fixedly connected with the lower end of a guide pillar 2.8.3, for example, can be fixedly connected with the guide pillar 2.8.3 by means of a nut seat 2.8.10. The lower end of each guide strut is relatively fixedly connected with one or a group of sliders in the slider guide rail assembly 2.8.9. The tops of the two guide pillars 2.8.3 are fixedly connected to a pair of guide plates one to one. Stepping motor 2.8.4 rotates and can drive a pair of guide plates 2.8.1 to move reversely at the same time to automatically adjust the spacing of a pair of guide plates. The extension direction of the lead screw 2.8.11 is perpendicular to the extension direction of the guide plate. The guide plate is arranged above the battery conveyor and extends along the conveying direction of the battery conveyor. The battery to be recovered on the battery conveyor passes between a pair of guide plates when passing through the flow guiding mechanism. Since the distance between the guide plates can be automatically adjusted, the flow guide mechanism can meet the delivery requirements of batteries of different thicknesses to be recycled. For batteries with smaller thicknesses to be recycled, the flow guide mechanism can prevent them from toppling during delivery. In the embodiment described in the accompanying drawings, a pair of guide plates are connected to two opening and closing mechanisms spaced left and right. A guide connecting rod 2.8.2 is fixed on the outer lower part of each guide plate, so as to improve the rigidity and strength of the guide plate and avoid bending of the guide plate. In addition, the four corners of the top surface of the fixed plate 2.8.7 are respectively fixedly connected with the lower end of a suspender 2.8.6, and the upper end of the suspender is fixed on the bottom plate of the flow guide mechanism on the machine base from bottom to top during installation. In order to realize the suspension installation of the diversion mechanism.

The conveyor also preferably includes a buffer conveyor 2.3, which is usually arranged in parallel with the battery conveyor, and along the line of the buffer conveyor is provided with a diversion mechanism 2.8 and a clamping mechanism 2.7 in sequence according to the conveying direction of the buffer conveyor. The flow guiding mechanism and the clamping mechanism are also located in the inner space of the gripping device. The buffer conveyor is fixed on the base. The buffer conveyor is used to temporarily store batteries of different specifications to be recycled. When changing the specification of the batteries to be recycled, if the batteries to be recycled of the previous specification are still remaining but cannot fill a battery tray, the system will automatically transfer and store the batteries to be recycled on the battery conveyor to the buffer conveyor, and then continue to wait for the battery to be recycled. A battery with the same specifications as the previous one. These transferred batteries are all batteries that have been detected by the detection mechanism, and the transfer action is completed by the grabbing device.

The three-axis gantry mechanism includes four columns 1.1.1, a Z-direction motion mechanism 1.1.2, an X-direction motion mechanism 1.1.3, a Y-direction motion mechanism 1.1.4 and a rotating motor 1.1.6, and the column 1.1.1 The bottom of the X-direction is fixedly installed on the chassis, and the two sets of Z-direction motion mechanisms are extended and installed on the top of the front and rear two pairs of columns 1.1.1. , The Y-direction movement mechanism is installed on the X-direction movement mechanism and is driven by the X-direction movement mechanism to move left and right. The rotating motor is installed on the Y-direction movement mechanism through the motor base 1.1.5 and moves up and down driven by the Y-direction movement mechanism. The two groups of Z-direction motion mechanisms are kept synchronous through the synchronous pulley assembly. Driven by the three-axis gantry mechanism, the rotating motor can move freely in the internal space of the grabbing device to meet the transportation needs of the batteries to be recycled.

