CN116197936A - Full-automatic feeding and discharging manipulator for cylindrical battery - Google Patents

Abstract

The application relates to the technical field of battery manufacturing, and discloses a full-automatic feeding and discharging manipulator of cylindrical battery, which comprises: a top plate; the sliding plate is installed below the top plate in a liftable vertical sliding manner, and a plurality of clamping jaws are arranged on the sliding plate; the centering limiting piece is vertically slidably arranged below the sliding plate; the centering limiting piece comprises a first limiting plate, a second limiting plate and a centering limiting strip, wherein the number of the first limiting plate and the number of the second limiting plate are multiple and are staggered; a plurality of centering limiting strips are arranged on the first limiting plate and the second limiting plate at intervals in one-to-one correspondence, a centering space is formed between two adjacent centering limiting strips on the first limiting plate and two corresponding centering limiting strips on the second limiting plate, the first limiting plate and the second limiting plate slide horizontally to expand or reduce the centering space, and the centering space and the clamping jaw are coaxially arranged. This application centering locating part with cylindrical battery location to concentric with the clamping jaw, need not to shut down again and adjusts, showing and having promoted transplanting efficiency.

Description

Full-automatic feeding and discharging manipulator for cylindrical battery

Technical Field

The application relates to the technical field of battery manufacturing, in particular to a full-automatic feeding and discharging manipulator for a cylindrical battery.

Background

The cylindrical battery has the advantages of high capacity, high output voltage, good charge and discharge cycle performance, stable output voltage, high-current discharge, electrochemical stability, safe use, wide working temperature range, environmental friendliness and the like, so that the cylindrical battery is widely applied to the fields of solar lamps, lawn lamps, backup energy sources, electric tools, toy models and the like.

In the production process of the cylindrical battery, the production efficiency of the whole production line is directly influenced by the efficiency of charging and discharging the battery. Taking a battery drying section as an example: traditionally, there are two kinds of manual feeding and discharging and feeding and discharging of a manipulator grabbing mechanism: the manual feeding and discharging speed is low, the efficiency is low, and the device is not suitable for a modern large-scale production mode; in the existing production process, manual work is replaced by a manipulator grabbing mechanism in a feeding and discharging mode, a plurality of cylindrical batteries in an incoming tray are grabbed and transported to a battery drying turnover tray by a manipulator, the cylindrical batteries are required to be placed in one-to-one correspondence with battery placing holes of the battery drying turnover tray, and then the battery drying turnover tray is sent into a drying box to be dried.

In a conventional manipulator grabbing mechanism, in order to improve transplanting and transferring efficiency, a plurality of clamping jaws are generally included, and the plurality of clamping jaws work to simultaneously grab a plurality of cylindrical batteries. When snatching simultaneously and transplanting a plurality of batteries, probably lead to the cylinder battery crooked when clamping jaw centre gripping cylinder battery, and then often appear the battery and to not go up the problem of battery mounting hole on the dry turnover tray of battery, need shut down repeatedly and carry out centering adjustment to the battery in the mechanism, seriously influence the transplantation transfer efficiency of battery.

Disclosure of Invention

In order to solve the problem of low efficiency caused by repeated shutdown adjustment when the manipulator in the prior art simultaneously transplants a plurality of batteries,

the application provides a full-automatic unloading manipulator of going up of cylinder battery adopts following scheme:

full-automatic unloading manipulator of going up of cylinder battery includes:

a top plate;

the sliding plate is installed below the top plate in a liftable vertical sliding manner, and a plurality of clamping jaws are arranged on the sliding plate;

the centering limiting piece is vertically slidably arranged below the sliding plate and is used for positioning the cylindrical battery so that the clamping jaw clamps the cylindrical battery;

the centering limiting piece comprises a first limiting plate, a second limiting plate and centering limiting strips used for abutting against the side wall of the limiting cylindrical battery, the number of the first limiting plate and the number of the second limiting plate are multiple and are arranged in a staggered mode, and the first limiting plate and the second limiting plate are horizontally and slidably arranged on the sliding plate; the first limiting plate and the second limiting plate are arranged at intervals in a one-to-one correspondence manner, a centering space is formed between two adjacent centering limiting strips on the first limiting plate and two corresponding centering limiting strips on the second limiting plate, the first limiting plate and the second limiting plate horizontally slide to expand or reduce the centering space, and the centering space and the clamping jaws are coaxially arranged in a one-to-one correspondence manner.

