CN210650678U - Mechanical arm and alternating lamination device - Google Patents
Mechanical arm and alternating lamination device Download PDFInfo
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- CN210650678U CN210650678U CN201921540045.2U CN201921540045U CN210650678U CN 210650678 U CN210650678 U CN 210650678U CN 201921540045 U CN201921540045 U CN 201921540045U CN 210650678 U CN210650678 U CN 210650678U
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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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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The utility model provides a robotic arm and alternating lamination device, mainly used stack into lamellar unit electricity core with continuous compound pole piece. The mechanical arm comprises a mounting seat, a large arm component, a small arm component, a clamping component and a driving component, wherein the large arm component is rotatably connected with the mounting seat; the small arm assembly is rotatably connected with the large arm assembly; the clamping assembly is connected with the small arm assembly and is used for clamping the pole piece; the driving assembly is in transmission connection with the large arm assembly and the small arm assembly and is used for driving the large arm assembly and the small arm assembly to rotate. The alternating lamination device comprises a rack, a buffer device, a swinging assembly, a lamination table assembly and two mechanical arms; the buffer device is used for storing pole pieces to be stacked, the swing assembly is used for driving the vertically expanded pole pieces to move left and right, and the two mechanical arms are used for pushing the vertically expanded pole pieces to be pressed down onto the stacking platform assembly. The two mechanical arms can alternately act, so that the lamination efficiency is greatly improved.
Description
Technical Field
The utility model relates to a lithium-ion electrode sheet processing field particularly, relates to a robotic arm and alternating lamination device.
Background
One of the manufacturing procedures of the electric core of the lithium ion battery is lamination, namely, the continuous strip-shaped pole pieces are laminated into a plurality of layers; the general flow is that the pole pieces are vertically arranged, a part of the bottom end of the pole piece is firstly tiled on a horizontal plate, then the pole piece above is repeated from left to right and from right to left, and finally the pole pieces are stacked into a plurality of layers.
At present, the traditional free lamination and the common Z-shaped lamination are mainly used, but the productivity of the two lamination modes is low, the production cycle of the whole battery is seriously influenced, and the requirement of the battery at present can not be met.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robotic arm, it can assist and carry out the lamination to improve lamination efficiency.
Another object of the utility model is to provide an alternating lamination device, it has adopted above-mentioned robotic arm to utilize two robotic arm to carry out the lamination in turn, thereby improve lamination efficiency.
The utility model discloses a realize like this:
a robot arm, comprising:
a mounting seat;
the big arm assembly is rotatably connected with the mounting seat;
the small arm assembly is rotatably connected with the large arm assembly through a connecting shaft;
the clamping assembly is connected with the small arm assembly and is used for clamping a pole piece;
and the driving assembly is in transmission connection with the large arm assembly and the small arm assembly and is used for driving the large arm assembly and the small arm assembly to rotate.
Further, the big arm assembly comprises two big arms which are oppositely arranged at intervals and connected with each other, and the small arm assembly comprises two small arms which are oppositely arranged at intervals and connected with each other; the free end of the big arm component is provided with a connecting shaft; the connecting shaft penetrates through the two large arms; the small arm assembly and the large arm assembly are rotatably connected through the connecting shaft.
Further, the clamping assembly is rotatably connected with the small arm assembly;
the mechanical arm further comprises a linkage assembly, and the linkage assembly comprises a first connecting rod, a second connecting rod, a connecting disc, a third connecting rod and a fourth connecting rod;
the connecting disc is sleeved on the connecting shaft and is rotatably connected with the connecting shaft;
one end of each of the first connecting rod and the second connecting rod is hinged with the mounting seat, the other end of each of the first connecting rod and the second connecting rod is hinged with the connecting disc, and the first connecting rod, the second connecting rod, the connecting disc and the mounting seat form a four-bar mechanism;
one ends of the third connecting rod and the fourth connecting rod are hinged with the connecting disc, and the other ends of the third connecting rod and the fourth connecting rod are hinged with the push plate; the third connecting rod, the fourth connecting rod, the connecting disc and the clamping assembly form a four-bar mechanism.