The servo grabbing mechanism includes a fixed frame 1.5.4, a servo motor 1.5.2, two sets of slider guide rail assemblies 1.5.6, a pair of clamping blocks 1.5.7, a gear 1.5.3 and two parallel gears meshing with the gears simultaneously. Set the rack 1.5.5. The slide block in the servo motor 1.5.2 and the slide block guide rail assembly 1.5.6 is installed on the fixed frame. The gear is installed on the output shaft of the servo motor 1.5.2. A pair of clamping blocks 1.5.7 and two racks 1.5.5 are assembled into two small assemblies one by one, and the two small assemblies are assembled one-to-one with the two guide rails in the two sets of slider guide rail assemblies 1.5.6 to form two small assemblies. a large combination. The fixed frame is fixedly connected with the output shaft of the rotating electrical machine 1.1.6 through a connecting frame 1.5.1. The servo motor 1.5.2 drives the gear to rotate, and the gear drives the two large assemblies to move in reverse at the same time to realize the opening and closing movement of the pair of clamping blocks 1.5.7. Battery clip/release operation. The servo grabbing mechanism can automatically clamp and place the battery to be recovered, and with the cooperation of the three-axis gantry mechanism, move the battery to be recovered to a designated position as required. The servo grabbing mechanism can be rotated under the drive of the rotating motor 1.1.6, so that the position of the positive and negative poles of the battery can be adjusted by automatic rotation before the recycled battery is put into the battery tray, so as to ensure that the battery can follow the design direction of the positive and negative poles. Put it into the battery tray to meet the discharge requirements of the discharge cabinet.

The jacking and positioning assembly includes an installation base plate 1.3.6, a jacking plate 1.3.3, a sensor mounting plate 1.3.2, a guide rod 1.3.4, a cylinder 1.3.7 and a sensor 1.3 for detecting whether the battery to be recovered is put in place .9. The cylinder barrel of cylinder 1.3.7 is fixed on the bottom surface of the installation base plate, and the cylinder rod passes through the installation base plate and is fixedly connected with the jacking plate through the cylinder joint 1.3.8, and the sensor mounting plate is fixed on the top surface of the jacking plate. A plurality of the sensors are distributed at intervals and fixed on the sensor mounting plate, and the jacking plate is provided with a plurality of holes for avoiding screws for fixing the sensors, and each hole corresponds to one of the sensors. There are also multiple positioning pins 1.3.1 on the sensor mounting plate. The position size and size of the positioning pins are consistent with the corresponding dimensions of the positioning holes on the battery tray. When the battery tray is lifted up, the positioning pins are inserted into the corresponding positioning holes. hole, thus completing the positioning and fixing of the battery tray at the same time. The upper ends of a plurality of guide rods are fixed on the lifting plate, and the guide rods are relatively slidingly connected with the installation base plate up and down, and the lower ends of the guide rods are sleeved with linear bearings 1.3.5, and the linear bearings 1.3.5 are fixed on the installation base plate 1.3.6 on the underside. Four guide rods 1.3.4 are installed on the four corners of the installation base plate in the embodiment shown in the accompanying drawings. The installation bottom plate is fixedly connected to the bottom frame to realize the installation of the jacking and positioning assembly in the grabbing device. The cylinder 1.3.7 stretches and drives the lifting plate and the sensor mounting plate to move up and down guided by the guide rod. When moving upward, the battery tray can be lifted away from the conveying device 3, and the battery is loaded into the battery tray. After the battery is clamped, the cylinder Retract, the lifting plate moves down to put the battery tray back on the conveying device 3, and the conveying device can transport the battery tray out of the grabbing device at any time. The sensors on the sensor mounting plate are distributed in a rectangular array, and the number and position of the sensors correspond to the battery clamping positions on the battery tray one by one. The sensor is preferably a proximity switch, which is mainly used to judge whether the battery is put in place. If it is not put in place, the servo grabbing mechanism needs to grab the battery to be recovered again and store it again. When the end of a batch of batteries is processed, if the remaining batteries to be recycled cannot fill a battery tray, the control system can shield the empty battery clamping positions, that is, the empty battery clamping positions will not be placed in place. detection and judgment.

