CN117863159B - Lithium battery self-adaptive grabbing mechanical arm and application method thereof - Google Patents
Lithium battery self-adaptive grabbing mechanical arm and application method thereof Download PDFInfo
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- CN117863159B CN117863159B CN202410270632.3A CN202410270632A CN117863159B CN 117863159 B CN117863159 B CN 117863159B CN 202410270632 A CN202410270632 A CN 202410270632A CN 117863159 B CN117863159 B CN 117863159B
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 title claims abstract description 75
- 229910052744 lithium Inorganic materials 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000000670 limiting effect Effects 0.000 claims description 21
- 230000009471 action Effects 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention discloses a self-adaptive grabbing manipulator for a lithium battery and a use method thereof, and relates to the technical field of lithium battery production, the self-adaptive grabbing manipulator comprises a bottom plate, a baffle is arranged right below the bottom plate, a lithium battery body is placed on the bottom surface of the baffle, an L-shaped clamping plate is arranged on the outer side surface of each fixing block, a rubber buffer plate is fixedly arranged on the inner side surface of each L-shaped clamping plate, and the inner side surface of each rubber buffer plate is propped against the outer side surface of the lithium battery body; a pair of vertical plates are inserted into the left and right corners of the top surface of the bottom plate, a first connecting shaft is inserted into the bottom end parts of each pair of vertical plates in a rotating mode, U-shaped bottom supports are arranged at the left and right corners of the bottom surface of the lithium battery body, and two opening end parts of each U-shaped bottom support are fixedly connected with two end parts of the first connecting shaft on one side. The invention adopts a double-grabbing and fixing mode, not only ensures that the lithium battery is firmly clamped, but also effectively prevents the lithium battery from falling down, and can be better suitable for lithium batteries with different sizes.
Description
Technical Field
The invention relates to the technical field of lithium battery production, in particular to a self-adaptive grabbing manipulator for a lithium battery and a use method thereof.
Background
A lithium battery self-adaptive grabbing manipulator is a manipulator capable of automatically adjusting grabbing force and gesture to adapt to lithium batteries with different shapes and weights. Just like chinese patent of invention discloses a power lithium cell material snatchs manipulator (publication No. CN109015732 a), including bottom plate, clamping jaw mechanism, sucking disc subassembly, slide rail, cylinder, vacuum generator, coupling assembling, the slide rail is equipped with two, parallel interval installs on the one side face of bottom plate, sucking disc subassembly sets up between two slide rails and is connected with the bottom plate, sucking disc subassembly opposite both sides are equipped with clamping jaw mechanism respectively, clamping jaw mechanism both ends respectively with two slide rail cooperation installations, cylinder, vacuum generator, coupling assembling are installed respectively on the opposite side face of bottom plate, two clamping jaw mechanisms are connected with the cylinder respectively, vacuum generator is connected with sucking disc subassembly.
At present lithium cell is in production process, needs to use the manipulator to snatch the lithium cell, and current manipulator adopts the cylinder to drive the clamping jaw and presss from both sides tightly, and the clamping jaw supports lithium cell bottom, and lithium cell top is compressed tightly by the spring, and the manipulator of this kind of structure is snatching the in-process, and the material exists very big risk that drops. Therefore, we propose a lithium battery self-adaptive grabbing manipulator.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a self-adaptive grabbing manipulator for a lithium battery and a use method thereof.
In order to solve the problems existing in the prior art, the invention adopts the following technical scheme:
The self-adaptive grabbing manipulator for the lithium battery comprises a bottom plate, a baffle plate which is distributed in a hanging manner is arranged right below the bottom plate, four corners of the top surface of the baffle plate are fixedly provided with fixing blocks which are distributed in a staggered manner, the top end of each fixing block is fixedly connected with the bottom surface of the bottom plate, a lithium battery body is placed on the bottom surface of the baffle plate, the outer side surface of each fixing block is provided with an L-shaped clamping plate which is in sliding connection, the inner side surface of each L-shaped clamping plate is fixedly provided with a rubber buffer plate, and the inner side surface of each rubber buffer plate is propped against the outer side surface of the lithium battery body;
The lithium battery comprises a bottom plate, wherein a pair of symmetrically distributed T-shaped through holes are formed in the left corner and the right corner of the top surface of the bottom plate, a pair of vertical plates penetrating through the T-shaped through holes in a sliding mode are clamped in the T-shaped through holes, first connecting shafts penetrating through the distribution are inserted in a rotating mode at the bottom end portions of the vertical plates, U-shaped bottom supports which are tightly propped are arranged at the left corner and the right corner of the bottom surface of the lithium battery body, and the two opening end portions of the U-shaped bottom supports are fixedly connected with the two end portions of the first connecting shafts on one side.