Further, the mounting seat comprises a fixed plate, a first mounting plate and a second mounting plate which are arranged at intervals oppositely, and the first mounting plate and the second mounting plate are both connected with the fixed plate; the driving assembly comprises a first motor and a second motor, the first motor is connected with the first mounting plate and is in transmission connection with the big arm assembly, and the second motor is connected with the second mounting plate and is in transmission connection with the small arm assembly.
Further, the large arm assembly is arranged between the first mounting plate and the second mounting plate; the robotic arm further includes a transmission assembly.
Furthermore, the transmission assembly comprises two connecting plates and two transmission rods, the two connecting plates are respectively and fixedly connected with the output shaft of the second motor and the connecting shaft, and two ends of the two transmission rods are respectively hinged with the two connecting plates;
the two connecting plates and the two transmission rods form a four-bar mechanism.
Furthermore, the clamping assembly comprises a push plate and two clamping plates, the push plate is rotatably connected with the small arm assembly, and the push plate is a strip-shaped plate and extends along the axial direction of the connecting shaft; the two clamping plates are respectively connected to two ends of the push plate.
Further, the clamping plate is rotatably connected with the push plate; the clamping assembly further comprises a driving mechanism, and the driving mechanism is in transmission connection with the clamping plate and is used for driving the clamping plate to rotate.
An alternating lamination device comprises a rack, a swinging assembly, a lamination table assembly and the mechanical arm;
the swing assembly and the stacking assembly are connected with the rack, the swing assembly is located above the stacking assembly, and the swing assembly is used for driving the pole pieces to be stacked to be switched between a first position and a second position;
one mechanical arm is arranged on one side of the first position far away from the second position and used for pushing the pole piece to the stacking platform assembly when the pole piece is located at the first position; the other mechanical arm is arranged on one side, far away from the first position, of the second position and used for pushing the pole piece to the stacking platform assembly when the pole piece is located at the second position.
Further, the swing assembly comprises a swing roller and a power mechanism, and the power mechanism is in transmission connection with the swing roller and is used for driving the swing roller to reciprocate along a preset direction.
Further, the lamination assembly comprises a base and a tabletting mechanism, and the tabletting mechanism is connected with the base. For example, four sheeting mechanisms may be used, two on each side of the base. Two tabletting mechanisms can be adopted and are respectively arranged on two sides of the base.
The utility model has the advantages that:
the utility model discloses a robotic arm and alternating lamination device that above-mentioned design obtained, during the use, the oscillating roller is straight reciprocating motion at certain stroke within range. When the swing roller moves to the left position, the swing roller drives the pole piece below the swing roller to move towards the left and move to a position adjacent to the left mechanical arm; the pole piece on the lamination assembly is fixed by the left tabletting mechanism. The large arm component of the left mechanical arm extends rightwards, and when the clamping component moves to the position of the pole piece, the pole piece is clamped by the clamping component; at this point, the large arm assembly continues to extend and the small arm assembly rotates, pushing the pole piece, i.e., pushing the vertical pole piece to the lower right and stacking on the stacking table assembly. And, the swing roller moves to the right. When the left mechanical arm acts, the right mechanical arm is in a retraction state and keeps still. The pressing mechanism on the right side of the stacking platform component fixes the stacked pole pieces, and the pressing mechanism on the left side is released; then, the left robot arm retracts, the right robot arm extends, and pushes the vertical pole piece to the lower left, and the swing roller moves toward the right. And the two mechanical arms circularly and alternately execute the stretching and retracting actions, and the pole pieces below the swing rollers continuously move from top to bottom until all the pole pieces are stacked on the stacking platform assembly, so that the unit cell is processed. After the mechanical arm and the alternating type lamination device are adopted, the lamination efficiency is obviously improved, and the production period of the unit cell is greatly shortened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an overall structure of an alternate lamination device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a pole piece provided in the embodiment of the present invention in fig. 1;
fig. 3 is an isometric view of a robot arm according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a transmission assembly provided by the embodiment of the present invention;
fig. 5 is a schematic view of an assembly structure of the linkage assembly and the mounting seat according to an embodiment of the present invention.