The longitudinal servo adjustment mechanism includes a mounting base 1.2.1, a geared motor 1.2.8, a universal bit 1.2.4, a cylinder 1.2.9 and a slider guide rail assembly 1.2.3 installed on the mounting base. The deceleration motor is fixedly connected to the slider in the slider guide rail assembly 1.2.3, and the deceleration motor is fixedly connected to the slider through the motor base 1.2.7 in the embodiment shown in the drawings. The extended end of the cylinder rod of the cylinder 1.2.9 is connected to the L-shaped support plate 1.2.5 through the cylinder joint 1.2.2, and the support plate 1.2.5 is rotationally connected with the universal bit 1.2.4, and the cylinder 1.2.9 passes through the support plate 1.2. 5 Drive the deceleration motor to slide linearly along the guide rail in slider guide rail assembly 1.2.3. The universal bit 1.2.4 is coaxially fixedly connected with respect to the output shaft of the geared motor, and the output shaft of the geared motor in the embodiment shown in the drawings is coaxially connected with the universal bit 1.2.4 through the collet 1.2.6. The output shaft of the reduction motor is arranged parallel to the cylinder rod of the air cylinder and is in a horizontal state. The longitudinal servo adjustment mechanism is used to automatically adjust the longitudinal space size of the battery installation position on the battery tray. When the battery tray is lifted into place by the jacking and positioning component, the cylinder 1.2.9 stretches out to drive the reduction motor 1.2.8 to move close to the battery tray until it is universal. The batch head 1.2.4 is docked with the longitudinal adjustment interface structure on the battery tray, and the geared motor starts to drive the universal batch head 1.2.4 to rotate, thereby changing the longitudinal space size of the battery clamping position. After the adjustment is completed, the reduction motor stops rotating, and the retraction of the cylinder 1.2.9 drives the reduction motor to return to its original position, and the universal batch bit 1.2.4 is disengaged from the battery tray.

The horizontal servo adjustment mechanism includes a pneumatic actuator 1.6.2, a support 1.6.3, a shaft support 1.6.12, a rotating shaft 1.6.13, an angle seat 1.6.11, a cylinder 1.6.10, a slider guide rail assembly, and a servo motor 1.6.4 and universal bit 1.6.6. The housing of the pneumatic actuator is fixedly connected to the chassis, for example, it can be connected to the column 1.1.1 through the fixed support rod 1.6.1. The support 1.6.3 is fixed on the housing of the pneumatic actuator, and the rotating shaft is installed on the support 1.6.3 through two shaft supports. Driven by the pneumatic actuator, the rotating shaft can rotate on a fixed axis in both directions within a certain angle range. In this embodiment, a 90° pneumatic actuator is used and controlled by a solenoid valve, so the rotating angle range of the rotating shaft is 90°. The corner seat is sleeved on the rotating shaft and fixedly connected to the rotating shaft. The cylinder body of the cylinder 1.6.10 and the guide rail in the slider guide rail assembly are fixedly installed on the corner seat. The extension direction of the cylinder 1.6.10 and the guide rail is perpendicular to the different plane of the rotating shaft . The servo motor 1.6.4 is fixedly connected to the slider in the slider guide rail assembly. In this embodiment, the servo motor 1.6.4 is installed on the slider through the servo motor support 1.6.7. The cylinder rod of the cylinder 1.6.10 is connected with a mounting plate 1.6.8 through the cylinder joint 1.6.9, and the mounting plate is connected with the servo motor 1.6.4, so the cylinder 1.6.10 can drive the servo motor 1.6.4 to slide linearly along the guide rail. The universal bit 1.6.6 is coaxially fixedly connected with respect to the output shaft of the servo motor 1.6.4. In this embodiment, the universal bit 1.6.6 is connected with the output shaft of the servo motor 1.6.4 through the collet 1.6.5. In the installation state, the rotating shaft extends horizontally front and back, and the two positions before and after the pneumatic actuator index respectively correspond to the output shaft of the servo motor 1.6.4 being in vertical and horizontal states, among which the servo motor 1.6.4 is in the initial state of the horizontal servo adjustment mechanism The output shaft is in a vertical state, while the cylinder 1.6.10 is in a retracted state. When the battery tray is lifted in place by the jacking and positioning assembly, the action of the pneumatic actuator drives the rotating shaft and the angle seat to rotate 90 degrees, so that the output shaft of the servo motor 1.6. .10 After stretching out, it can drive the servo motor 1.6.4 and the universal bit 1.6.6 to move close to the battery tray until the universal bit 1.6.6 is docked with the horizontal adjustment interface structure on the battery tray. The servo motor 1.6.4 starts to drive the universal bit 1.6.6 to rotate, thereby changing the lateral space size of the battery clamping position. After the adjustment is completed, the servo motor 1.6.4 stops rotating, the cylinder 1.6.10 is retracted to drive the servo motor 1.6.4 to return to the original position, and the universal batch bit 1.6.6 is disengaged from the battery tray. The reverse action of the pneumatic actuator drives the rotating shaft and the angle seat to reversely rotate 90 degrees, so that the output shaft of the servo motor 1.6.4 is flipped back to the vertical extension state.