Preferably, rectangular sliding holes are formed in the bottoms of the fixing blocks, rectangular sliding plates penetrating through the rectangular sliding holes are clamped in the rectangular sliding holes located on the front side and the rear side, top end portions of a pair of L-shaped clamping plates located on the front side and the rear side are fixedly connected with the rectangular sliding plates on the corresponding side, L-shaped sliding plates penetrating through the rectangular sliding holes are clamped in the rectangular sliding holes located on the left side and the right side, and top end portions of the pair of L-shaped clamping plates located on the left side and the right side are fixedly connected with the L-shaped sliding plates on the corresponding side.
Preferably, a first circular through hole is formed in the middle of the bottom surface of the bottom plate, a first motor with a downward output end is fixedly arranged in the first circular through hole, a double-head swing arm is fixedly arranged at the end part of a motor shaft of the first motor, a pair of first elliptical pin holes are formed in the front section and the rear section of the double-head swing arm, a first pin shaft is fixedly arranged at the inner end part of each rectangular sliding plate, and the top end part of each first pin shaft is slidably clamped in the first elliptical pin hole on one side.
Preferably, the front corner and the rear corner of the bottom surface of the bottom plate are respectively provided with a pair of symmetrically distributed linkage shafts in a rotating manner, the middle part of each linkage shaft is respectively sleeved with a linkage gear in concentric fixedly connection, a pair of linkage gears positioned on the same side are in meshed connection, the bottom end part of each linkage shaft is respectively fixedly provided with a linkage swing arm, a pair of linkage swing arms positioned on the same side are symmetrically distributed in a V shape, and the outer section part of each linkage swing arm is provided with a second elliptical pin hole.
Preferably, the outer end of each rectangular sliding plate is fixedly provided with a second pin shaft, the top end of each second pin shaft is slidably clamped in a second elliptical pin hole on the corresponding side, the outer end of each L-shaped sliding plate is fixedly provided with a third pin shaft, and the top end of each third pin shaft is slidably clamped in a second elliptical pin hole on the corresponding side.
Preferably, each first swing arm has all been set firmly in the middle part of first connecting axle, every first breach has all been seted up to the top of first swing arm, every pair the well upper portion of riser all rotates to insert and has run through the second connecting axle that distributes, every the second swing arm has been set firmly in the middle part of second connecting axle, every the second breach has all been seted up to the bottom tip of second swing arm, every pair all be equipped with the articulated connecting rod of slant distribution between the opposite face of riser, every articulated connecting rod's both ends all with correspond one side first breach, second breach activity hinge.
Preferably, each of the two ends of the second connecting shaft is sleeved with a notch gear concentrically fixedly connected, U-shaped notch racks are fixedly arranged at the left corner and the right corner of the top surface of the bottom plate, the upper half section of each U-shaped notch rack is smooth, the lower half section of each U-shaped notch rack is tooth-shaped, the notch part of each notch gear is in sliding connection with the upper half section of each U-shaped notch rack, and the tooth part of each notch gear is in meshed connection with the lower half section of each U-shaped notch rack.
Preferably, each pair of vertical plates is provided with a third connecting shaft in a rotating and inserting mode, two ends of the third connecting shaft are fixedly provided with a pair of parallel connecting rods in a parallel mode, rectangular lantern rings in a symmetrical mode are fixedly arranged on the left side and the right side of the top surface of the bottom plate, each rectangular lantern ring is internally provided with a limiting sliding plate in a sliding and penetrating mode, the outer ends of the limiting sliding plates are respectively provided with a fourth connecting shaft in a rotating and inserting mode, and the two ends of each fourth connecting shaft are fixedly connected with the bottom ends of the pair of parallel connecting rods on one side.
Preferably, a flange sleeve is fixedly arranged in the middle of the top surface of the bottom plate, a fixed swivel is sleeved at the middle lower part of the flange sleeve and is in rotary connection, a pair of limit connecting rods which are distributed in a staggered manner are hinged at the left side and the right side of the fixed swivel, and the outer end part of each limit connecting rod is movably hinged with the inner end part of a limit sliding plate at the corresponding side;
The fixed swivel is characterized in that a pair of arc racks which are distributed in a staggered mode are fixedly arranged on the front side and the rear side of the fixed swivel, a pair of second through holes are formed in the front side and the rear side of the top surface of the bottom plate, a second motor with an upward output end is fixedly arranged in each second through hole, a driving gear which is fixedly connected in a concentric mode is sleeved at the end portion of a motor shaft of each second motor, and each driving gear is meshed with the corresponding arc racks on one side.