Through adopting above-mentioned scheme, be provided with centering locating part and fix a position the cylindrical battery to the clamping jaw realizes the accurate centre gripping to the cylindrical battery. In the battery drying process of the cylindrical battery, the cylindrical battery is required to be transplanted into a battery drying turnover tray from an incoming tray, and the battery drying turnover tray is sent into a drying box for drying. In actual working conditions, in order to ensure the drying efficiency of the drying box, the density of cylindrical batteries of a charging tray is generally smaller than that of a battery drying turnover tray; in traditional technical scheme, snatch simultaneously and when transplanting a plurality of batteries, the clamping jaw centre gripping cylinder battery can lead to the cylinder battery crooked when, and then often appear the battery to the problem of battery mounting hole on the dry turnover tray of battery not going up, need shut down centering adjustment battery repeatedly, lead to transplanting efficiency lower. In this technical scheme, first limiting plate and second limiting plate level slip and limit the cylinder battery centre gripping in the centering space to carry out preliminary centering, clamping jaw presss from both sides tight cylinder battery and centers once more, and then the manipulator is whole to the motion directly over, when just breaking away from the charging tray of coming, battery centering locating part downward movement carries out the axle head centering spacing of battery thereby prevents effectively that the cylinder battery is crooked. According to the technical scheme, centering between the cylindrical battery and the clamping jaw can be achieved rapidly, clamping accuracy of the cylindrical battery is improved, the problem that shutdown correction is needed is effectively solved, and therefore transplanting and transferring efficiency is improved.

Optionally, the centering limiting piece comprises a lifting seat, and the lifting seat is vertically slidably arranged at the bottom of the sliding plate; the lifting seat is horizontally and slidably provided with a first connecting seat and a second connecting seat, the first limiting plates are uniformly arranged on the first connecting seat at intervals, and the second limiting plates are uniformly arranged on the second connecting seat at intervals.

Through adopting above-mentioned scheme, be provided with first connecting seat and second connecting seat to all install first limiting plate on first connecting seat, the spacing installation of second is all installed on the second connecting seat. In some technical schemes, each centering limit bar moves independently, and when the size of the centering space is required to be adjusted according to cylindrical batteries of different types, the centering limit bars are controlled to move independently, so that the adjustment of each centering limit bar can be realized, and the adjustment is inconvenient. In this technical scheme, so first limiting plate all installs synchronous motion on first connecting seat, and synchronous motion on the second connecting seat is all installed to the second limiting plate to can adjust the size in a plurality of centering spaces simultaneously, efficiency is higher.

Optionally, be provided with on the lifting seat with first cylinder that first connecting seat transmission is connected and with second cylinder that second connecting seat transmission is connected, first cylinder with second cylinder synchronous motion is in order to expand or reduce the centring space.

By adopting the scheme, the first cylinder and the second cylinder work synchronously. In some technical schemes, when the centering space zooms, the vertical central axis of the centering space is inevitably offset, so that the centering space cannot be just opposite to the clamping jaw, and the centering effect of the cylindrical battery clamped in the centering space is poor. In the traditional technical scheme, a clamping jaw above a subsequent centering space is matched with a synchronous camera, and the clamping jaw horizontally slides to adjust the alignment centering space so as to clamp a cylindrical battery conveniently; however, the clamping jaw position needs to be adjusted by the technical scheme, and the efficiency is low. In this technical scheme, the clamping jaw remains motionless all the time can, first cylinder and second cylinder synchronous operation for first limiting plate is close to each other in step or is kept away from each other in step with the second limiting plate, thereby guarantees that the axis in centring space remains unchanged and aligns with the clamping jaw all the time, thereby need not follow-up regulation clamping jaw, has further promoted efficiency.