All the stepper motors mentioned above can be replaced by servo motors.

The automatic detection and grasping device has a high degree of automation, and can automatically transport and automatically discharge the battery to be recovered. After the discharge is completed, it can automatically stop and automatically output the battery without manual participation in the process.

The operation process of the automatic detection and grabbing device is as follows:

1. Manually input battery parameters, including battery positive and negative pole spacing, battery width and thickness, etc. These parameters are used as the size basis for the automatic adjustment of the relevant mechanisms of the equipment to meet the needs of batteries of different sizes and specifications. Flow plate spacing, automatically adjust the blocking distance according to the battery width.

2. The battery tray is sent into the gripping device through the conveying device 3, and the sensor is triggered, and the jacking and positioning component works to fix and position the battery tray.

3. The control system automatically adjusts the vertical and horizontal space dimensions of the battery installation position on the battery tray through the longitudinal servo adjustment mechanism and the horizontal servo adjustment mechanism according to the battery parameters (mainly referring to the battery width and thickness), so as to adapt to the battery to be recycled on the battery tray. Clamping.

4. The blocking mechanism automatically adjusts the blocking distance according to the battery width parameter (from manual input) of the control system to suit the battery to be tested.

5. The detection mechanism automatically adjusts the distance of the pole probes according to the parameters of the control system to suit the battery to be detected.

6. Place the batteries to be recycled on the battery conveyor in sequence.

7. The first battery is transported to the detection mechanism 2.1, the sensor is triggered, the last blocking mechanism along the battery conveyor acts to stop the battery, and the previous clamping mechanism 2.7 along the battery conveyor acts to clamp the battery.

8. The detection mechanism is pressed down, so that the probes are in contact with the positive and negative poles of the battery and pressed tightly, and the detection is started. The detection content includes the voltage, internal resistance and direction of the positive and negative electrodes of the battery to be recovered.

9. When the first battery is being tested, the second battery is stopped by the previous blocking mechanism along the battery conveyor, and the third battery is clamped by the clamping mechanism.

10. After the detection of the first battery is completed, the detection mechanism rises to separate the probe from the battery pole, the clamping mechanism acts and releases the battery to be recovered, and the last blocking mechanism along the battery conveyor releases the first battery.

11. When the first battery is transported to the tail of the battery conveyor, which is the battery grabbing position, the sensor is triggered, and the last clamping mechanism along the battery conveyor moves and clamps the first battery; and sends a signal to the control system.

12. At the same time, the previous blocking mechanism along the battery conveyor releases the second battery, and the second battery is transported to the detection mechanism, triggering the sensor, the latter blocking mechanism along the battery conveyor moves, and the previous clamping mechanism along the battery conveyor The positive mechanism acts and clamps the second battery; then starts the detection of the second battery.

13. When the second battery is transported to the detection mechanism, the previous blocking mechanism along the battery conveyor acts as a barrier, and the clamping mechanism moves to release the third battery. The third battery is transported forward and is The previous blocking mechanism along the battery conveyor is blocked. At the same time, the fourth battery is clamped by the clamping mechanism. So cycle.

14. After the control system receives the signal that the first battery has reached the battery grabbing position, the grabbing device starts to act.

15. The X and Z movement mechanisms of the three-axis gantry mechanism move at the same time and move horizontally to the top of the battery grabbing position according to the shortest distance and at the fastest speed.

16. The Y-direction movement mechanism of the three-axis gantry mechanism moves downward, driving the servo grabbing mechanism to descend to the battery grabbing position and stop moving, and then the servo grabbing mechanism grabs the battery.

17. After the battery is grasped, the Y-direction movement mechanism of the three-axis gantry mechanism moves upwards and stops after reaching the highest point.