Icon: 010-alternate lamination means; 100-a mechanical arm; 110-a large arm assembly; 112-big arm; 114-a connecting shaft; 120-a small arm assembly; 122-forearm; 124-a rotating shaft; 130-a mount; 131-a first mounting plate; 132-a second mounting plate; 133-a middle mounting plate; 134-a fixed plate; 140-a drive assembly; 141-a first electric machine; 142-a second motor; 145-a transmission assembly; 1452-a connecting plate; 1454-a transmission rod; 150-a clamping assembly; 152-a push plate; 154-a clamping plate; 156-a drive mechanism; 160-a linkage assembly; 161-a first link; 162-a second link; 163-third link; 164-a fourth link; 165-connecting disc; 200-a swing assembly; 210-a swing roll; 300-a stage-stacking assembly; 310-a base; 320-a tablet pressing mechanism; 400-a cache device; 020-pole piece; 021-composite sheet, 030-cell.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the equipment or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the present disclosure, unless otherwise expressly stated or limited, the first feature may comprise both the first and second features directly contacting each other, and also may comprise the first and second features not being directly contacting each other but being in contact with each other by means of further features between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
Example (b):
referring to fig. 1 and fig. 2, the present embodiment provides an alternating lamination device 010, which is mainly used for stacking continuous lithium ion battery pole pieces 020 into layered unit cells 030. The pole piece 020 comprises a plurality of composite sheets 021 which are connected in sequence, and comprises a positive pole piece, a negative pole piece and a diaphragm.
The alternating lamination device 010 includes a rack (not shown), a buffer device 400, a swing assembly 200, a lamination assembly 300, and two robots 100; the machine frame is mainly used for mounting other parts, the buffer device is used for storing pole pieces to be stacked, the swing assembly 200 is used for driving the vertically-expanded pole pieces to move left and right, and the two mechanical arms 100 are used for pushing the vertically-expanded pole pieces to be pressed onto the stacking platform assembly 300.
Specifically, the swing assembly 200 includes a power mechanism and a horizontally disposed swing roller 210, wherein the power mechanism is in transmission connection with the swing roller 210 and is used for driving the swing roller 210 to reciprocate along the horizontal direction. The swing roller 210 comprises a roller shaft and a roller body, the roller shaft is horizontally arranged, and two ends of the roller shaft are in sliding fit with the rack; the roller body is rotatably connected with the roller shaft. The power mechanism may be a mechanism capable of outputting linear motion, such as a linear motor or an air cylinder. Since the power mechanism can directly adopt the structure in the prior art, the detailed description thereof is omitted.
When in use, the buffer device is arranged at one side of the oscillating roller 210, the pole pieces sent out from the buffer device are in a continuous belt shape, and the pole pieces bypass the oscillating roller 210 and are unfolded in a vertical state, so that the mechanical arm 100 pushes the vertically unfolded pole pieces to the lamination assembly 300. When the swing roller 210 moves between the left and right limit positions, it drives the pole piece suspended from its lower portion to switch between the first position a and the second position B.