Optionally, the roof side reason is provided with the slot type photoelectric sensor, be provided with on the sliding plate just to the light barrier of slot type photoelectric sensor, slot type photoelectric sensor is used for preventing when detecting the light barrier the sliding plate rises.

Through adopting above-mentioned scheme, set up the cell type photoelectric sensor on the roof to corresponding being provided with the barn door on the glide slope, produce the collision with between the roof when preventing the glide slope to rise, the cell type photoelectric sensor shows promptly that the distance between glide slope and the roof is too near when detecting the barn door, in order to prevent the glide slope to continue to rise, plays crashproof effect.

Optionally, the sliding plate is vertically provided with a sliding rod, a buffer spring is connected between the sliding rod and the top plate, and the sliding plate descends to compress the buffer spring.

By adopting the scheme, the sliding rod and the buffer spring are arranged. In some technical solutions, in the process of clamping the cylindrical battery by the sliding plate descending, the cylindrical battery may be crushed due to the descending beyond the preset stroke. In this technical scheme, play the effect of buffering through buffer spring, can prevent that the whole too many that descends of slip board from leading to the product by the problem of hard crushing.

Optionally, the clamping jaw comprises a finger cylinder fixedly installed at the bottom of the sliding plate and two side plates in transmission connection with the finger cylinder, the two side plates are oppositely arranged, and the finger cylinder works to drive the two side plates to be close to or relatively far away from each other; the sliding plate is provided with an air control assembly, an air flow pipeline is connected between the air control assembly and the finger cylinder, a plurality of communication holes are formed in the sliding plate in a penetrating mode, and the air flow pipeline penetrates through the communication holes from the upper portion of the sliding plate and is communicated with the finger cylinder.

Through adopting above-mentioned scheme, run through on the board of sliding and set up a plurality of intercommunicating pore, the clamping jaw is installed in the board bottom of sliding, and air current pipeline wears to establish to the below by the intercommunicating pore top and is linked together with the finger cylinder of clamping jaw. In some technical schemes, because the clamping jaws are densely distributed, the air path needs to bypass among a plurality of finger cylinders, and wire arrangement is difficult and messy. In this technical scheme, the air current pipeline is worn to establish by the slip board top and is linked to corresponding finger cylinder directly to the convenience of wiring has been promoted effectively.

Optionally, the curb plate inboard is provided with the grip tab that is used for centre gripping cylindrical battery, grip tab bottom has the guide, the guide downward gradually slope keep away from the axis of clamping jaw.

Through adopting above-mentioned scheme, be provided with the grip tab that is used for centre gripping cylindrical battery in the curb plate inboard to be provided with the guiding portion in grip tab bottom, the arrangement of guiding portion slope is so that cylindrical battery is guided and in inserting the clamping jaw with the advantage, further promotes the convenience of centre gripping.

Optionally, a baffle is further disposed on the inner side of the side plate, and the baffle is horizontally disposed above the clamping piece.

By adopting the scheme, the baffle is arranged above the side plate. In some technical schemes, after the cylindrical batteries are inserted into the clamping jaw, the cylindrical batteries are uneven in height, so that the subsequent transportation and transplanting are inconvenient. According to the technical scheme, the baffle is arranged on the side plate, so that the top of the cylindrical battery can be abutted and limited, and the high consistency of the cylindrical batteries when clamped is guaranteed.

Optionally, the centering limiting strip is detachably connected with the first limiting plate through a bolt, and the centering limiting strip is detachably connected with the second limiting plate through a bolt.

Through adopting above-mentioned scheme, centering locating part strip passes through the removable connection of bolt with first limiting plate to the dismouting is changed conveniently. In some technical schemes, the centering limiting strip is fixedly arranged on the first limiting plate and the second limiting plate, and for cylindrical batteries with different signals, clamping of the cylindrical batteries is achieved through zooming. However, in actual conditions, it is difficult to adapt to cylindrical batteries of different size diameters only by scaling the centering space. In this technical scheme, the spacing of centering passes through the removable installation of bolt, can dismantle the spacing of centering of change different shapes to further adaptation is in the cylinder battery of multiple different size models, and the suitability is stronger.

