CN215515713U - Lithium battery duplex carrying manipulator - Google Patents
Lithium battery duplex carrying manipulator Download PDFInfo
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- CN215515713U CN215515713U CN202120160501.1U CN202120160501U CN215515713U CN 215515713 U CN215515713 U CN 215515713U CN 202120160501 U CN202120160501 U CN 202120160501U CN 215515713 U CN215515713 U CN 215515713U
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Abstract
A lithium battery duplex carrying manipulator comprises an X-direction moving mechanism, a plurality of supporting upright posts, a Y-direction moving mechanism, a Z-direction moving mechanism and a clamping mechanism, wherein the X-direction moving mechanisms are divided into two groups and are arranged on the tops of the supporting upright posts in parallel and oppositely; the two groups of Y-direction moving mechanisms are oppositely connected with the head end and the tail end of the two groups of X-direction moving mechanisms in parallel; the Z-direction moving mechanisms are respectively and vertically arranged on the two Y-direction moving mechanisms; the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism which are respectively suspended below the two sets of Z-direction moving mechanisms, and the first clamping mechanism comprises a first Z-axis connecting plate, a first mounting plate, a first rotary cylinder and a first clamping jaw assembly; the second clamping mechanism comprises a second Z-axis connecting plate and a plurality of sets of second clamping jaw assemblies. The utility model has the beneficial effects that: the three-dimensional robot has three-dimensional space motion, 360-degree revolution, autorotation and anti-collision functions, and the manipulators run in parallel and independently, so that the robot is suitable for various batteries and is operated automatically in the whole process.
Description
Technical Field
The utility model relates to a lithium battery duplex carrying manipulator, and belongs to the technical field of battery manufacturing equipment.
Background
In the production process of the battery, the lithium battery is subjected to high temperature formation, capacity grading and OCV (Open Circuit Voltage) tests, and in the series of test processes, the battery needs to be transported from a tray to a specified test position. In the battery handling process, traditional manual handling is changed into automatic manipulator handling, but the problems that the battery models are various, the manipulator is single in function, the mechanism is repeated and the like exist in the existing automatic handling.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model provides a double-linkage carrying manipulator for a lithium battery, which can perform three-dimensional free motion and can perform 360-degree revolution and rotation in the process of carrying the battery, and in addition, the manipulator has an accurate anti-collision function; finally, the duplex carrying manipulator also has the advantages that the two manipulators move simultaneously, are independent from each other and do not interfere with each other. This mechanical hand of pair transport can extensively adapt to multiple size battery, also can adapt to the battery storage scene of multiple battery tray and battery transfer station, and full automation operation has improved battery production efficiency.
The utility model relates to a lithium battery duplex carrying manipulator which is characterized by comprising an X-direction moving mechanism for driving the lithium battery duplex carrying manipulator to horizontally move along the X direction, a plurality of supporting upright posts for supporting the X-direction moving mechanism, a Y-direction moving mechanism for driving the lithium battery duplex carrying manipulator to horizontally move along the Y direction, a Z-direction moving mechanism for driving the lithium battery duplex carrying manipulator to move along the Z direction, and a clamping mechanism for carrying batteries, wherein the horizontal moving direction of the X-direction moving mechanism is the X direction, the horizontal direction vertical to the X direction is the Y direction, and the direction vertical to the horizontal plane is the Z direction;
the X-direction moving mechanisms are two groups, are arranged at the tops of the supporting upright columns in parallel and oppositely, and comprise X-axis mounting plates for supporting X-direction moving mechanism components, X-direction driving devices for outputting driving force, X-direction guide rails for guiding and X-direction sliding blocks for driving the Y-direction moving mechanisms to horizontally move, and the X-axis mounting plates are horizontally arranged at the tops of the supporting upright columns along the X direction; the X-direction driving device is a power component, and the output end of the X-direction driving device stretches along the X direction and is connected with the X-direction sliding block; the X-direction guide rail is horizontally paved on the X-axis mounting plate along the X direction and guides the lithium battery duplex carrying manipulator to horizontally move along the X direction; the X-direction sliding block is arranged on the X-direction guide rail in a sliding mode and is connected with a Y-direction shaft connecting plate of the Y-direction moving mechanism; when the X-direction driving device acts, the X-direction sliding block is driven to horizontally move on the X-direction guide rail along the X direction, the Y-direction moving mechanism is further driven to horizontally move in the X direction, and the first clamping mechanism and the second clamping mechanism are further driven to horizontally move in the same direction or in the opposite direction of the X direction, so that the purpose that the double-lithium battery carrying manipulator horizontally moves in the X direction is finally achieved;
the Y-direction moving mechanisms are two groups and are oppositely connected with the head end and the tail end of the two groups of X-direction moving mechanisms in parallel, and each Y-direction moving mechanism comprises a Y-axis connecting plate for connecting the Y-direction moving mechanisms with the X-direction moving mechanisms together, a Y-axis mounting plate for supporting Y-direction moving mechanism parts, a Y-direction driving device for pushing a Y-direction sliding block to horizontally move on a guide rail, a Y-direction guide rail for guiding and a Y-direction sliding block for driving the Z-direction moving mechanisms to horizontally move along the Y direction, and the Y-axis connecting plates are horizontally and fixedly arranged at the end parts of the X-direction moving mechanisms along the Y direction; the Y-axis mounting plate and the Y-axis connecting plate; the Y-direction driving device is a power part, the output end of the Y-direction driving device stretches along the Y direction, and the output end is connected with the Y-direction sliding block; the Y-direction guide rail is horizontally arranged on the Y-axis mounting plate along the Y direction; the Y-direction sliding blocks are arranged on the Y-direction guide rail in a sliding mode, and each Y-direction sliding block is correspondingly provided with one set of Z-direction moving mechanism; when the Y-direction driving device acts, the Y-direction sliding block is driven to horizontally move on the Y-direction guide rail, and then the first clamping mechanism and the second clamping mechanism are driven to horizontally move in the Y direction, and finally the purpose that the lithium battery duplex carrying manipulator horizontally moves in the Y direction is achieved;