The stacking platform assembly 300 comprises a base 310, a lifting device (not shown in the figure) and four sheeting mechanisms 320, wherein the base 310 is used for receiving the stacked pole pieces, the lifting device is used for driving the base 310 to ascend or descend, and the sheeting mechanisms 320 are used for pressing the stacked pole pieces to prevent the stacked pole pieces from deviating from preset positions. The base 310 is horizontally arranged and connected with a lifting device, the lifting device is used for driving the base 310 to ascend or descend, in the lamination process, the position where the mechanical arm 100 pushes and presses the pole piece is fixed, and the height of the pole piece stacked on the base 310 is higher and higher; therefore, for normal continuous operation, each time a layer of pole pieces is added to the pole pieces stacked on the base 310, the lifting device drives the base 310 to move down by the thickness of one layer of pole pieces. The lifting device may adopt a structure of the related art and thus will not be described in detail. The four sheeting mechanisms 320 are respectively disposed on the left and right (with reference to fig. 1) sides of the base 310, and respectively fix the positions of the four corners of the stacked pole pieces. The pressing mechanism 320 comprises a pressing plate and a linear motor, wherein an output shaft of the linear motor is vertically arranged and connected with the pressing plate, and is used for driving the pressing plate to move up and down so as to press or loosen the pole piece. In addition, in order to facilitate the pressing plate to extend into the stacked pole pieces and hang between the pole pieces below the swing roller 210 so as to facilitate the fixation of the stacked pole pieces, the pressing mechanism 320 is further provided with a telescopic assembly. The linear motor is connected to a telescopic assembly that drives the sheeting mechanism 320 to reciprocate along the axial direction of the roller shaft of the oscillating roller 210.
When the robot arm 100 pushes the vertical pole piece suspended below the swing roller 210 onto the base 310, if the pole piece that is stacked up is not fixed, the pole piece that is stacked up may be pulled to deviate from the preset position in the pushing process. Therefore, when the left robot arm 100 pushes the pole piece to the lower right, the left tabletting mechanism 320 needs to fix the left side of the pole piece stacked in order on the base 310, and at this time, when the robot arm 100 pushes the vertical pole piece to the lower right, the stacked pole piece is not affected.
Referring to fig. 3, 4 and 5, the robot arm 100 includes a mount 130, a large arm assembly 110, a small arm assembly 120, a clamping assembly 150 and a driving assembly 140. The mounting seat 130 is fixedly connected with the frame and is used for mounting other parts of the mechanical arm 100; the upper end of the large arm assembly 110 is rotatably connected with the mounting seat 130, the small arm assembly 120 is rotatably connected with the lower end of the large arm assembly 110, the clamping assembly 150 is rotatably connected with the free end of the small arm assembly 120, and the driving assembly 140 is used for driving the large arm assembly 110 and the small arm assembly 120 to move.
Specifically, the mount 130 includes a fixing plate 134, a first mounting plate 131, and a second mounting plate 132, which are horizontally disposed; the fixed plate 134 is connected with the frame, the first mounting plate 131 and the second mounting plate 132 are arranged below the fixed plate 134, and the two are arranged at intervals and vertically connected with the fixed plate 134; that is, the first mounting plate 131 and the second mounting plate 132 are vertically disposed and connected below the fixing plate 134. To mount the large arm assembly 110, a mounting shaft is provided on the mounting base 130.
The large arm assembly 110 includes two large arms 112 having a bar plate shape, and the two large arms 112 are arranged in parallel at intervals and connected into a whole by a connecting rod. The two large arms 112 are arranged between the first mounting plate 131 and the second mounting plate 132, the upper ends of the two large arms 112 are rotatably connected with the first mounting plate 131 and the second mounting plate 132 respectively, the lower ends of the two large arms 112 are provided with bearings respectively, the two bearings are provided with connecting shafts 114 in a penetrating mode, and the connecting shafts 114 are used for mounting the small arm assemblies 120. The small arm assembly 120 includes two small arms 122 having a strip plate shape, and the two small arms 122 are respectively fixedly connected to the connecting shafts 114. The structure enables the large arm assembly 110 to swing in a vertical plane at a certain angle around the mounting shaft on the mounting base 130, and the small arm assembly 120 can swing in a vertical plane at a certain angle around the connecting shaft 114 at the end part of the large arm assembly 110. When the large arm assembly 110 and the small arm assembly 120 rotate cooperatively, the robot arm 100 can perform the action of pushing the pole piece.