Optionally, a guide hole is formed in the sliding plate, a guide column adapted to the shape of the guide hole is vertically arranged on the top plate, and the guide column can be inserted into the guide hole in a sliding manner.

Through adopting above-mentioned scheme, set up the guiding hole on the board that slides to vertically be provided with the guide post on the roof, play the effect of direction to the motion of board that slides effectively, guaranteed the stability of motion.

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

1. the centering limiting piece is arranged to position the cylindrical battery so that the clamping jaw can accurately clamp the cylindrical battery. In the battery drying process of the cylindrical battery, the cylindrical battery is required to be transplanted into a battery drying turnover tray from an incoming tray, and the battery drying turnover tray is sent into a drying box for drying. In actual working conditions, in order to ensure the drying efficiency of the drying box, the density of cylindrical batteries of a charging tray is generally smaller than that of a battery drying turnover tray; in traditional technical scheme, snatch simultaneously and when transplanting a plurality of batteries, the clamping jaw centre gripping cylinder battery can lead to the cylinder battery crooked when, and then often appear the battery to the problem of battery mounting hole on the dry turnover tray of battery not going up, need shut down centering adjustment battery repeatedly, lead to transplanting efficiency lower. In this technical scheme, first limiting plate and second limiting plate level slip and limit the cylinder battery centre gripping in the centering space to carry out preliminary centering, clamping jaw presss from both sides tight cylinder battery and centers once more, and then the manipulator is whole to the motion directly over, when just breaking away from the charging tray of coming, battery centering locating part downward movement carries out the axle head centering spacing of battery thereby prevents effectively that the cylinder battery is crooked. According to the technical scheme, centering between the cylindrical battery and the clamping jaw can be rapidly achieved, the clamping accuracy of the cylindrical battery is improved, the problem that shutdown correction is required is effectively reduced, and therefore transplanting and transferring efficiency is improved;

2. the first cylinder and the second cylinder work synchronously. In some technical schemes, when the centering space zooms, the vertical central axis of the centering space is inevitably offset, so that the centering space cannot be just opposite to the clamping jaw, and the centering effect of the cylindrical battery clamped in the centering space is poor. In the traditional technical scheme, a clamping jaw above a subsequent centering space is matched with a synchronous camera, and the clamping jaw horizontally slides to adjust the alignment centering space so as to clamp a cylindrical battery conveniently; however, the clamping jaw position needs to be adjusted by the technical scheme, and the efficiency is low. According to the technical scheme, the clamping jaw is always kept motionless, the first air cylinder and the second air cylinder work synchronously, so that the first limiting plate and the second limiting plate are synchronously close to each other or synchronously far away from each other, the central axis of the centering space is always kept unchanged and aligned with the clamping jaw, the clamping jaw does not need to be adjusted subsequently, and the efficiency is further improved;

3. the centering limiting piece strip is detachably connected with the first limiting plate through bolts so as to be convenient to assemble, disassemble and replace. In some technical schemes, the centering limiting strip is fixedly arranged on the first limiting plate and the second limiting plate, and for cylindrical batteries with different signals, clamping of the cylindrical batteries is achieved through zooming. However, in actual conditions, it is difficult to adapt to cylindrical batteries of different size diameters only by scaling the centering space. In this technical scheme, the spacing of centering passes through the removable installation of bolt, can dismantle the spacing of centering of change different shapes to further adaptation is in the cylinder battery of multiple different size models, and the suitability is stronger.

Drawings

FIG. 1 is a schematic view of the overall structure of an embodiment of the present application;

FIG. 2 is a schematic structural view of a centering and limiting member according to an embodiment of the present application;

FIG. 3 is another angular schematic view of the overall structure of an embodiment of the present application.