The invention also provides a use method of the lithium battery self-adaptive grabbing manipulator, which comprises the following steps:
the method comprises the steps that firstly, the end head of a mechanical arm of a robot is connected with a flange sleeve, a bottom plate is driven to move to the position right above a lithium battery body, and then the bottom plate is driven to descend and a baffle is driven to prop against the top surface of the lithium battery body;
step two, starting a first motor, wherein a motor shaft of the first motor drives the double-head swing arm to synchronously rotate, a first elliptical pin hole and a first pin shaft form a limiting effect, a rectangular sliding plate, a corresponding L-shaped clamping plate and a rubber buffer plate are driven to slide inwards along the rectangular sliding hole, and the rubber buffer plate is driven to abut against the lithium battery body;
the second pin shaft and the second elliptical pin hole form a limiting effect and drive the corresponding linkage swing arm, the linkage shaft and the linkage gear to rotate, and the linkage gear is meshed to drive the linkage gear, the linkage shaft and the linkage swing arm on the other side to rotate reversely;
The second elliptical pin hole and the third pin shaft form a limiting effect, so that the L-shaped sliding plate, the corresponding L-shaped clamping plate and the rubber buffer plate are driven to slide inwards along the rectangular sliding hole, the rubber buffer plate is driven to abut against the lithium battery body, and the lithium battery body is preliminarily clamped and fixed through the four rubber buffer plates which are distributed in a staggered mode;
Step three, synchronously starting a second motor, wherein a motor shaft of the second motor drives a driving gear to synchronously rotate, the driving gear is meshed with the driving gear to drive an arc-shaped rack and a fixed swivel to reversely rotate, and under the hinging action of a limit connecting rod, a limit sliding plate is driven to slide along a rectangular lantern ring and under the hinging action of a parallel connecting rod, a vertical plate is driven to slide downwards along a T-shaped through hole;
The vertical plate drives the second connecting shaft, the second swing arm, the first connecting shaft, the first swing arm and the U-shaped bottom support to slide downwards, the notch gear slides along the U-shaped notch rack firstly and then meshes with the U-shaped notch rack for rotation, and then the notch gear, the second connecting shaft and the second swing arm are driven to rotate;
Under the articulated effect of the articulated connecting rod, the first swing arm, the first connecting shaft and the U-shaped bottom support are driven to reversely rotate, the U-shaped bottom support is in a state of firstly translating downwards and then overturning inwards, and then the U-shaped bottom support is driven to prop against the corner of the bottom surface of the lithium battery body, and the lithium battery body is clamped and fixed again through the pair of U-shaped bottom supports.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, under the driving action of the first motor, four rubber buffer plates distributed in a staggered manner can be driven to form preliminary clamping and fixing on the lithium battery body, and the lithium battery bodies with different sizes can be adjusted and clamped so as to realize stable and accurate grabbing operation;
2. According to the invention, under the driving action of the second motor, the pair of U-shaped bottom brackets can be driven to clamp and fix the lithium battery body again, after the lithium battery body is grabbed and suspended, the phenomenon that the lithium battery body falls down can be prevented, and the firmness and the safety in the grabbing process are ensured;
In summary, the invention solves the problem that lithium batteries with different sizes are not firmly grasped, has compact overall structural design, adopts a double-grasping and fixing mode, ensures that the lithium batteries are firmly clamped, effectively prevents the falling situation of the lithium batteries, and can be better suitable for the lithium batteries with different sizes.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the overall bottom view of the present invention;
FIG. 3 is a schematic cross-sectional view of the overall structure of the present invention;
FIG. 4 is a schematic view of the overall structure of the present invention in a cutaway exploded view;
FIG. 5 is a schematic view of two pairs of risers according to the present invention;
FIG. 6 is an exploded view of two pairs of riser structures according to the present invention;
FIG. 7 is a schematic view of a pair of rectangular skateboards and a pair of L-shaped skateboards according to the present invention;
FIG. 8 is a schematic bottom view of a pair of rectangular skateboards and a pair of L-shaped skateboards according to the present invention;
FIG. 9 is an exploded view of a pair of rectangular skateboards and a pair of L-shaped skateboards according to the present invention;