The clamping assembly 150 is used for clamping the pole piece and driving the pole piece to move downward, and is rotatably connected to the rotating shaft 124 on the free end of the small arm assembly 120. The clamping assembly 150 includes a push plate 152 and two clamping plates 154, the push plate 152 is a strip-shaped plate and extends along the axial direction of the connecting shaft 114, i.e., extends along the horizontal direction; the push plate 152 is rotatably coupled to the shaft 124 at the end of the small arm assembly 120. The two clamping plates 154 are respectively connected to two ends of the push plate 152 for clamping the pole pieces. To drive the clamping plate 154 to rotate, both ends of the push plate 152 are respectively provided with a driving mechanism 156.
When the clamping assembly 150 is in operation, the push plate 152 is used to push the vertical pole piece from the left side (taking the left robot arm 100 as an example) to the right side; meanwhile, the clamping plate 154 clamps the pole piece, so that the clamping assembly 150 drives the pole piece to move downward. The push plate 152 and the clamping plate 154 cooperate to complete the pushing action on the pole pieces, i.e. complete the stacking of the pole pieces once.
The holding plate 154 is rotatably connected to the push plate 152, and when the holding plate 154 is opened, it is substantially perpendicular to the push plate 152; when the clamping assembly 150 begins to push against the pole piece, the pole piece is positioned between the two clamping plates 154. At this time, the two clamping plates 154 respectively rotate towards the middle of the push plate 152, and when the clamping plates 154 rotate to the position attached to the push plate 152, the pole pieces are clamped and fixed by the clamping plates 154 and the push plate 152 together. And, two clamping plates 154 are the centre gripping of two sides of pole piece respectively to make clamping assembly 150 can bulldoze the pole piece and stack.
The driving assembly 140 is used for driving the large arm assembly 110 and the small arm assembly 120 to rotate, and includes a first motor 141, a second motor 142, a first transmission shaft and a second transmission shaft. The first motor 141 and the second motor 142 are respectively installed at the outer sides of the first mounting plate 131 and the second mounting plate 132, the first mounting plate 131 and the second mounting plate 132 are respectively provided with a first mounting hole and a second mounting hole, and output shafts of the two motors respectively penetrate through the two mounting holes.
An output shaft of the first motor 141 passes through the first mounting hole and is fixedly connected with one of the large arms 112 (in this embodiment, the output shaft is in key connection), so that the large arm 112 is driven to rotate; the mounting shaft on the mounting block 130 is specifically disposed in a mounting hole on the second mounting plate 132. The mounting shaft is sleeved with a bearing, and the upper end of the large arm 112 adjacent to the second mounting plate 132 is sleeved on the bearing outer ring. Since the two large arms 112 are connected into a whole, the first motor 141 can simultaneously drive the two large arms 112 to rotate synchronously.
The angle of the clamp assembly 150 relative to the vertical plane changes as the large arm assembly 110 and the small arm assembly 120 rotate. Taking the left robot 100 as an example, when the robot 100 is in the non-operating state, the large arm assembly 110 retracts to the position below the mounting seat 130, and the small arm assembly 120 is lifted; the push plate 152 is now vertically disposed. When the robot arm 100 pushes the vertical pole piece to the lower right, the large arm assembly 110 needs to be extended to the right by rotating counterclockwise by a certain angle, and the small arm assembly 120 needs to be pressed downward by rotating clockwise by a certain angle relative to the large arm assembly 110. Rotation of the large arm assembly 110 and the small arm assembly 120 causes the clamp assembly 150 to rotate clockwise. If the angle of rotation of the clamping assembly 150 is too large, it may result in the pole pieces not being stacked flat. In addition, since the pole pieces are clamped by the clamping plate 154 and the push plate 152, if the clamping assembly 150 rotates at an excessively large angle so that the clamping plate 154 rotates to a horizontal position, after a lamination operation is completed, the clamping plate 154 is located above the pole pieces stacked below the push plate 152, and the clamping plate 154 is difficult to open.