Reference numerals illustrate:

1. a top plate; 11. a guide post; 12. a trough-type photoelectric sensor; 13. a buffer spring;

2. a slip plate; 21. a lifting cylinder; 22. a slip hole; 23. a light barrier; 24. a sliding rod; 25. a bearing seat; 26. a butt joint seat; 27. a pneumatic control assembly; 28. a communication hole;

3. a clamping jaw; 31. a finger cylinder; 311. a cylinder; 312. a slip claw; 32. a side plate; 33. a clamping piece; 331. a guide part; 34. a baffle;

4. centering limiting pieces; 41. a first limiting plate; 42. a second limiting plate; 43. centering limit strips; 431. centering space; 432. an abutment surface; 44. a lifting seat; 45. a first connection base; 46. a second connecting seat; 47. a first cylinder; 48. and a second cylinder.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

The present application is described in further detail below with reference to the accompanying drawings.

The embodiment of the application discloses a full-automatic unloading manipulator of going up of cylinder battery.

Referring to fig. 1 and 2, a full-automatic loading and unloading manipulator of a cylindrical battery, it includes: a top plate 1; a sliding plate 2 is vertically arranged below the top plate 1 in a sliding manner, and a plurality of clamping jaws 3 are arranged on the sliding plate 2; a centering limiting piece 4 for positioning the cylindrical battery is vertically slidably arranged below the sliding plate 2. The centering limiting piece 4 comprises a first limiting plate 41, a second limiting plate 42 and a centering limiting strip 43 used for abutting against the side wall of the limiting cylindrical battery, the number of the first limiting plate 41 and the number of the second limiting plate 42 are multiple, the first limiting plate 41 and the second limiting plate 42 are arranged in a staggered mode, and the first limiting plate 41 and the second limiting plate 42 are horizontally slidably arranged on the sliding plate 2. A plurality of centering limiting bars 43 are arranged on the first limiting plate 41 and the second limiting plate 42 at intervals in a one-to-one correspondence manner, a centering space 431 is formed between two adjacent centering limiting bars 43 on the first limiting plate 41 and two corresponding centering limiting bars 43 on the second limiting plate 42, the first limiting plate 41 and the second limiting plate 42 slide horizontally to expand or reduce the centering space 431, and the centering space 431 and the clamping jaw 3 are coaxially and oppositely arranged in a one-to-one correspondence manner all the time.

Referring to fig. 1 and 2, the top plate 1 is in driving connection with an external robot driving device, and the external robot driving device works to drive the whole manipulator to move between the incoming tray and the battery drying turnover tray through the top plate 1. The top plate 1 is in transmission connection with the sliding plate 2 through an air cylinder (not shown in the figure), and the air cylinder works to drive the sliding plate 2 to lift. The sliding plate 2 is also provided with a lifting cylinder 21 for driving the centering limiting piece 4, the lifting cylinder 21 is in transmission connection with the centering limiting piece 4, and the lifting cylinder 21 works to drive the centering limiting piece 4 to lift. In the battery drying process, the manipulator integrally moves to the upper part of the incoming tray, the lifting cylinder 21 works to enable the centering limiting piece 4 to integrally descend to the incoming tray, and the centering limiting piece 4 works to reduce the centering space 431 and initially clamp the centering cylindrical battery; then the clamping jaw 3 above the centering space 431 works to clamp the cylindrical battery for centering again; and the whole rear manipulator moves right upwards, and when the cylindrical battery is separated from the incoming tray, the centering limiting piece 4 moves downwards to perform shaft end centering limiting of the cylindrical battery. Finally, the whole manipulator mechanism is quickly moved to the position right above the battery drying turnover tray with higher accommodation density through an external robot driving device; when the mechanical arm is used for downwards probing to the bottom of the cylindrical battery and is placed in a battery placing hole on the battery drying turnover tray, the centering limiting piece 4 works to open the centering space 431 and move upwards, so that the clamping jaw 3 passes through the centering space 431 to continue downwards probing until the bottom of the cylindrical battery enters the battery placing hole, and the clamping jaw 3 is loosened, so that the transplanting work of the cylindrical battery is completed.