Number in the figure: 1. a bottom plate; 11. a flange sleeve; 12. a fixed block; 13. a baffle; 14. a lithium battery body; 15. an L-shaped clamping plate; 16. a rubber buffer plate; 2. a first motor; 21. double-end swing arms; 22. a rectangular slide plate; 23. an L-shaped sliding plate; 24. a linkage swing arm; 25. a linkage gear; 3. a riser; 31. a U-shaped bottom bracket; 32. a first swing arm; 33. a second swing arm; 34.a hinged connecting rod; 35. a notch gear; 36. u-shaped notch racks; 4.a second motor; 41. a drive gear; 42. an arc-shaped rack; 43. a limit connecting rod; 44. a limit sliding plate; 45. parallel connecting rods.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Embodiment one: the embodiment provides a self-adaptive grabbing manipulator for lithium batteries, see fig. 1-9, specifically, the self-adaptive grabbing manipulator comprises a bottom plate 1, a baffle plate 13 which is distributed in a suspending way is arranged right below the bottom plate 1, four corners of the top surface of the baffle plate 13 are fixedly provided with fixing blocks 12 which are distributed in a staggered way, the top end part of each fixing block 12 is fixedly connected with the bottom surface of the bottom plate 1, a lithium battery body 14 is placed on the bottom surface of the baffle plate 13, the outer side surface of each fixing block 12 is provided with an L-shaped clamping plate 15 which is in sliding connection, the inner side surface of each L-shaped clamping plate 15 is fixedly provided with a rubber buffer plate 16, and the inner side surface of each rubber buffer plate 16 is propped against the outer side surface of the lithium battery body 14;
A pair of symmetrically distributed T-shaped through holes are formed in the left corner and the right corner of the top surface of the bottom plate 1, a pair of vertical plates 3 which vertically slide and penetrate through are clamped in each T-shaped through hole, first connecting shafts which penetrate through and are distributed are inserted in the bottom end parts of each pair of vertical plates 3 in a rotating mode, U-shaped bottom supports 31 which are abutted against and placed are arranged in the left corner and the right corner of the bottom surface of the lithium battery body 14, and two opening end parts of each U-shaped bottom support 31 are fixedly connected with two end parts of the corresponding first connecting shafts; the lithium battery body 14 is clamped and fixed again by a pair of U-shaped buttresses 31.
The description is as follows: in this embodiment, rectangular sliding holes are formed at the bottom of each fixed block 12, a pair of rectangular sliding holes located at the front and rear sides are internally clamped with a rectangular sliding plate 22 which penetrates through in a sliding manner, top end portions of a pair of L-shaped clamping plates 15 located at the front and rear sides are fixedly connected with a rectangular sliding plate 22 at the corresponding side, inner portions of a pair of rectangular sliding holes located at the left and right sides are internally clamped with an L-shaped sliding plate 23 which penetrates through in a sliding manner, and top end portions of a pair of L-shaped clamping plates 15 located at the left and right sides are fixedly connected with an L-shaped sliding plate 23 at the corresponding side; the lithium battery body 14 is primarily clamped and fixed by four staggered rubber buffer plates 16.
Embodiment two: the present embodiment further includes, on the basis of the first embodiment:
In a specific implementation process, as shown in fig. 7 and 9, a first circular through hole is formed in the middle of the bottom surface of the bottom plate 1, a first motor 2 with a downward output end is fixedly arranged in the first circular through hole, a double-head swing arm 21 is fixedly arranged at the end part of a motor shaft of the first motor 2, a pair of first elliptical pin holes are formed in the front section and the rear section of the double-head swing arm 21, first pin shafts are fixedly arranged at the inner end parts of each rectangular sliding plate 22, and the top end parts of the first pin shafts are slidably clamped in the first elliptical pin holes on the corresponding sides; the motor shaft of the first motor 2 drives the double-end swing arm 21 to synchronously rotate, and the first elliptical pin hole and the first pin shaft form a limiting function to drive the rectangular sliding plate 22, the corresponding L-shaped clamping plate 15 and the rubber buffer plate 16 to inwards slide along the rectangular sliding hole;
The front corner and the rear corner of the bottom surface of the bottom plate 1 are respectively provided with a pair of symmetrically distributed linkage shafts in a rotating way, the middle part of each linkage shaft is respectively sleeved with a linkage gear 25 which is concentrically fixedly connected, a pair of linkage gears 25 positioned on the same side are in meshed connection, the bottom end part of each linkage shaft is respectively fixedly provided with a linkage swing arm 24, the pair of linkage swing arms 24 positioned on the same side are symmetrically distributed in a V shape, and the outer section part of each linkage swing arm 24 is provided with a second elliptic pin hole; the second pin shaft and the second elliptical pin hole form a limiting effect and drive the corresponding linkage swing arm 24, the linkage shaft and the linkage gear 25 to rotate, and the linkage gear 25 is meshed to drive the linkage gear 25, the linkage shaft and the linkage swing arm 24 at the other side to rotate oppositely;
The outer end part of each rectangular sliding plate 22 is fixedly provided with a second pin shaft, the top end part of each second pin shaft is slidably clamped in the second elliptical pin hole on the corresponding side, the outer end part of each L-shaped sliding plate 23 is fixedly provided with a third pin shaft, and the top end part of each third pin shaft is slidably clamped in the second elliptical pin hole on the corresponding side; the second elliptical pin hole and the third pin shaft form a limiting function, and drive the L-shaped sliding plate 23, the corresponding L-shaped clamping plate 15 and the rubber buffer plate 16 to slide inwards along the rectangular sliding hole.