Therefore, in order to prevent the angle of the clamping assembly 150 from changing too much from the horizontal plane when the robot arm 100 pushes the pole piece (i.e. to keep the push plate 152 in the vertical state as much as possible), the robot arm 100 is further provided with a linkage assembly 160. The linkage assembly 160 is used for driving the clamping assembly 150 to rotate when the large arm assembly 110 and the small arm assembly 120 rotate, so that the angle change of the clamping assembly 150 relative to a vertical plane is small, and the push plate 152 is kept in a vertical state as much as possible. Taking the left robot arm 100 as an example, when the linkage assembly 160 is provided, when the large arm assembly 110 is extended and the small arm assembly 120 is pressed down, the linkage assembly 160 drives the clamping assembly 150 to rotate counterclockwise around the rotating shaft 124 at the end of the small arm assembly 120, so as to completely or partially cancel the clockwise rotation of the small arm assembly 120 caused by the rotation of the large arm assembly 110 and the small arm assembly 120.
Specifically, linkage assembly 160 includes a first link 161, a second link 162, a connecting plate 165, a third link 163, and a fourth link 164. A middle mounting plate 133 is further arranged between the first mounting plate 131 and the second mounting plate 132, the upper ends of the first connecting rod 161 and the second connecting rod 162 are hinged with the middle mounting plate 133, and a connecting line between the two hinged points is horizontally arranged; the connecting disc 165 is sleeved on the bearing outer ring in the middle of the connecting shaft 114, and the lower ends of the first connecting rod 161 and the second connecting rod 162 are hinged to the connecting disc 165. The first link 161, the second link 162, the connecting plate 165, and the middle connecting plate 1452 constitute a first parallelogram mechanism. One end of each of the third connecting rod 163 and the fourth connecting rod 164 is hinged to the connecting disc 165, and a connecting line of the two hinge points is vertically arranged; the other ends of the third and fourth are hinged with the push plate 152; the third link 163, the fourth link 164, the connecting plate 165, and the clamp assembly 150 constitute a second parallelogram mechanism.
The principle of operation of the linkage assembly 160 to keep the push plate 152 upright when the large arm assembly 110 is rotated is as follows:
taking the left robot arm 100 as an example, when the large arm assembly 110 is driven by the first motor 141 to extend rightward, i.e., rotate counterclockwise, the connecting shaft 114 at the end of the large arm assembly 110 rotates synchronously with the large arm assembly 110. The rotation of the connecting shaft 114 deforms the first parallelogram mechanism, i.e., the first link 161 and the second link 162 rotate synchronously with the large arm assembly 110. At this time, since the first link 161, the second link 162, the middle mounting plate 133 and the connecting plate 165 have a parallelogram structure and a connecting line of the hinge point of the upper ends of the first link 161 and the second link 162 is horizontally disposed, the connecting line of the hinge point of the lower ends of the first link 161 and the second link 162 is also horizontally maintained; i.e., the interface disc 165 does not rotate on its own. Since the connecting disc 165 is a rod of the second parallelogram mechanism, a connecting line between the hinge points of the third connecting rod 163 and the fourth connecting rod 164 on the connecting disc 165 is vertically arranged; thus, the push plate 152 also remains upright.
The second motor 142 drives the rotation of the arm assembly 120 through a transmission assembly 145, and the transmission assembly 145 includes two coupling plates 1452 and two transmission rods 1454. The two connecting plates 1452 are respectively sleeved on the second transmission shaft and the connecting shaft 114, and the two connecting plates 1452 are vertically arranged and fixedly connected with the second transmission shaft and the connecting shaft 114. The two transmission rods 1454 are hinged at both ends to the two connection plates 1452, respectively, and the two connection plates 1452 and the two transmission rods 1454 constitute a third parallelogram mechanism.