The sliding plate 2 is provided with a guide hole, the top plate 1 is vertically provided with a guide column 11 which is adapted to the shape of the guide hole, and the guide column 11 can be inserted into the guide hole in a sliding way. The side edge of the top plate 1 is provided with a groove-shaped photoelectric sensor 12, the sliding plate 2 is provided with a light barrier 23 opposite to the groove-shaped photoelectric sensor 12, and the groove-shaped photoelectric sensor 12 is used for preventing the sliding plate 2 from rising when detecting the light barrier 23. In this embodiment, a controller (not shown in the figure) electrically connected to the groove-shaped photoelectric sensor 12 is further provided, when the sliding plate 2 rises to the point that the light blocking plate 23 is inserted into the groove-shaped photoelectric sensor 12, the groove-shaped photoelectric sensor 12 sends an alarm signal to the controller, and the controller receives the alarm signal and prevents the sliding plate 2 from continuously rising, so as to prevent collision.

Referring to fig. 1 and 2, a sliding rod 24 is vertically arranged on the sliding plate 2, and the bottom of the sliding rod 24 is fixedly mounted on the sliding plate 2 through bolts. The sliding rod 24 is connected with the top plate 1 through the buffer spring 13, and the sliding plate 2 descends to compress the buffer spring 13. Specifically, a sliding hole 22 is formed in the top plate 1 in a penetrating manner, a sliding rod 24 is arranged above the top plate 1 in a penetrating manner through the sliding hole 22, a bearing seat 25 is fixedly arranged at the bottom of the sliding plate 2, and the bearing seat 25 covers the lower part of the sliding hole 22 and is arranged around the sliding rod 24; the top of the sliding rod 24 is provided with a supporting seat 26, one end of the buffer spring 13 is abutted against the bearing seat 25, and the other end is abutted against the supporting seat 26; when the sliding plate 2 descends, the abutting seat 26 presses down the buffer spring 13 to compress the buffer spring 13, so that the buffer effect is achieved, and the sliding plate 2 is prevented from driving the clamping jaw 3 to descend too much to rigidly collide and damage the cylindrical battery.

Referring to fig. 2 and 3, the centering stopper 4 includes a lifting seat 44, and the lifting seat 44 is connected to a piston rod of the lifting cylinder 21 on the sliding plate 2 such that the lifting seat 44 is vertically slidably installed at the bottom of the sliding plate 2. The lifting cylinder 21 works to drive the lifting seat 44 to lift, in this embodiment, the number of the lifting cylinders 21 and the lifting seat 44 is two and are arranged in a one-to-one correspondence in the vertical direction, and the two lifting cylinders 21 are respectively arranged on two opposite side edges of the sliding plate 2. Each lifting seat 44 is horizontally slidably provided with a first connecting seat 45 and a second connecting seat 46, and the sliding directions of the first sliding seat and the second sliding seat are parallel. The first limiting plates 41 are uniformly spaced and arranged on the two first connecting seats 45, and the second limiting plates 42 are uniformly spaced and arranged on the two second connecting seats 46. Each lifting seat 44 is provided with a first air cylinder 47 in transmission connection with the first connecting seat 45 and a second air cylinder 48 in transmission connection with the second connecting seat 46, a first connecting plate is connected between the first air cylinder 47 and the first connecting seat 45, and a second connecting plate is fixedly connected between the second air cylinder 48 and the second connecting seat 46. The first cylinder 47 and the second cylinder 48 are disposed opposite to each other, and the first cylinder 47 and the second cylinder 48 are synchronously operated to drive the first sliding seat and the second sliding seat to be synchronously moved toward each other or moved away from each other, so that the centering space 431 can be expanded or contracted. It should be noted that the vertical central axis of the centering space 431 is always opposite to the clamping jaw 3, so as to ensure that the cylindrical battery is opposite to the clamping jaw 3.

Referring to fig. 2 and 3, specifically, a plurality of centering and limiting bars 43 are uniformly arranged at intervals along the length direction of the first limiting plate 41, and the centering and limiting bars 43 are detachably mounted on the first limiting plate 41 by bolts; the centering and limiting bars 43 are uniformly arranged along the length direction of the second limiting plate 42, and the centering and limiting bars 43 are detachably mounted on the second limiting plate 42 through bolts. Each centering limiting bar 43 is provided with two abutting faces 432 facing the middle part of the centering space 431, so that four abutting faces 432 are circumferentially and horizontally encircling each centering space 431, and the four abutting faces 432 can simultaneously abut against the circumference of the cylindrical battery, thereby realizing preliminary centering of the cylindrical battery.

