CN209796780U - Gripper and full-automatic feeding and discharging manipulator of liquid injection machine using gripper - Google Patents
Gripper and full-automatic feeding and discharging manipulator of liquid injection machine using gripper Download PDFInfo
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- CN209796780U CN209796780U CN201920067252.4U CN201920067252U CN209796780U CN 209796780 U CN209796780 U CN 209796780U CN 201920067252 U CN201920067252 U CN 201920067252U CN 209796780 U CN209796780 U CN 209796780U
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- clamping
- feeding
- driving device
- full
- manipulator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The utility model discloses a gripper jaw and use its annotate full-automatic last unloading manipulator of liquid machine, including centre gripping mounting, two at least holders, connecting rod fixing base, hinge rod and magnet, realize snatching at the inside centre gripping of battery case. The clamping jaw adopts an internal clamping mode, and a transmission assembly consisting of a connecting rod and a hinge converts central axial motion into radial motion, so that opening and closing of a clamping piece are realized, and the damage of an external clamping mode to the outer surface of a battery shell is avoided; and in order to further strengthen the clamping stability, a magnet is also arranged on the clamping piece. The photoelectric sensing assembly is used for monitoring the moving position of the feeding and discharging manipulator, and the accuracy of the moving position is guaranteed. The whole structure is simple, the assembly difficulty is low, the maintenance difficulty is low, and the full-automatic operation can greatly improve the production efficiency and save the labor cost.
Description
Technical Field
The utility model relates to a new energy battery manufacture equipment technical field, especially a gripper jaw and use its annotate liquid machine full-automatic feeding mechanical arm of going up.
background
cylindrical lithium ion batteries need to be processed through multiple processes, and liquid injection is a crucial step in the production process of lithium batteries. In order to meet production requirements, most of devices for completing the liquid injection process are automatic liquid injection machine processing production, but before liquid injection, the batteries need to be loaded, and the batteries are transferred to a conveyor belt of the liquid injection machine. However, in the actual process of processing, the feeding is manually carried out by workers, the automation degree is undoubtedly reduced by means of finishing the feeding by workers, and the feeding production efficiency is low due to large amount of labor. The current universal manipulator capable of completing battery feeding has the defects of too complex structure, more complicated actions in the feeding process and poor sensitivity, so that the feeding efficiency is low, the labor amount is large, the maintenance difficulty is large, and the reliability is not high.
In the existing work production, the work system is generally required for 24 hours, people stop and work without stopping, and for reducing labor cost and improving production efficiency, a full-automatic feeding manipulator device which can automatically complete feeding of a cylindrical lithium ion battery, is simple in structure, fast in action, stable and reliable is necessary to provide.
In addition, for clamping the battery case, an external clamping method is commonly used at present, namely, clamping the outer surface of the battery case by using a clamping piece, and the clamping method is easy to cause poor appearance of the battery case, so that a battery case clamping device which can be stable and reliable is also needed to be provided.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is not enough to above-mentioned prior art, a full-automatic feeding mechanical arm of going up of notes liquid machine of gripper jaw and applied it is provided.
In order to solve the technical problem, the utility model discloses the technical scheme who takes is: the utility model provides a gripper jaw, includes centre gripping mounting, two at least holders, connecting rod fixing base, hinge rod and magnet, be provided with radial spout on the centre gripping mounting, the holder passes through the slider to be installed can follow in the spout radial movement the surface of holder is provided with magnet, the one end of connecting rod fixing base is used for being connected with the transmission of centre gripping drive arrangement, the other end of connecting rod fixing base be provided with the hinge seat, the one end of hinge rod is articulated with this hinge seat, the other end of hinge rod with the internal surface of holder is articulated.
In the above technical scheme, the clamping piece is arc-shaped sheet.
In the above technical scheme, the sliding groove is a T-shaped sliding groove, and the sliding block is a T-shaped sliding block.
In the technical scheme, the hinge seat, the hinge rod and the clamping piece are arranged in an equal interval by taking the central axis of the connecting rod fixing seat as the central axis.