The mounting shaft of the second mounting plate 132 is a hollow shaft, and the second transmission shaft (i.e., the output shaft of the second motor 142) passes through the mounting shaft and is fixedly connected to the upper connecting plate 1452, so as to drive the connecting plate 1452 to rotate; which via two transmission rods 1454 brings about a rotation of the lower coupling plate 1452. The lower connecting plate 1452 is fixedly connected to the connecting shaft 114, so that it can drive the connecting shaft 114 to rotate, and the connecting shaft 114 is fixedly connected to the small arm assembly 120, thereby driving the small arm assembly 120 to rotate.
Referring to fig. 1 and fig. 2, the operation principle of the alternating lamination device 010 provided in this embodiment is as follows:
in the alternating lamination device 010 after installation, the swing assembly 200 is located at the top, the buffer device is located at one side of the swing roller 210, and the pole pieces coming out of the buffer device are vertically and downwardly unfolded after bypassing the swing roller 210. A lamination station assembly 300 is disposed below the dancer roller 210 for receiving the laminated pole pieces. The two mechanical arms 100 are respectively positioned at two sides above the stacking platform assembly and are oppositely arranged; i.e., both robot arms 100 can extend above the stacker assembly.
In operation, the oscillating roller 210 reciprocates within a range of travel. When the swing roller 210 moves to the left position, it drives the pole piece below the swing roller 210 to move to the left and move to the position adjacent to the left robot arm 100; the pole pieces on the lamination station assembly 300 are now held in place by the left lamination mechanism 320. The large arm assembly 110 of the left robot arm 100 protrudes to the right, and when the clamping assembly 150 moves to the pole piece position, the clamping assembly 150 clamps the pole piece; at this point, the large arm assembly 110 continues to extend and the small arm assembly 120 rotates, pushing against the pole piece, i.e., pushing the vertical pole piece to the lower right and stacking on the stacker assembly. And, the swing roller 210 moves toward the right. While the left robot arm 100 is in motion, the right robot arm 100 is in a retracted state and remains stationary. The right tabletting mechanism 320 on the stacking platform assembly 300 fixes the stacked pole pieces, and the left tabletting mechanism loosens; then, the left robot arm 100 retracts, the right robot arm 100 extends, and pushes the vertical pole piece to the lower left, and the swing roller 210 moves toward the right. The two mechanical arms 100 are circularly and alternately laminated until the lamination is finished, and unit cells 030 are formed on the lamination table assembly 300.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot arm, comprising:
a mounting seat;
the big arm assembly is rotatably connected with the mounting seat;
the small arm assembly is rotatably connected with the large arm assembly through a connecting shaft;
the clamping assembly is connected with the small arm assembly and is used for clamping a pole piece;
and the driving assembly is in transmission connection with the large arm assembly and the small arm assembly and is used for driving the large arm assembly and the small arm assembly to rotate.
2. The robot arm according to claim 1, wherein:
the clamping assembly is rotatably connected with the small arm assembly;
the mechanical arm further comprises a linkage assembly, and the linkage assembly comprises a first connecting rod, a second connecting rod, a connecting disc, a third connecting rod and a fourth connecting rod;
the connecting disc is sleeved on the connecting shaft and is rotatably connected with the connecting shaft;
one end of each of the first connecting rod and the second connecting rod is hinged with the mounting seat, the other end of each of the first connecting rod and the second connecting rod is hinged with the connecting disc, and the first connecting rod, the second connecting rod, the connecting disc and the mounting seat form a four-bar mechanism;
one end of each of the third connecting rod and the fourth connecting rod is hinged with the connecting disc, and the other end of each of the third connecting rod and the fourth connecting rod is hinged with the clamping assembly; the third connecting rod, the fourth connecting rod, the connecting disc and the clamping assembly form a four-bar mechanism.