Referring to fig. 2 and 3, the clamping jaw 3 includes a finger cylinder 31 fixedly installed at the bottom of the sliding plate 2, the finger cylinder 31 includes a cylinder 311 and two sliding claws 312 symmetrically arranged at the bottom of the cylinder 311 with the central axis of the cylinder 311, the two sliding claws 312 are slidably installed at the bottom of the cylinder 311, and the cylinder 311 operates to drive the two sliding claws 312 to approach each other or to be relatively far away from each other. The clamping jaw 3 further comprises two side plates 32 in transmission connection with the finger air cylinders 31, each side plate 32 is vertically and fixedly arranged on one sliding claw 312 in one-to-one correspondence, and the finger air cylinders 31 work to drive the two side plates 32 to be close to each other or relatively far away from each other. The inner side of the side plate 32 is fixedly provided with a clamping piece 33 for clamping the cylindrical battery, and the bottom of the clamping piece 33 is provided with a guide part 331 which is gradually inclined downwards away from the central axis of the clamping jaw 3 so as to facilitate the cylindrical battery to be inserted between the two side plates 32 for clamping. The side plate 32 is also provided with a baffle 34 inside, the baffle 34 being arranged horizontally above the clamping piece 33. It should be noted that in the embodiment of the present application, two clamping pieces 33 are disposed inside each side plate 32.

Referring to fig. 1 and 2, a pneumatic control assembly 27 is disposed on the sliding plate 2, an air flow pipeline (not shown in the figure) is connected between the pneumatic control assembly 27 and the finger cylinder 31, a plurality of communication holes 28 are formed in the sliding plate 2 in a penetrating manner, and the air flow pipeline passes through the communication holes 28 from above the sliding plate 2 and is communicated with the finger cylinder 31. In this embodiment, the air hole assembly includes an electromagnetic valve and an air dividing block, and the structure thereof is not described herein.

The implementation principle of the full-automatic feeding and discharging manipulator for the cylindrical battery is as follows: the first limiting plate 41 and the second limiting plate 42 slide horizontally to clamp, abut and limit the cylindrical battery in the centering space 431, so that preliminary centering between the clamping jaw 3 and the cylindrical battery is performed, the clamping jaw 3 clamps the cylindrical battery to perform centering again, then the whole manipulator moves right above, when the battery is just separated from the incoming tray, the battery centering limiting piece 4 moves downwards, and shaft end centering limiting of the battery is performed, so that the cylindrical battery is effectively prevented from being skewed; centering between cylinder battery and clamping jaw 3 has been realized fast, the centre gripping precision to cylinder battery has been promoted.

The embodiments of this embodiment are all preferred embodiments of the present application, and are not intended to limit the scope of the present application, in which like parts are denoted by like reference numerals. Therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (10)

1. Full-automatic unloading manipulator of going up of cylinder battery, its characterized in that includes:

a top plate (1);

the sliding plate (2) is installed below the top plate (1) in a liftable vertical sliding manner, and a plurality of clamping jaws (3) are arranged on the sliding plate (2);

the centering limiting piece (4) is vertically slidably arranged below the sliding plate (2) and is used for positioning the cylindrical battery so that the clamping jaw (3) clamps the cylindrical battery;

the centering limiting piece (4) comprises a first limiting plate (41), a second limiting plate (42) and centering limiting strips (43) for abutting against the side wall of the limiting cylindrical battery, wherein the number of the first limiting plate (41) and the number of the second limiting plate (42) are multiple and are arranged in a staggered manner, and the first limiting plate (41) and the second limiting plate (42) are horizontally and slidably arranged on the sliding plate (2); the utility model discloses a clamping jaw (3), including first limiting plate (41), second limiting plate (42) and clamping jaw, first limiting plate (41) with a plurality of centering limiting bars (43) have been arranged with interval on the second limiting plate (42) in one-to-one, two adjacent centering limiting bars (43) on first limiting plate (41) with be formed with centering space (431) between two centering limiting bars (43) that correspond on second limiting plate (42), first limiting plate (41) with second limiting plate (42) horizontal slip expands or reduces centering space (431), centering space (431) with coaxial arrangement of clamping jaw (3) one-to-one.