Embodiment III: the second embodiment further includes, on the basis of the second embodiment:
In a specific implementation process, as shown in fig. 5 and 6, a first swing arm 32 is fixedly arranged in the middle of each first connecting shaft, a first gap is formed at the top end part of each first swing arm 32, a second connecting shaft which runs through and is distributed is rotatably inserted in the middle upper part of each pair of vertical plates 3, a second swing arm 33 is fixedly arranged in the middle of each second connecting shaft, a second gap is formed at the bottom end part of each second swing arm 33, a diagonally distributed hinged connecting rod 34 is arranged between the opposite surfaces of each pair of vertical plates 3, and two end parts of each hinged connecting rod 34 are movably hinged with the first gap and the second gap on the corresponding side; under the hinging action of the hinging connecting rod 34, the U-shaped bottom support 31 is in a state of firstly translating downwards and then overturning inwards, so that the U-shaped bottom support 31 is driven to abut against the corner of the bottom surface of the lithium battery body 14;
The two end parts of each second connecting shaft are respectively sleeved with a notch gear 35 which is concentrically fixedly connected, U-shaped notch racks 36 are respectively fixedly arranged at the left corner and the right corner of the top surface of the bottom plate 1, the upper half section of each U-shaped notch rack 36 is smooth, the lower half section of each U-shaped notch rack 36 is tooth-shaped, the notch part of each notch gear 35 is slidably connected with the smooth part of the upper half section of each U-shaped notch rack 36, and the tooth part of each notch gear 35 is meshed and connected with the tooth part of the lower half section of each U-shaped notch rack 36; when the vertical plate 3 slides downwards, the notch gear 35 slides along the U-shaped notch rack 36, and then meshes with the U-shaped notch rack 36 to rotate, so that the notch gear 35, the second connecting shaft and the second swing arm 33 are driven to rotate.
Embodiment four: the third embodiment further includes:
In the specific implementation process, as shown in fig. 5 and 6, the top end part of each pair of vertical plates 3 is rotatably inserted with a third connecting shaft which runs through and is distributed, two end parts of the third connecting shaft are fixedly provided with a pair of parallel connecting rods 45 which are distributed in parallel, the left side and the right side of the top surface of the bottom plate 1 are fixedly provided with rectangular lantern rings which are symmetrically distributed, the inside of each rectangular lantern ring is inserted with a limit sliding plate 44 which slides and runs through, the outer end part of each limit sliding plate 44 is rotatably inserted with a fourth connecting shaft which runs through and is distributed, and two end parts of each fourth connecting shaft are fixedly connected with the bottom end parts of the pair of parallel connecting rods 45 on the corresponding side;
The middle part of the top surface of the bottom plate 1 is fixedly provided with a flange sleeve 11, the middle lower part of the flange sleeve 11 is sleeved with a fixed swivel connected in a rotating way, the left side and the right side of the fixed swivel are hinged with a pair of limit connecting rods 43 distributed in a staggered way, and the outer end part of each limit connecting rod 43 is movably hinged with the inner end part of a limit sliding plate 44 on the corresponding side; under the hinging action of the limiting connecting rod 43, the limiting sliding plate 44 is driven to slide along the rectangular lantern ring, and under the hinging action of the parallel connecting rod 45, the vertical plate 3 is driven to slide downwards along the T-shaped through hole;
a pair of arc racks 42 which are distributed in a staggered manner are fixedly arranged on the front side and the rear side of the fixed swivel, a pair of second through holes are formed on the front side and the rear side of the top surface of the bottom plate 1, a second motor 4 with an upward output end is fixedly arranged in each second through hole, a driving gear 41 which is fixedly connected in a concentric manner is sleeved at the end part of a motor shaft of each second motor 4, and each driving gear 41 is meshed and connected with the arc racks 42 on the corresponding side; the motor shaft of the second motor 4 drives the driving gear 41 to synchronously rotate, and the driving gear 41 is meshed with the arc-shaped rack 42 and the fixed swivel to reversely rotate.
