CN210757804U - Multi-station manipulator - Google Patents
Multi-station manipulator Download PDFInfo
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- CN210757804U CN210757804U CN201921551517.4U CN201921551517U CN210757804U CN 210757804 U CN210757804 U CN 210757804U CN 201921551517 U CN201921551517 U CN 201921551517U CN 210757804 U CN210757804 U CN 210757804U
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Abstract
The utility model provides a multistation manipulator relates to the automated production equipment field. The utility model discloses a soft package battery manipulator clamping mechanism, which comprises a first clamping mechanism and a second clamping mechanism which are arranged along the horizontal direction; the distance changing mechanism is used for connecting the first clamping mechanism and the second clamping mechanism and adjusting the distance between the first clamping mechanism and the second clamping mechanism in the horizontal direction in a length stretching deformation mode. The utility model discloses a multistation manipulator can solve prior art's laminate polymer battery manipulator and once can only press from both sides and get a laminate polymer battery and trade a set and the operation of sabot, can't place the technical problem that the clearance traded a set and the operation of sabot simultaneously to a plurality of laminate polymer battery according to the battery.
Description
Technical Field
The utility model belongs to the automated production equipment field specifically is a multistation manipulator.
Background
The soft package battery has the advantages of good safety, light weight, high energy density, good electrochemical performance and long service life. At present, the tray changing and loading operation of the soft package battery mainly adopts a manual operation mode. In order to improve the operating efficiency, the manipulator is gradually adopted to automatically change and tray the soft package battery. But the manipulator of prior art can only press from both sides and get a battery once and trade a set and the operation of sabot, and its operating efficiency is low, is unfavorable for laminate polymer battery's batch production.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a multistation manipulator for solve prior art's laminate polymer battery manipulator once can only press from both sides and get a laminate polymer battery and trade a set and the operation of sabot, can't place the technical problem that the clearance traded a plurality of laminate polymer batteries simultaneously and the operation of sabot according to the battery.
In a first aspect, the utility model provides a multi-station manipulator, include:
the first clamping mechanism and the second clamping mechanism are arranged along the horizontal direction;
the distance changing mechanism is used for connecting the first clamping mechanism and the second clamping mechanism and adjusting the distance between the first clamping mechanism and the second clamping mechanism in the horizontal direction in a length stretching deformation mode.
Preferably, the variable pitch mechanism comprises a first assembly and a second assembly which are connected in a relatively telescopic movable mode, the first assembly is connected with the first clamping mechanism, the second assembly is connected with the second clamping mechanism, and the first assembly and the second assembly are relatively telescopic movable to enable the variable pitch mechanism to generate telescopic deformation.
Preferably, when the first assembly and the second assembly are relatively extended and moved, the first assembly and the second assembly drive the first clamping mechanism and the second clamping mechanism to approach each other, and when the first assembly and the second assembly are relatively shortened and moved, the first assembly and the second assembly drive the first clamping mechanism and the second clamping mechanism to separate from each other.
Preferably, the first assembly comprises a first telescopic part, the second assembly comprises a second telescopic part, and the first telescopic part drives the rest part of the first assembly to move horizontally relative to the first assembly while moving horizontally relative to the second telescopic part so that the first assembly can move telescopically relative to the second assembly.
Preferably, the first telescopic member is a telescopic rod, the second telescopic member is a pipe shell capable of being inserted into the telescopic rod, one end of the first telescopic member is inserted into the pipe shell, a seal is formed between the end part of the first telescopic member inserted into the first pipe shell and the inner wall of the pipe shell, an accommodating space for accommodating fluid is formed between the end surface of one end of the first telescopic member inserted into the telescopic pipe shell and the inner wall of the pipe shell, and the first telescopic member is driven to move relative to the second telescopic member by changing the volume of the fluid in the accommodating space.
Preferably, the first telescopic member is a piston rod, the second telescopic member is a cylinder, one end of the piston rod, which is provided with a piston, is inserted into the cylinder, and the fluid in the accommodating space is gas.
Preferably, the second subassembly still includes the base plate be connected with the second flexible part and with the guide rail of base plate connection, the first subassembly still includes the slider with guide rail complex, the slider slides along the direction of guide rail under the drive of first flexible part.
Preferably, the first assembly further comprises an intermediate connecting plate, one end of the first telescopic component, which is opposite to the second telescopic component, is connected with the intermediate connecting plate, the intermediate connecting plate is connected with the sliding block, and the intermediate connecting plate is connected with the first clamping mechanism.