2. The full-automatic feeding and discharging manipulator for the cylindrical battery according to claim 1, wherein the centering limiting piece (4) comprises a lifting seat (44), and the lifting seat (44) is vertically slidably arranged at the bottom of the sliding plate (2); the lifting seat (44) is horizontally and slidably provided with a first connecting seat (45) and a second connecting seat (46), the first limiting plates (41) are uniformly arranged on the first connecting seat (45) at intervals, and the second limiting plates (42) are uniformly arranged on the second connecting seat (46) at intervals.

3. The full-automatic loading and unloading manipulator of the cylindrical battery according to claim 2, wherein a first cylinder (47) in transmission connection with the first connecting seat (45) and a second cylinder (48) in transmission connection with the second connecting seat (46) are arranged on the lifting seat (44), and the first cylinder (47) and the second cylinder (48) synchronously move to expand or contract the centering space (431).

4. The full-automatic feeding and discharging manipulator for the cylindrical battery according to claim 1, wherein a groove-shaped photoelectric sensor (12) is arranged on the side edge of the top plate (1), a light blocking plate (23) opposite to the groove-shaped photoelectric sensor (12) is arranged on the sliding plate (2), and the groove-shaped photoelectric sensor (12) is used for preventing the sliding plate (2) from rising when detecting the light blocking plate (23).

5. The full-automatic feeding and discharging manipulator for the cylindrical battery according to claim 1, wherein a sliding rod (24) is vertically arranged on the sliding plate (2), a buffer spring (13) is connected between the sliding rod (24) and the top plate (1), and the sliding plate (2) descends to compress the buffer spring (13).

6. The full-automatic feeding and discharging manipulator for the cylindrical battery according to claim 1, wherein the clamping jaw (3) comprises a finger cylinder (31) fixedly arranged at the bottom of the sliding plate (2) and two side plates (32) in transmission connection with the finger cylinder (31), the two side plates (32) are oppositely arranged, and the finger cylinder (31) is used for driving the two side plates (32) to be close to or relatively far away from each other; the sliding plate (2) is provided with a pneumatic control assembly (27), an air flow pipeline is connected between the pneumatic control assembly (27) and the finger cylinder (31), a plurality of communication holes (28) are formed in the sliding plate (2) in a penetrating mode, and the air flow pipeline penetrates through the communication holes (28) from the upper portion of the sliding plate (2) and is communicated with the finger cylinder (31).

7. The full-automatic feeding and discharging manipulator for the cylindrical batteries according to claim 6, wherein a clamping piece (33) for clamping the cylindrical batteries is arranged on the inner side of the side plate (32), a guide portion (331) is arranged at the bottom of the clamping piece (33), and the guide portion (331) is gradually inclined downwards and far away from the central axis of the clamping jaw (3).

8. The full-automatic loading and unloading manipulator of the cylindrical battery according to claim 7, wherein a baffle plate (34) is further arranged on the inner side of the side plate (32), and the baffle plate (34) is horizontally arranged above the clamping piece (33).

9. The full-automatic loading and unloading manipulator of the cylindrical battery according to claim 1, wherein the centering limiting bar (43) is detachably connected with the first limiting plate (41) through bolts, and the centering limiting bar (43) is detachably connected with the second limiting plate (42) through bolts.

10. The full-automatic feeding and discharging manipulator for the cylindrical battery according to claim 1, wherein a guide hole is formed in the sliding plate (2), a guide column (11) which is adapted to the shape of the guide hole is vertically arranged on the top plate (1), and the guide column (11) can be inserted into the guide hole in a sliding mode.

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