Specifically, the working principle and the operation method of the invention are as follows:
The method comprises the steps that firstly, the end head of a mechanical arm of a robot is connected with a flange sleeve 11, a bottom plate 1 is driven to move to the position right above a lithium battery body 14, and then the bottom plate 1 is driven to descend and a baffle 13 is driven to abut against the top surface of the lithium battery body 14;
Step two, starting a first motor 2, wherein a motor shaft of the first motor 2 drives a double-head swing arm 21 to synchronously rotate, a first elliptical pin hole and a first pin shaft form a limiting function, a rectangular sliding plate 22, a corresponding L-shaped clamping plate 15 and a rubber buffer plate 16 are driven to slide inwards along the rectangular sliding hole, and the rubber buffer plate 16 is driven to abut against a lithium battery body 14;
The second pin shaft and the second elliptical pin hole form a limiting effect and drive the corresponding linkage swing arm 24, the linkage shaft and the linkage gear 25 to rotate, and the linkage gear 25 is meshed to drive the linkage gear 25, the linkage shaft and the linkage swing arm 24 at the other side to rotate oppositely;
The second elliptical pin hole and the third pin shaft form a limiting effect, so that the L-shaped sliding plate 23, the corresponding L-shaped clamping plate 15 and the rubber buffer plate 16 are driven to slide inwards along the rectangular sliding hole, the rubber buffer plate 16 is driven to abut against the lithium battery body 14, and the lithium battery body 14 is preliminarily clamped and fixed through the four staggered rubber buffer plates 16;
step three, the second motor 4 is synchronously started, a motor shaft of the second motor 4 drives the driving gear 41 to synchronously rotate, the driving gear 41 is meshed to drive the arc-shaped rack 42 and the fixed swivel to reversely rotate, the limiting slide plate 44 is driven to slide along the rectangular lantern ring under the hinging action of the limiting connecting rod 43, and the vertical plate 3 is driven to slide downwards along the T-shaped through hole under the hinging action of the parallel connecting rod 45;
The vertical plate 3 drives the second connecting shaft, the second swing arm 33, the first connecting shaft, the first swing arm 32 and the U-shaped bottom support 31 to slide downwards, the notch gear 35 slides along the U-shaped notch rack 36, and then the notch gear is meshed with the U-shaped notch rack 36 to rotate, so that the notch gear 35, the second connecting shaft and the second swing arm 33 are driven to rotate;
Under the hinging action of the hinging connecting rod 34, the first swing arm 32, the first connecting shaft and the U-shaped bottom support 31 are driven to reversely rotate, the U-shaped bottom support 31 is in a state of firstly translating downwards and then overturning inwards, the U-shaped bottom support 31 is driven to abut against the corner of the bottom surface of the lithium battery body 14, and the lithium battery body 14 is clamped and fixed again through the pair of U-shaped bottom supports 31.