Preferably, first fixture and second fixture all include one set of mounting bracket, clamping jaw and actuating mechanism, first fixture's mounting bracket is connected with first subassembly, second fixture's mounting bracket is connected with the second subassembly, actuating mechanism installs on the mounting bracket, actuating mechanism is used for driving the clamping jaw and opens and close.
Preferably, the mounting bracket comprises a first mounting plate and a second mounting plate located below the first mounting plate, the first mounting plate and the second mounting plate are connected through a column, the second mounting plate is used for mounting the driving mechanism, and the first mounting plate is connected with the first assembly or the second assembly.
Has the advantages that: the utility model discloses a multistation manipulator adopts the mode of two fixture of same manipulator configuration, makes a manipulator can press from both sides simultaneously and get two batteries at the one-time operation in-process, accomplishes the dish and the operation of sabot of trading of two batteries, makes the efficiency that laminate polymer battery traded dish and sabot increase at double. Through the variable pitch mechanism that links to each other with first fixture and second fixture, adjust the interval between first fixture and the second fixture in a flexible way to the interval of two blocks of batteries of adjustment first fixture and the centre gripping of second fixture makes same manipulator can accurately place the battery in the tray of next process according to the station of placing of battery in the same operation of trading a set and sabot.
Drawings
Fig. 1 is a three-dimensional structure diagram of the multi-station manipulator of the present invention;
fig. 2 is a schematic structural view of the multi-station manipulator pitch-varying mechanism of the present invention after the base plate is removed;
fig. 3 is a schematic structural view of the multi-station manipulator pitch-changing mechanism of the present invention;
fig. 4 is a schematic structural view of a multi-station manipulator according to embodiment 5 of the present invention;
parts and numbering in the drawings: the clamping device comprises a first clamping mechanism 100, a second clamping mechanism 200, a variable pitch mechanism 300, a first assembly 310, a first telescopic component 311, a sliding block 312, an intermediate connecting plate 313, a second assembly 320, a second telescopic component 321, a base plate 322, a guide rail 323, a mounting frame 400, a first mounting plate 410, a second mounting plate 420, a stand column 430, a clamping jaw 5 and a driving mechanism 6.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, various features of the embodiments and examples of the present invention may be combined with each other and are within the scope of the present invention.
Example 1
As shown in fig. 1 to 3, the multi-station robot of the present embodiment includes:
a first clamping mechanism 100 and a second clamping mechanism 200 arranged in a horizontal direction;
wherein first fixture 100 and second fixture 200 are used for the centre gripping laminate polymer battery, and every fixture can a laminate polymer battery of centre gripping, because the same manipulator of this embodiment possesses two fixture, consequently can press from both sides two laminate polymer batteries simultaneously at a manipulator in-process of operation, accomplishes two laminate polymer battery's the operation of trading a set and sabot, makes laminate polymer battery trade the dish and the efficiency of sabot increase at double.
And a pitch varying mechanism 300 for connecting the first clamping mechanism 100 and the second clamping mechanism 200 and adjusting the distance between the first clamping mechanism 100 and the second clamping mechanism 200 in the horizontal direction in a length expansion and contraction deformation mode.
The first clamping mechanism 100 and the second clamping mechanism 200 are connected through a pitch-changing mechanism 300. The pitch mechanism 300 may change its length in a telescopic manner, and the interval between the first gripper mechanism 100 and the second gripper mechanism 200 may change as the pitch mechanism 300 is extended and retracted in length. Through the pitch-changing mechanism 300 connected with the first clamping mechanism 100 and the second clamping mechanism 200, the distance between the first clamping mechanism 100 and the second clamping mechanism 200 can be flexibly adjusted, so that the distance between two batteries clamped by the first clamping mechanism 100 and the second clamping mechanism 200 can be adjusted, and therefore the same manipulator can accurately place the batteries in a tray of a next procedure according to the placing stations of the batteries in the same disk changing and loading operation.
In other embodiments, the number of the clamping mechanisms can be increased according to actual needs, for example, a third clamping mechanism and a fourth clamping mechanism are added to clamp more pouch batteries, and the clamping mechanisms can be connected by using the pitch-variable mechanism 300 in this embodiment to adjust the distance between the pouch batteries according to the placement station.
Example 2
As shown in fig. 2, in the present embodiment, the pitch varying mechanism 300 includes a first component 310 and a second component 320 connected in a relatively telescopic manner, the first component 310 is connected to the first clamping mechanism 100, the second component 320 is connected to the second clamping mechanism 200, and the first component 310 and the second component 320 are relatively telescopic to cause the pitch varying mechanism 300 to generate telescopic deformation.