In order to further solve the defects of the prior art, the clamping claw technology also provides a full-automatic feeding and discharging manipulator of a liquid injection machine, which comprises a rack, wherein a guide rail is erected on the rack, the guide rail is provided with the feeding and discharging manipulator, and a first driving device drives the feeding and discharging manipulator to move along the guide rail; the feeding and discharging manipulator comprises a lifting driving device and a clamping assembly, and the lifting driving device drives the clamping assembly to move up and down; the clamping assembly comprises a clamping driving device and the clamping claw, and the clamping driving device drives the clamping claw to open and close.
Among the above-mentioned technical scheme, should include a material returned subassembly, this material returned subassembly includes material returned drive arrangement and material returned board, is provided with on the material returned board and lets the via hole that the gripper jaw passed, the interval of the external diameter of the internal diameter of this via hole and holder is less than the wall thickness that the liquid mouth was annotated to the battery case. And a clamping bar is arranged along the through hole in the material returning direction, and a clamping hole consistent with the sliding groove is formed in the clamping bar.
In the technical scheme, the first driving device drives the feeding and discharging manipulator through a rotating assembly consisting of a driven wheel, a synchronous belt and a synchronous wheel.
Among the above-mentioned technical scheme, still include a photoelectric sensing subassembly, this photoelectric sensing subassembly is including setting up the metal sensitization piece on last unloading manipulator and equally divide at the top and the end of guide rail and be provided with the photoelectric sensing ware respectively.
The utility model has the advantages that:
The clamping jaws adopt an internal clamping mode, and a transmission assembly consisting of a connecting rod and a hinge converts central axial motion into radial motion, so that opening and closing of a clamping piece are realized, and the damage of an external clamping mode to the outer surface of a battery shell is avoided; and in order to further strengthen the clamping stability, a magnet is also arranged on the clamping piece.
And secondly, monitoring the moving position of the feeding and discharging manipulator by utilizing the photoelectric sensing assembly, and ensuring the accuracy of the moving position.
thirdly, the whole structure is simple, the assembly difficulty is low, the maintenance difficulty is low, and the full-automatic operation can greatly improve the production efficiency and save the labor cost.
Drawings
FIG. 1 is a schematic view of the overall structure of the gripper of the present invention;
FIG. 2 is a schematic view of an exploded structure of the clamping jaw of the present invention;
Fig. 3 is a schematic view of the overall structure of the full-automatic feeding and discharging manipulator of the liquid filling machine of the present invention;
Fig. 4 is a schematic view of the overall structure of the full-automatic feeding and discharging manipulator of the liquid filling machine of the present invention;
fig. 5 is a schematic structural view of the feeding and discharging manipulator of the present invention;
FIG. 6 is a schematic view of the structure of detail A in FIG. 5;
fig. 7 is a schematic diagram of the material returning plate during material returning of the present invention.
In the figure, 1, a gripper jaw; 101. clamping the fixing piece; 102. a clamping member; 103. a connecting rod fixing seat; 104. a hinge lever; 105. a magnet; 106. a slider; 107. a chute; 108. a hinge mount; 2. a frame; 3. a guide rail; 4. a first driving device; 5. a lift drive; 6. a clamping drive device; 7. a material returning driving device; 8. a material returning plate; 801. a via hole; 802. a card bar; 803. a clamping hole; 9. a driven wheel; 10. a synchronous belt; 11. a synchronizing wheel; 12. an electromagnetic valve; 13. a photoelectric sensing component; 131. a metal photosensitive sheet; 132. photoelectric sensors.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-2, a clamping claw 1 includes a ring-shaped clamping fixture 101, at least two clamping members 102, a connecting rod fixing seat 103, a hinge rod 104 and a magnet 105, wherein a radial sliding slot 107 is formed on the clamping fixture 101, the clamping members 102 are mounted in the sliding slot 107 through a sliding block 106 and can move radially along the sliding slot 107, the magnet 105 is arranged on the outer surface of the clamping member 102, one end of the connecting rod fixing seat 103 is used for being in transmission connection with a clamping driving device 6, the other end of the connecting rod fixing seat 103 is provided with a hinge seat 108, one end of the hinge rod 104 is hinged to the hinge seat 108, and the other end of the hinge rod 104 is hinged to the inner surface of the clamping member 102.