18. The X and Z movement mechanisms of the three-axis gantry mechanism move at the same time and move horizontally to the top of the battery storage position according to the shortest distance and at the fastest speed.

19. While the X and Z movement mechanisms of the three-axis gantry mechanism are moving, the servo grabbing mechanism automatically rotates and adjusts the positive and negative pole positions of the battery according to the battery positive and negative pole position information fed back by the control system to meet the discharge requirements of the discharge cabinet.

20. The Y-direction movement mechanism of the three-axis gantry mechanism moves downward, driving the servo grabbing mechanism to descend to the battery storage position and then stop moving. The servo grabbing mechanism releases the battery, and the battery stacking is completed.

21. The Y-direction movement mechanism of the three-axis gantry mechanism moves upward and returns to its original position, ready to grab and transfer the next battery.

Claims (12)

1. An automatic detection and grabbing device, characterized in that: it includes a grabbing device for transferring the batteries to be recycled one by one and putting them into the battery tray, for detecting the electrical parameters and positive and negative electrodes of the batteries to be recycled, and placing the batteries to be recycled The detection device transferred to the grabbing device and the conveying device used to send the battery tray into and out of the grabbing device, the detecting device and the grabbing device are arranged side by side, and the conveying device extends forward and backward and runs through the grabbing device The detection device is provided with a conveyor for transporting batteries to be recycled, and the conveyor extends left and right and one end of the conveyor is inserted into the internal space of the grabbing device. 2. The automatic detection and grabbing device according to claim 1, characterized in that: the grabbing device includes a servo grabbing mechanism that puts the battery to be recycled into the battery tray by grabbing and placing the battery to be recycled, as an installation basic structure The base frame and the three-axis gantry mechanism installed on the base frame are used to move the servo grabbing mechanism, the lifting positioning assembly is used to lift and fix the battery tray, and the battery clamping position is used to adjust the battery tray. A horizontal servo adjustment mechanism for the horizontal space size and a vertical servo adjustment mechanism for adjusting the vertical space size of the battery clamping position on the battery tray. 3. The automatic detection and grabbing device according to claim 2, characterized in that: the detection device also includes a base as a basic structural member for installation and a battery to be recovered on the clamping conveyor that is fixedly installed relative to the base The clamping mechanism, the blocking mechanism for temporarily stopping the battery to be recovered on the conveyor, the clamping mechanism for adjusting the orientation of the battery to be recovered on the conveyor by clamping, and the clamping mechanism for the battery to be recovered on the conveyor that is entering the grabbing device The diversion mechanism for guiding the recovered battery and the detection mechanism for automatic detection of the electrical parameters and positive and negative electrodes of the battery to be recovered. The conveyor is installed on the base, and the conveyor includes a battery conveyor. According to the conveying direction of the battery conveyor, a clamping mechanism, a blocking mechanism, a clamping mechanism, a blocking mechanism, a diversion mechanism and a clamping mechanism are arranged in sequence, and the diversion mechanism and the latter clamping mechanism are located in the inner space of the grabbing device , the detection mechanism is set on the side of the battery conveyor and close to the previous clamping mechanism, and the machine base is fixedly connected to the bottom frame. 4. The automatic detection and grasping device as claimed in claim 3, wherein: the detection mechanism includes a pillar, a vertical guide movement mechanism, a horizontal guide movement mechanism and a probe assembly; the pillar is fixed on the machine base; the vertical The guide moving mechanism includes a vertical slider guide rail assembly installed on the pillar, a vertical ball screw nut assembly and a vertical servo motor. The vertical servo motor drives the vertical screw in the vertical ball screw nut assembly to rotate, and the vertical ball screw nut assembly The screw drives the vertical ladder nut in the vertical ball screw nut assembly to move up and down; the horizontal guide movement mechanism includes the horizontal beam and the horizontal slider guide rail assembly installed on the horizontal beam, the horizontal ball screw nut assembly and the horizontal servo The motor, the horizontal servo motor drives the horizontal lead screw in the horizontal ball screw nut assembly to rotate, and the horizontal