The way in which the pitch mechanism 300 itself is telescopically deformed in this embodiment is implemented by connecting two components in a relatively telescopic movable manner. When the first member 310 and the second member 320 are relatively extended, the length of the pitch mechanism 300 itself is extended, and when the first member 310 and the second member 320 are relatively shortened, the length of the pitch mechanism 300 itself is shortened.
The specific way of adjusting the distance between the first clamping mechanism 100 and the second clamping mechanism 200 according to the extension and contraction activities of the first assembly 310 and the second assembly 320 is as follows:
when the first assembly 310 and the second assembly 320 are relatively extended, the first assembly 310 and the second assembly 320 drive the first clamping mechanism 100 and the second clamping mechanism 200 to approach each other, and when the first assembly 310 and the second assembly 320 are relatively shortened, the first assembly 310 and the second assembly 320 drive the first clamping mechanism 100 and the second clamping mechanism 200 to move away from each other.
Specifically, the way to achieve the relative shortened activity of the first component 310 and the second component 320 may be: the first assembly 310 includes a first telescopic part 311, the second assembly 320 includes a second telescopic part 321, and the first telescopic part 311 moves horizontally relative to the second telescopic part 321 and simultaneously drives the rest of the first assembly 310 to move horizontally relative to the first assembly 310, so that the first assembly 310 can move telescopically relative to the second assembly 320.
In this embodiment, the first telescopic member 311 and the second telescopic member 321 can move relatively, and the relative movement of the first telescopic member 311 and the second telescopic member 321 drives the first assembly 310 to move relative to the second assembly 320
When the first telescopic part 311 moves relatively in a direction away from the second telescopic part 321, the first assembly 310 is driven to move relatively in a direction away from the second assembly 320, and the length of the whole pitch-varying mechanism 300 is extended;
when the first telescopic member 311 moves relatively toward the second telescopic member 321, the first assembly 310 is driven to move relatively away from the second assembly 320, and the length of the entire pitch mechanism 300 is shortened.
As an example, one of the first telescopic member 311 and the second telescopic member 321 may be a nut, and the other may be a lead screw, and the nut moves relative to the lead screw to move the first assembly 310 and the second assembly 320 relative to each other.
As an example, one of the first telescopic member 311 and the second telescopic member 321 may be a hydraulic cylinder, and the other may be a piston rod, and the relative movement of the first assembly 310 and the second assembly 320 is driven by the movement of the piston rod relative to the hydraulic cylinder.
As an example, the first and second telescoping members 311, 321 may also take the form of cylinders.
Example 3
This embodiment is a preferred embodiment of embodiment 2, in this embodiment, the first telescopic part 311 is a telescopic rod, the second telescopic member 321 is a tube housing into which the telescopic rod can be inserted, one end of the first telescopic part 311 is inserted into the tube housing, a seal is formed between an end of the first telescopic part inserted into the first tube housing and an inner wall of the tube housing, an accommodating space for accommodating a fluid is formed between an end surface of the end of the first telescopic part 311 inserted into the telescopic tube housing and the inner wall of the tube housing, and the first telescopic part 311 is driven to move relative to the second telescopic member 321 by changing the volume of the fluid in the accommodating space.
In this embodiment, a port may be provided to communicate with the accommodating space, and a pumping device, such as a gas pump, may be used to pump a fluid, such as gas or liquid, into the accommodating space through the port. As the volume of fluid increases, the fluid pushes the telescoping rod to move away from the cartridge, extending the pitch mechanism 300. When the volume of fluid decreases, the telescoping rod moves closer to the cartridge, causing the pitch mechanism 300 to shorten. In order to retract the telescopic rod in the direction of the pipe housing when the fluid volume is reduced, a back pressure can be provided on the side of the telescopic rod remote from the pipe housing, or an elastic element can be provided to urge the telescopic rod to retract.
As one preferred embodiment, the first telescopic member 311 is a piston rod, the second telescopic member 321 is a cylinder, one end of the piston rod, which forms a piston, is inserted into the cylinder, and the fluid in the accommodating space is a gas. Therefore, the length of the variable pitch mechanism 300 can be changed through the telescopic movement of the piston rod relative to the cylinder, the telescopic action is quick and accurate, and the distance between the first clamping mechanism 100 and the second clamping mechanism 200 can be quickly adjusted.
Example 4
As shown in fig. 3, in this embodiment, on the basis of embodiment 3, the second assembly 320 further includes a base plate 322 connected to the second telescopic member 321 and a guide rail connected to the base plate 322, the first assembly 310 further includes a slider 312 engaged with the guide rail, and the slider 312 is driven by the first telescopic member 311 to slide along the guide direction of the guide rail.