Wherein, the clamping piece 102 is arc-shaped sheet. At least two of the clamping members 102 are assembled into a cylinder when folded. For cylindrical batteries, the clamping member 102 is brought into closer proximity with the inner surface of the battery case, enhancing the clamping effect.
the sliding groove 107 is a T-shaped sliding groove 107, and the sliding block 106 is a T-shaped sliding block 106. So that the clamping piece 102 is limited on the connecting rod fixing seat 103.
The hinge seat 108, the hinge rod 104 and the clamping member 102 are all arranged with the central axis of the connecting rod fixing seat 103 as the central axis. The equal interval arrangement can ensure the stability and constancy of the stroke of the clamping piece 102.
As shown in fig. 1-7, a full-automatic loading and unloading manipulator of a liquid filling machine comprises a frame 2, a guide rail 3 is erected on the frame 2, the loading and unloading manipulator is arranged on the guide rail 3, and a first driving device 4 drives the loading and unloading manipulator to move along the guide rail 3; the feeding and discharging manipulator comprises a lifting driving device 5 and a clamping assembly, and the lifting driving device 5 drives the clamping assembly to move up and down; the clamping assembly comprises a clamping driving device 6 and the clamping claw 1, and the clamping driving device 6 drives the clamping claw 1 to open and close. The feeding and discharging mechanical arm is provided with a plurality of groups, and a single first driving device 4 drives two groups of feeding and discharging mechanical arms. The feeding and discharging manipulator is fixed on the synchronous belt 10 through a clamping block. In this embodiment, the first driving device 4, the lifting driving device 5, the clamping driving device 6 and the material returning driving device 7 all adopt air cylinders, and the air cylinders are connected with an electric control device through electromagnetic valves 12.
The battery case discharging device comprises a discharging component, the discharging component comprises a discharging driving device 7 and a discharging plate 8, a through hole 801 allowing the clamping claw 1 to penetrate through is formed in the discharging plate 8, and the distance between the inner diameter of the through hole 801 and the outer diameter of the clamping piece 102 is smaller than the wall thickness of a battery case injection port. A clamping column 802 is arranged along the through hole 801 in the material returning direction, and a clamping hole 803 corresponding to the sliding groove 107 is arranged on the clamping column 802. The inside diameter of the snap bar 802 conforms to the via 801. When the clamping claw 1 is opened, the clamping hole 803 is overlapped with the sliding groove 107, the sliding block 106 on the clamping piece 102 is partially exposed out of the sliding groove 107 and passes through the clamping hole 803, so that the movement of the stripper plate 8 is hindered, and the stripper plate 8 cannot be stripped at the moment. When the clamping claw 1 is folded, the sliding block 106 on the clamping piece 102 is partially and completely folded in the sliding groove 107, the material returning plate 8 moves without obstruction, and at the moment, the material returning plate 8 can perform material returning.
The first driving device 4 drives the loading and unloading manipulator through a rotating assembly consisting of a driven wheel 9, a synchronous belt 10 and a synchronous wheel 11.
The device further comprises a photoelectric sensing assembly 13, wherein the photoelectric sensing assembly 13 comprises a metal photosensitive sheet 131 arranged on the feeding and discharging manipulator and photoelectric sensors 132 respectively arranged at the beginning and the end of the guide rail 3.
When the utility model is used, the first driving device 4 drives the feeding and discharging manipulator to horizontally move through the transmission component, and the position is switched between the material pile and the transmission belt; the lifting driving device 5 controls the clamping claws 1 to descend, when the clamping claws 1 are completely inserted into the battery shell, the clamping driving device 6 drives the clamping claws 1 to open, so as to clamp the battery shell, the lifting driving device 5 controls the clamping claw 1 to ascend, after the position is switched by the driving of the first driving device 4, the position switching process is monitored and feedback controlled by the photoelectric sensing component 13, after the position switching process is completed, the lifting driving device 5 controls the clamping claw 1 to descend, the battery shell is placed in the corresponding jig, then the clamping driving device 6 controls the clamping claws 1 to fold, and simultaneously the material returning driving device 7 controls the material returning plate 8 to return the material, so as to press and stop the battery shell in the jig, after the clamping claw 1 completely withdraws from the battery shell, the stripper plate 8 withdraws, and the lifting driving device 5 drives the clamping claw 1 to ascend and withdraw, thus the operation is repeated.