lead screw drives the horizontal forward trapezoidal nut and the horizontal reverse trapezoidal nut in the horizontal ball screw nut assembly to move horizontally and reversely synchronously, The horizontal beam is fixed relative to the vertical ladder nut and the vertical slider in the vertical slider guide rail assembly; the probe assembly includes two probe mounting plates, and the two probe mounting plates are respectively connected to the horizontal normal through a nut seat. The ladder nut and the horizontal reverse ladder nut are fixedly connected, and the two nut seats are respectively fixedly connected with the two horizontal sliders in the horizontal slider guide rail assembly, and each of the two probe mounting plates is installed with a vertical downward Extended probe. 5. The automatic detection and grabbing device as claimed in claim 4, characterized in that: the clamping mechanism includes a pair of clamping blocks, two cylinders and two cylinder supports, and the cylinders are installed on the cylinder supports one by one. At the top, the extension directions of the cylinder rods of the two cylinders are set opposite to each other. The two clamping blocks are respectively fixed on the extension ends of the cylinder rods of the two cylinders. The bottom end of the cylinder support is fixed on the machine base. The two cylinder supports are located on Both sides of the battery conveyor. 6. The automatic detection and grabbing device according to claim 5, wherein the blocking mechanism includes a cylinder, a blocking block, a bottom plate, a slider guide rail assembly, a ball screw assembly and a stepper mounted on the bottom plate The motor, the bottom plate is fixedly connected to the machine base, the stepping motor drives the ladder screw in the ball screw assembly to rotate, the rotation of the ladder screw drives the ladder nut in the ball screw assembly to move linearly, and the cylinder block is relatively to the ladder nut It is fixedly connected with the slider in the slider guide rail assembly; the blocking block is installed on the extended end of the cylinder rod of the cylinder. The direction lies on the horizontal plane and is perpendicular to the conveying direction of the battery conveyor and points from the outside of the battery conveyor to the inside. 7. The automatic detection and grasping device according to claim 6, wherein the clamping mechanism includes a first clamping block and a second clamping block arranged face to face, and also includes a cylinder, a ball screw nut assembly and a stepping The motor, the stepper motor drives the trapezoidal screw in the ball screw nut assembly to rotate, the trapezoidal screw drives the trapezoidal nut in the ball screw nut assembly to move, the first clamping block is fixedly connected to the trapezoidal nut, and the second clamping block The block is fixed on the extended end of the cylinder rod of the cylinder. The telescopic direction of the cylinder rod is horizontal to the extension direction of the lead screw and perpendicular to the conveying direction of the battery conveyor. The seat is fixedly installed, and the first clamping block and the second clamping block are respectively driven by the stepping motor and the air cylinder to approach or move away from the battery to be recovered on the battery conveyor from both sides of the battery conveyor. 8. The automatic detection and grabbing device according to claim 7, wherein the guide mechanism comprises a pair of guide plates arranged in parallel and an opening and closing mechanism that drives the guide plates to perform opening and closing movements, and the guide plates The plate extends horizontally and the plate surface is upright. The opening and closing mechanism includes a fixed plate, two guide pillars, a stepping motor, a trapezoidal screw and a slider guide rail assembly mounted on the fixed plate. The fixed plate is installed on the machine base. On the ladder screw, the forward ladder nut and the reverse ladder nut are installed together, and form a ball screw nut assembly with the ladder screw. The stepper motor drives the ladder screw to rotate, and the ladder screw drives The forward ladder nut and the reverse ladder nut move synchronously and reversely, and the forward ladder nut and the reverse ladder nut are respectively fixedly connected with the lower end of a guide pillar, and the lower end of each guide pillar is also connected with the slider guide rail assembly One or a group of sliders in it is relatively fixedly connected, and the tops of the two guide pillars are fixedly connected to a pair of the guide plates one by one. It is arranged above the battery conveyor and extends along the conveying direction of the battery conveyor. 9. The automatic detection and grabbing device as claimed in claim 3, 4, 5, 6, 7 or 8, characterized in that: the conveyor also includes a buffer conveyor, and the buffer conveyor is transported along the line according to the buffer conveyor The direction is provided with a flow guide mechanism and a clamping mechanism in turn, and the flow guide mechanism and the clamping mechanism are also located in the inner space of the grabbing device. 