The first assembly 310 and the second assembly 320 of the present embodiment cooperate with the slider 312 and the guide rail, and the moving direction between the first assembly 310 and the second assembly 320 is restricted by the guide rail, so that the distance changing process of the distance changing mechanism 300 is more accurate.
Wherein the base plate 322 of the second assembly 320 serves as a base for rail mounting and also as a base for mounting the remaining components of the first assembly 310.
Specifically, the first assembly 310 further includes an intermediate connection plate 313, an end of the first telescopic member 311 opposite to the second telescopic member 321 is connected to the intermediate connection plate 313, the intermediate connection plate 313 is connected to the slider 312, and the intermediate connection plate 313 is connected to the first clamping mechanism 100. When moving relative to the second telescopic member 321, the first telescopic member 311 moves synchronously with the slider 312 via the intermediate connecting plate 313, and drives the first clamping mechanism 100 to move relative to the second clamping mechanism 200 via the connecting plate. This allows accurate movement of the first gripper mechanism 100 relative to the second gripper mechanism 200 within the constraints of the guide rails.
Example 5
As shown in fig. 4, in this embodiment, each of the first clamping mechanism 100 and the second clamping mechanism 200 includes a set of mounting frame 400, clamping jaws 5, and a driving mechanism 6, the mounting frame 400 of the first clamping mechanism 100 is connected to the first component 310, the mounting frame 400 of the second clamping mechanism 200 is connected to the second component 320, the driving mechanism 6 is mounted on the mounting frame 400, the driving mechanism 6 is used for driving the clamping jaws 5 to open and close, the driving mechanism 6 is mounted on the mounting frame 400, and the driving mechanism 6 is used for driving the clamping jaws 5 to open and close.
The driving mechanism 6 may be a motor, a cylinder, a hydraulic cylinder, or the like. Wherein clamping jaw 5 can be the form of two claw bodies, and actuating mechanism 6 drives two claw bodies and is close to each other and realizes the closure of clamping jaw 5, and actuating mechanism 6 drives two claw bodies and keeps away from each other and realizes opening of clamping jaw 5.
The specific structure of the mounting bracket 400 may be: the mounting device comprises a first mounting plate 410 and a second mounting plate 420 positioned below the first mounting plate 410, wherein the first mounting plate 410 and the second mounting plate 420 are connected through a column 430, the first mounting plate 410 is used for mounting the driving mechanism 6, and the second mounting plate 420 is connected with the first assembly 310 or the second assembly 320.
The first mounting plate 410 and the second mounting plate 420 are disposed up and down and connected and fixed by the posts 430 to form a stable structure of a rectangular parallelepiped frame. The upper first mounting plate 410 is used for connecting with the variable-pitch mechanism 300, and the second mounting plate 420 is used for connecting with the clamping mechanism, so that the variable-pitch mechanism 300 drives the clamping jaws 5 mounted on the mounting frame 400 to move through self telescopic deformation.
The multi-station manipulator provided by the utility model is described in detail above, and the principle and the implementation mode of the utility model are explained by applying specific examples, and the explanation of the above examples is only used for helping to understand the method and the core idea of the utility model; meanwhile, to the general technical personnel in this field, according to the utility model discloses an idea, all can have the change part on concrete implementation and application scope, to sum up, this description content only is the utility model discloses an embodiment, does not consequently restrict the utility model discloses a patent scope, all utilize the equivalent structure or the equivalent flow transform that the content of the description and the attached drawing did, or directly or indirectly use in other relevant technical fields, all the same reason is included in the utility model discloses a patent protection scope. And should not be construed as limiting the invention.
Claims (10)
1. Multistation manipulator, its characterized in that includes:
the first clamping mechanism and the second clamping mechanism are arranged along the horizontal direction;
the distance changing mechanism is used for connecting the first clamping mechanism and the second clamping mechanism and adjusting the distance between the first clamping mechanism and the second clamping mechanism in the horizontal direction in a length stretching deformation mode.
2. The multi-station robot hand according to claim 1,
the variable-pitch mechanism comprises a first assembly and a second assembly which are connected in a relatively telescopic movable mode, the first assembly is connected with the first clamping mechanism, the second assembly is connected with the second clamping mechanism, and the first assembly and the second assembly are relatively telescopic and movable to enable the variable-pitch mechanism to generate telescopic deformation.
3. The multi-station robot hand according to claim 2,
when the first assembly and the second assembly relatively extend and move, the first assembly and the second assembly drive the first clamping mechanism and the second clamping mechanism to be close to each other, and when the first assembly and the second assembly relatively shorten and move, the first assembly and the second assembly drive the first clamping mechanism and the second clamping mechanism to be away from each other.