The invention solves the problem that lithium batteries with different sizes are not firmly grasped, has compact overall structural design, adopts a double-grasping and fixing mode, ensures that the lithium batteries are firmly clamped, effectively prevents the falling situation of the lithium batteries, and can be better suitable for the lithium batteries with different sizes.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. Lithium cell self-adaptation snatchs manipulator, including bottom plate (1), its characterized in that: the lithium battery is characterized in that baffle plates (13) which are distributed in a hanging mode are arranged right below the bottom plate (1), fixing blocks (12) which are distributed in a staggered mode are fixedly arranged at four corners of the top surface of each baffle plate (13), the top end portions of each fixing block (12) are fixedly connected with the bottom surface of the bottom plate (1), lithium battery bodies (14) are placed on the bottom surface of each baffle plate (13), L-shaped clamping plates (15) which are connected in a sliding mode are arranged on the outer side surfaces of the fixing blocks (12), rubber buffer plates (16) are fixedly arranged on the inner side surfaces of the L-shaped clamping plates (15), and the inner side surfaces of the rubber buffer plates (16) are propped against the outer side surfaces of the lithium battery bodies (14);
a pair of symmetrically distributed T-shaped through holes are formed in the left corner and the right corner of the top surface of the bottom plate (1), a pair of vertical plates (3) which vertically slide and penetrate through are clamped in each T-shaped through hole, first connecting shafts which penetrate through and are distributed are inserted in each pair of vertical plates (3) in a rotating mode, U-shaped bottom supports (31) which are abutted to be placed are arranged at the left corner and the right corner of the bottom surface of the lithium battery body (14), and two opening end portions of each U-shaped bottom support (31) are fixedly connected with two end portions of the corresponding first connecting shaft;
Rectangular sliding holes are formed in the bottom of each fixed block (12), a rectangular sliding plate (22) penetrating through the sliding holes is clamped in the rectangular sliding holes on the front side and the rear side, the top ends of a pair of L-shaped clamping plates (15) on the front side and the rear side are fixedly connected with the rectangular sliding plate (22) on the corresponding side, L-shaped sliding plates (23) penetrating through the sliding holes are clamped in the rectangular sliding holes on the left side and the right side, and the top ends of a pair of L-shaped clamping plates (15) on the left side and the right side are fixedly connected with the L-shaped sliding plates (23) on the corresponding side;
A first circular through hole is formed in the middle of the bottom surface of the bottom plate (1), a first motor (2) with a downward output end is fixedly arranged in the first circular through hole, a double-head swing arm (21) is fixedly arranged at the end part of a motor shaft of the first motor (2), a pair of first elliptical pin holes are formed in the front section and the rear section of the double-head swing arm (21), a first pin shaft is fixedly arranged at the inner end part of each rectangular sliding plate (22), and the top end part of each first pin shaft is slidably clamped in the first elliptical pin hole on the corresponding side;
a pair of symmetrically distributed linkage shafts are inserted in front and rear corners of the bottom surface of the bottom plate (1) in a rotating mode, a pair of linkage gears (25) which are fixedly connected in a concentric mode are sleeved in the middle of each linkage shaft, the pair of linkage gears (25) located on the same side are connected in a meshed mode, linkage swing arms (24) are fixedly arranged at the bottom end portions of each linkage shaft, the pair of linkage swing arms (24) located on the same side are symmetrically distributed in a V-shaped mode, and second elliptical pin holes are formed in the outer sections of each linkage swing arm (24);
The outer end part of each rectangular sliding plate (22) is fixedly provided with a second pin shaft, the top end part of each second pin shaft is in sliding clamping with the second elliptical pin hole on the corresponding side, the outer end part of each L-shaped sliding plate (23) is fixedly provided with a third pin shaft, and the top end part of each third pin shaft is in sliding clamping with the second elliptical pin hole on the corresponding side;
The middle part of each first connecting shaft is fixedly provided with a first swing arm (32), the top end part of each first swing arm (32) is provided with a first gap, the middle upper part of each pair of vertical plates (3) is rotatably inserted with a second connecting shaft which runs through the first swing arm, the middle part of each second connecting shaft is fixedly provided with a second swing arm (33), the bottom end part of each second swing arm (33) is provided with a second gap, an obliquely distributed hinged connecting rod (34) is arranged between the opposite surfaces of each pair of vertical plates (3), and the two end parts of each hinged connecting rod (34) are movably hinged with the first gap and the second gap on the corresponding side;
The two ends of each second connecting shaft are respectively sleeved with a notch gear (35) which is concentrically fixedly connected, U-shaped notch racks (36) are respectively fixedly arranged at the left corner and the right corner of the top surface of the bottom plate (1), the upper half section of each U-shaped notch rack (36) is smooth, the lower half section of each U-shaped notch rack is tooth-shaped, the notch part of each notch gear (35) is in sliding connection with the smooth part of the upper half section of each U-shaped notch rack (36), and the tooth part of each notch gear (35) is in meshed connection with the tooth part of the lower half section of each U-shaped notch rack (36);
A third connecting shaft which runs through the vertical plates (3) is inserted into the top end parts of each pair of vertical plates in a rotating way, a pair of parallel connecting rods (45) which run through the vertical plates in parallel are fixedly arranged at the two end parts of the third connecting shaft, symmetrically distributed rectangular lantern rings are fixedly arranged at the left side and the right side of the top surface of the bottom plate (1), a sliding through limiting slide plate (44) is inserted into the rectangular lantern rings, a fourth connecting shaft which runs through the limiting slide plate (44) is inserted into the outer end parts of the limiting slide plate in a rotating way, and the two end parts of each fourth connecting shaft are fixedly connected with the bottom end parts of the pair of parallel connecting rods (45) at the corresponding side;
A flange sleeve (11) is fixedly arranged in the middle of the top surface of the bottom plate (1), a fixed swivel is sleeved at the middle lower part of the flange sleeve (11) and is connected in a rotating mode, a pair of limit connecting rods (43) which are distributed in a staggered mode are hinged to the left side and the right side of the fixed swivel, and the outer end portion of each limit connecting rod (43) is movably hinged to the inner end portion of a limit sliding plate (44) at the corresponding side;
The fixed swivel is characterized in that a pair of arc racks (42) which are distributed in a staggered mode are fixedly arranged on the front side and the rear side of the fixed swivel, a pair of second through holes are formed in the front side and the rear side of the top surface of the bottom plate (1), a second motor (4) with an upward output end is fixedly arranged in each second through hole, a driving gear (41) which is fixedly connected with the end portion of a motor shaft of the second motor (4) in a concentric mode is sleeved on the end portion of the motor shaft, and each driving gear (41) is meshed with the corresponding arc racks (42).