10. The automatic detection and grabbing device according to claim 3, 4, 5, 6, 7, 8 or 9, characterized in that: the three-axis gantry mechanism includes four columns, a Z-direction movement mechanism, and an X-direction movement mechanism. Mechanism, Y-direction movement mechanism and rotating motor, the bottom of the column is fixedly installed on the chassis, two sets of Z-direction movement mechanisms extend back and forth and are installed on the tops of the front and rear pairs of columns, and the X-direction movement mechanism extends left and right and its left and right ends Installed on the left and right two groups of Z-direction movement mechanisms, the Y-direction movement mechanism is installed on the X-direction movement mechanism, and is driven by the X-direction movement mechanism to move left and right, and the rotating motor is installed on the Y-direction movement mechanism and driven up and down by the Y-direction movement mechanism The two groups of Z-direction motion mechanisms are kept synchronous through the synchronous pulley assembly; the servo grabbing mechanism includes a fixed frame, a servo motor, two sets of slider guide rail assemblies, a pair of clamping blocks, gears and gears that mesh with the gears at the same time Two racks arranged in parallel, the slider in the servo motor and slider guide rail assembly are installed on the fixed frame, the gear is installed on the output shaft of the servo motor, a pair of clamping blocks and two racks are assembled into two corresponding one-to-one Two small assemblies are assembled one-to-one with the two guide rails in the two groups of slider guide rail assemblies to form two large assemblies, and the fixed frame is fixedly connected with the output shaft of the rotary motor through a connecting frame. 11. The automatic detection and grabbing device according to claim 10, wherein the jacking and positioning assembly includes a mounting base plate, a jacking plate, a sensor mounting plate, a guide rod, a cylinder, and a device for detecting whether the battery to be recovered is placed or not. The sensor in place, the cylinder barrel is fixed on the bottom surface of the installation base plate, the cylinder rod of the cylinder passes through the installation base plate and is fixedly connected with the lifting plate, the sensor mounting plate is fixed on the top surface of the lifting plate, a plurality of the sensors are distributed at intervals and Fixed on the sensor mounting plate, the jacking plate is provided with a plurality of holes for avoiding sensors, each hole corresponds to one of the sensors, and the sensor mounting plate is also provided with a plurality of positioning pins, the position of the positioning pins The size and size are consistent with the corresponding dimensions of the positioning holes on the battery tray. The upper ends of the plurality of guide rods are fixed on the lifting plate, and the guide rods are connected to the installation base plate by sliding up and down, and the installation base plate is fixed relative to the chassis. connect. 12. The automatic detection and grabbing device according to claim 11, characterized in that: the longitudinal servo adjustment mechanism includes a mounting base, a geared motor, a universal bit, and a cylinder and a slider guide rail assembly installed on the mounting base, so that The deceleration motor is fixedly connected to the slider in the slider guide rail assembly, the cylinder drives the deceleration motor to slide linearly along the guide rail in the slider guide rail assembly, the universal bit is fixedly connected to the output shaft of the deceleration motor coaxially, and the output shaft of the deceleration motor is connected to the The cylinder rods of the cylinder are parallel and horizontal; the horizontal servo adjustment mechanism includes a pneumatic actuator, a support, a shaft support, a rotating shaft, an angle seat, a cylinder, a slider guide rail assembly, a servo motor and a universal bit, and the pneumatic actuator The shell is fixedly connected to the bottom frame, the support is fixed on the shell of the pneumatic actuator, the rotating shaft is installed on the support through two shaft supports, and the rotating shaft is bidirectionally fixed within a certain angle range under the drive of the pneumatic actuator. The shaft rotates, the angle seat is sleeved on the shaft and fixedly connected to the shaft, the cylinder block and the guide rail in the slider guide rail assembly are fixedly installed on the angle seat, the extension direction of the cylinder and the guide rail is perpendicular to the different plane of the shaft, and the servo motor is opposite The slider in the slider guide rail assembly is fixedly connected. The cylinder drives the servo motor to slide linearly along the guide rail. The universal bit is fixedly connected to the output shaft of the servo motor. The two positions respectively correspond to the output shaft of the servo motor being in vertical and horizontal states.

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