4. The multi-station manipulator according to claim 2, wherein: the first assembly comprises a first telescopic part, the second assembly comprises a second telescopic part, and the first telescopic part drives the rest part of the first assembly to move along the horizontal direction relative to the first assembly while moving along the horizontal direction relative to the second telescopic part so as to enable the first assembly to move telescopically relative to the second assembly.
5. The multi-station manipulator according to claim 4, wherein:
the first telescopic part is a telescopic rod, the second telescopic part is a pipe shell capable of being inserted into the telescopic rod, one end of the first telescopic part is inserted into the pipe shell, a seal is formed between the end part of the first telescopic part inserted into the first pipe shell and the inner wall of the pipe shell, an accommodating space for accommodating fluid is formed between the end face of one end of the first telescopic part inserted into the telescopic pipe shell and the inner wall of the pipe shell, and the first telescopic part is driven to move relative to the second telescopic part by changing the volume of the fluid in the accommodating space.
6. The multi-station manipulator according to claim 5, wherein:
the first telescopic component is a piston rod, the second telescopic component is a cylinder, one end of the piston rod, which forms a piston, is inserted into the cylinder, and fluid in the accommodating space is gas.
7. The multi-station manipulator according to claim 4, wherein the second assembly further comprises a base plate connected with the second telescopic member and a guide rail connected with the base plate, and the first assembly further comprises a slide block matched with the guide rail, and the slide block slides along the guide direction of the guide rail under the driving of the first telescopic member.
8. The multi-station manipulator according to claim 7, wherein the first assembly further comprises an intermediate connecting plate, one end of the first telescopic member, which is opposite to the second telescopic member, is connected with the intermediate connecting plate, the intermediate connecting plate is connected with the slide block, and the intermediate connecting plate is connected with the first clamping mechanism.
9. The multi-station manipulator according to any one of claims 1 to 8, wherein each of the first clamping mechanism and the second clamping mechanism comprises a set of mounting frame, clamping jaws and a driving mechanism, the mounting frame of the first clamping mechanism is connected with the first component, the mounting frame of the second clamping mechanism is connected with the second component, the driving mechanism is mounted on the mounting frame, the driving mechanism is used for driving the clamping jaws to open and close, the driving mechanism is mounted on the mounting frame, and the driving mechanism is used for driving the clamping jaws to open and close.
10. The multi-station manipulator according to claim 9, wherein the mounting frame comprises a first mounting plate and a second mounting plate located below the first mounting plate, the first mounting plate and the second mounting plate are connected through a column, the second mounting plate is used for mounting the driving mechanism, and the first mounting plate is connected with the first assembly or the second assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921551517.4U CN210757804U (en) | 2019-09-18 | 2019-09-18 | Multi-station manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921551517.4U CN210757804U (en) | 2019-09-18 | 2019-09-18 | Multi-station manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN210757804U true CN210757804U (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921551517.4U Active CN210757804U (en) | 2019-09-18 | 2019-09-18 | Multi-station manipulator |
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| CN (1) | CN210757804U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113649793A (en) * | 2021-08-16 | 2021-11-16 | 成都秦川物联网科技股份有限公司 | Motor assembly system for intelligent production of gas meter |
| CN115783764A (en) * | 2023-01-30 | 2023-03-14 | 中迪机器人(盐城)有限公司 | Multi-station grabbing mechanism for carrying battery box |
-
2019
- 2019-09-18 CN CN201921551517.4U patent/CN210757804U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113649793A (en) * | 2021-08-16 | 2021-11-16 | 成都秦川物联网科技股份有限公司 | Motor assembly system for intelligent production of gas meter |
| CN113649793B (en) * | 2021-08-16 | 2022-06-17 | 成都秦川物联网科技股份有限公司 | Motor assembly system for intelligent production of gas meter |
| CN115783764A (en) * | 2023-01-30 | 2023-03-14 | 中迪机器人(盐城)有限公司 | Multi-station grabbing mechanism for carrying battery box |
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Address after: 518000 101 today international office building, cuibao Road, Baolong community, Baolong street, Longgang District, Shenzhen City, Guangdong Province Patentee after: NEW TREND INTERNATIONAL LOGIS-TECH Co.,Ltd. Address before: 10, F, G, H, 518020 floor, block A, 1002 Baoan square, Sungang East Road, Luohu District, Shenzhen, Guangdong Patentee before: NEW TREND INTERNATIONAL LOGIS-TECH Co.,Ltd. |
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