2. The method for using the lithium battery self-adaptive grabbing mechanical arm as claimed in claim 1, comprising the following steps:
the method comprises the steps that firstly, the end head of a mechanical arm of a robot is connected with a flange sleeve (11) and drives a bottom plate (1) to move to the position right above a lithium battery body (14), and then the bottom plate (1) is driven to descend and drives a baffle (13) to prop against the top surface of the lithium battery body (14);
Step two, starting a first motor (2), wherein a motor shaft of the first motor (2) drives a double-head swing arm (21) to synchronously rotate, a first elliptical pin hole and a first pin shaft form a limiting effect, a rectangular sliding plate (22) and a corresponding L-shaped clamping plate (15) and a rubber buffer plate (16) are driven to slide inwards along the rectangular sliding hole, and the rubber buffer plate (16) is driven to abut against a lithium battery body (14);
The second pin shaft and the second elliptical pin hole form a limiting effect and drive the corresponding linkage swing arm (24), the linkage shaft and the linkage gear (25) to rotate, and the linkage gear (25) is meshed to drive the linkage gear (25) on the other side to reversely rotate;
The second elliptical pin hole and the third pin shaft form a limiting effect, drive the L-shaped sliding plate (23), the corresponding L-shaped clamping plate (15) and the rubber buffer plate (16) to slide inwards along the rectangular sliding hole, drive the rubber buffer plate (16) to prop against the lithium battery body (14), and form preliminary clamping and fixing for the lithium battery body (14) through the four staggered rubber buffer plates (16);
Step three, synchronously starting a second motor (4), wherein a motor shaft of the second motor (4) drives a driving gear (41) to synchronously rotate, the driving gear (41) is meshed to drive an arc-shaped rack (42) and a fixed swivel to reversely rotate, and under the hinging action of a limit connecting rod (43), a limit sliding plate (44) is driven to slide along a rectangular lantern ring and under the hinging action of a parallel connecting rod (45), a vertical plate (3) is driven to slide downwards along a T-shaped through hole;
The vertical plate (3) drives the second connecting shaft, the second swing arm (33), the first connecting shaft, the first swing arm (32) and the U-shaped bottom support (31) to slide downwards, the notch gear (35) slides along the U-shaped notch rack (36) firstly, and then the notch gear is meshed with the U-shaped notch rack (36) for rotation, so that the notch gear (35), the second connecting shaft and the second swing arm (33) are driven to rotate;
Under the hinging action of the hinging connecting rod (34), the first swinging arm (32), the first connecting shaft and the U-shaped bottom support (31) are driven to reversely rotate, the U-shaped bottom support (31) is in a state of firstly translating downwards and then overturning inwards, and then the U-shaped bottom support (31) is driven to abut against the corner of the bottom surface of the lithium battery body (14), and the lithium battery body (14) is clamped and fixed again through the pair of U-shaped bottom supports (31).
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| CN202410270632.3A CN117863159B (en) | 2024-03-11 | 2024-03-11 | Lithium battery self-adaptive grabbing mechanical arm and application method thereof |
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| CN202410270632.3A CN117863159B (en) | 2024-03-11 | 2024-03-11 | Lithium battery self-adaptive grabbing mechanical arm and application method thereof |
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| CN117863159B true CN117863159B (en) | 2024-05-10 |
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| CN117927068B (en) * | 2024-03-21 | 2024-05-28 | 山西洁丽方圆生态科技有限公司 | Frame structure of integrated assembly type public toilet and assembly method thereof |
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