3. A robot arm as claimed in claim 2, wherein:
the mounting seat comprises a fixed plate, a first mounting plate and a second mounting plate which are arranged at intervals oppositely, and the first mounting plate and the second mounting plate are both connected with the fixed plate; the driving assembly comprises a first motor and a second motor, the first motor is connected with the first mounting plate and is in transmission connection with the big arm assembly, and the second motor is connected with the second mounting plate and is in transmission connection with the small arm assembly.
4. A robot arm as claimed in claim 3, wherein:
the large arm assembly is arranged between the first mounting plate and the second mounting plate; the mechanical arm further comprises a transmission assembly; the second motor is in transmission connection with the connecting shaft through the transmission assembly.
5. The robot arm according to claim 4, wherein:
the transmission assembly comprises two connecting plates and two transmission rods, the two connecting plates are respectively and fixedly connected with the output shaft of the second motor and the connecting shaft, and two ends of the two transmission rods are respectively hinged with the two connecting plates;
the two connecting plates and the two transmission rods form a four-bar mechanism.
6. A robot arm as claimed in claim 2, wherein:
the clamping assembly comprises a push plate and two clamping plates, the push plate is rotatably connected with the small arm assembly, and the push plate is a strip-shaped plate and extends along the axial direction of the connecting shaft; the two clamping plates are respectively connected to two ends of the push plate.
7. The robot arm of claim 6, wherein:
the clamping plate is rotatably connected with the push plate; the clamping assembly further comprises a driving mechanism, and the driving mechanism is in transmission connection with the clamping plate and is used for driving the clamping plate to rotate.
8. An alternating lamination device comprising a frame, a swing assembly, a lamination table assembly and two robot arms according to any one of claims 1 to 7;
the swing assembly and the stacking assembly are connected with the rack, the swing assembly is located above the stacking assembly, and the swing assembly is used for driving the pole pieces to be stacked to be switched between a first position and a second position;
one mechanical arm is arranged on one side of the first position far away from the second position and used for pushing the pole piece to the stacking platform assembly when the pole piece is located at the first position; the other mechanical arm is arranged on one side, far away from the first position, of the second position and used for pushing the pole piece to the stacking platform assembly when the pole piece is located at the second position.
9. The alternating lamination device according to claim 8, wherein:
the swing assembly comprises a swing roller and a power mechanism, and the power mechanism is in transmission connection with the swing roller and is used for driving the swing roller to reciprocate along a preset direction.
10. The alternating lamination device according to claim 8, wherein:
the laminating table assembly comprises a base and a pressing mechanism, and the pressing mechanism is connected with the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921540045.2U CN210650678U (en) | 2019-09-17 | 2019-09-17 | Mechanical arm and alternating lamination device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921540045.2U CN210650678U (en) | 2019-09-17 | 2019-09-17 | Mechanical arm and alternating lamination device |
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| CN210650678U true CN210650678U (en) | 2020-06-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480623A (en) * | 2019-09-17 | 2019-11-22 | 深圳吉阳智能科技有限公司 | A kind of mechanical arm and alternative expression lamination device |
| CN112109955A (en) * | 2020-09-15 | 2020-12-22 | 张忐忑 | Lithium cell zigzag lamination device |
-
2019
- 2019-09-17 CN CN201921540045.2U patent/CN210650678U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480623A (en) * | 2019-09-17 | 2019-11-22 | 深圳吉阳智能科技有限公司 | A kind of mechanical arm and alternative expression lamination device |
| CN110480623B (en) * | 2019-09-17 | 2024-02-02 | 深圳吉阳智能科技有限公司 | Mechanical arm and alternating lamination device |
| CN112109955A (en) * | 2020-09-15 | 2020-12-22 | 张忐忑 | Lithium cell zigzag lamination device |
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