The above embodiments are merely illustrative and not restrictive, and all equivalent changes and modifications made by the methods described in the claims are intended to be included within the scope of the present invention.
Claims (9)
1. A gripper jaw, characterized by: including centre gripping mounting, two at least holders, connecting rod fixing base, hinge rod and magnet, be provided with radial spout on the centre gripping mounting, the holder passes through the slider and installs in the spout and can follow the spout radial movement the surface of holder is provided with magnet, the one end of connecting rod fixing base is used for being connected with the transmission of centre gripping drive arrangement, the other end of connecting rod fixing base be provided with the hinge seat, the one end of hinge rod is articulated with this hinge seat, the other end of hinge rod with the internal surface of holder is articulated.
2. A gripper jaw according to claim 1, characterized in that: the clamping piece is arc-shaped sheet.
3. A gripper jaw according to claim 1, characterized in that: the sliding groove is a T-shaped sliding groove, and the sliding block is a T-shaped sliding block.
4. A gripper jaw according to claim 1, characterized in that: the hinge seat, the hinge rod and the clamping piece are arranged in an equal interval mode by taking the central axis of the connecting rod fixing seat as the central axis.
5. The utility model provides a annotate full-automatic feeding mechanical arm that goes up of liquid machine which characterized in that: the automatic feeding and discharging device comprises a rack, wherein a guide rail is erected on the rack, a feeding and discharging manipulator is arranged on the guide rail, and a first driving device drives the feeding and discharging manipulator to move along the guide rail; the feeding and discharging manipulator comprises a lifting driving device and a clamping assembly, and the lifting driving device drives the clamping assembly to move up and down; the clamping assembly comprises a clamping driving device and a clamping claw according to any one of claims 1-4, wherein the clamping driving device drives the clamping claw to open and close.
6. The full-automatic loading and unloading manipulator of the liquid injection machine as claimed in claim 5, wherein: should include a material returned subassembly, this material returned subassembly includes material returned drive arrangement and material returned board, is provided with on the material returned board and lets the via hole that the gripper jaw passed, the internal diameter of this via hole and the interval of the external diameter of holder are less than the wall thickness that the liquid mouth was annotated to the battery case.
7. The full-automatic loading and unloading manipulator of the liquid injection machine as claimed in claim 6, wherein: and a clamping bar is arranged along the through hole in the material returning direction, and a clamping hole consistent with the sliding groove is arranged on the clamping bar.
8. The full-automatic loading and unloading manipulator of the liquid injection machine as claimed in claim 5, wherein: the first driving device drives the feeding and discharging manipulator through a rotating assembly consisting of a driven wheel, a synchronous belt and a synchronous wheel.
9. The full-automatic loading and unloading manipulator of the liquid injection machine as claimed in claim 5, wherein: the photoelectric sensing assembly comprises a metal photosensitive sheet arranged on the feeding and discharging manipulator and photoelectric sensors respectively arranged at the starting end and the tail end of the guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920067252.4U CN209796780U (en) | 2019-01-16 | 2019-01-16 | Gripper and full-automatic feeding and discharging manipulator of liquid injection machine using gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920067252.4U CN209796780U (en) | 2019-01-16 | 2019-01-16 | Gripper and full-automatic feeding and discharging manipulator of liquid injection machine using gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209796780U true CN209796780U (en) | 2019-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920067252.4U Active CN209796780U (en) | 2019-01-16 | 2019-01-16 | Gripper and full-automatic feeding and discharging manipulator of liquid injection machine using gripper |
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|---|---|
| CN (1) | CN209796780U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116177208A (en) * | 2023-04-21 | 2023-05-30 | 中科摩通(常州)智能制造股份有限公司 | Automatic overturning equipment for heat pump detection and working method thereof |
-
2019
- 2019-01-16 CN CN201920067252.4U patent/CN209796780U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116177208A (en) * | 2023-04-21 | 2023-05-30 | 中科摩通(常州)智能制造股份有限公司 | Automatic overturning equipment for heat pump detection and working method thereof |
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