the Z-direction moving mechanisms are respectively vertically arranged on the two Y-direction sliding blocks, and comprise Z-direction lifting devices for driving the Z-direction sliding blocks to move, Z-direction guide rails arranged along the Z direction and Z-direction sliding blocks for driving the clamping mechanisms to lift along the Z direction, wherein the Z-direction lifting devices are arranged on the Y-direction sliding blocks and keep the lifting ends of the Z-direction lifting devices to stretch along the Z direction; the Z-direction guide rail is connected with the Y-direction sliding block; the Z-direction sliding block is connected with the corresponding clamping mechanism;
the clamping mechanism is a core component of the lithium battery duplex carrying manipulator and comprises a first clamping mechanism for transferring the soft package battery from a tray to a middle transition position and a second clamping mechanism for transferring the soft package battery from the middle transition position to a working position, the first clamping mechanism and the second clamping mechanism are respectively suspended below two sets of Z-direction moving mechanisms, and the first clamping mechanism comprises a first Z-axis connecting plate for connecting the first clamping mechanism to the Z-direction moving mechanisms, a first mounting plate for fixing a first rotary cylinder, a first rotary cylinder for driving the first clamping jaw assembly to rotate 360 degrees around a Z-direction central axis of the first clamping jaw assembly, and a first clamping jaw assembly for clamping the battery; the first Z-axis connecting plate is arranged on one Z-direction sliding block; the first rotary cylinder is vertically arranged on the first Z-axis connecting plate through the first mounting plate, the rotary central shaft of the first rotary cylinder is arranged along the Z direction, and the rotary end of the first rotary cylinder is connected with the first clamping jaw assembly; the bottom of the first clamping jaw assembly is provided with a plurality of clamping parts for clamping a battery; when the first rotating cylinder rotates for 360 degrees, the first clamping jaw assembly is driven to rotate for 360 degrees;
the second clamping mechanism comprises a second Z-axis connecting plate for connecting the second clamping mechanism to the Z-direction sliding block and a plurality of sets of second clamping jaw assemblies arranged on the second Z-axis connecting plate, and the second Z-axis connecting plate is arranged on the other Z-direction sliding block; the second jaw assembly is rotatably suspended from the second Z-axis web.
Further, the first clamping jaw assembly comprises a first clamping jaw mounting plate and a plurality of first clamping jaw components which are sleeved on the first clamping jaw mounting plate and used for clamping and carrying batteries, and the first clamping jaw mounting plate is mounted at the rotating end of the first rotating cylinder; the first jaw member is connected directly below the jaw mounting plate.
Further, the first clamping jaw component comprises a first connecting piece, a first clamping cylinder and a first air jaw, and the first connecting piece is connected to the position right below the first clamping jaw mounting plate; the first clamping cylinder is arranged below the first connecting piece and used for controlling the closing and the opening of the air claw; the first air claw is arranged below the first clamping cylinder and consists of a pair of first clamping pieces which are arranged oppositely, and the first clamping pieces are respectively arranged at two clamping ends of the first clamping cylinder which move oppositely or reversely to form a revolution air claw for clamping the battery.
Furthermore, the second clamping jaw assembly comprises a second mounting plate for mounting and connecting the clamping jaw assembly to the Z-axis connecting plate, a second rotating assembly for driving the second clamping cylinder to rotate for 360 degrees, a second clamping cylinder and a second air jaw; the second mounting plate is connected with the second Z-axis connecting plate; the second rotating assembly is connected below the mounting plate, keeps the second rotating assembly rotating around a Z-direction central axis, and drives the second clamping cylinder and the second air claw to rotate for 360 degrees when the second rotating assembly rotates for 360 degrees; the second clamping cylinder is arranged at the rotating end of the second rotating assembly and used for controlling the closing and the opening of the second air claw; the second air claw is arranged below the second clamping cylinder and consists of a pair of second clamping pieces which are arranged oppositely, and the second clamping pieces are respectively arranged at two clamping ends of the second clamping cylinder which move oppositely or reversely to form a self-rotating air claw for clamping the battery.
Further, the support columns are reference support members for supporting the X-direction moving mechanisms, and are six in total, and are supported by two groups of the support columns at the front, middle and rear ends of the two groups of the X-direction moving mechanisms, respectively.
Further, the first clamping jaw assembly further comprises an anti-collision sensor assembly used for detecting whether the battery is collided or not, and the anti-collision sensor assembly is arranged at each top corner position of the first clamping jaw mounting plate.
Further, the X-direction driving device, the Y-direction driving device and the Z-direction lifting device may be components powered by an air cylinder, a motor, etc.; the X-direction guide rail, the X-direction slider, the Y-direction guide rail, the Y-direction slider, the Z-direction guide rail, and the Z-direction slider may be other horizontal guide members.
Furthermore, the X-direction moving mechanisms are divided into two groups, wherein the two groups can be both power linear guide, or one group of power linear guide, and the other group of linear traction follow-up.
The operation explanation is carried out by using the double-linked lithium battery carrying manipulator of the utility model:
1) when a battery tray or a battery processing station containing batteries is prepared in place, starting the duplex carrying manipulator, starting the X-direction moving mechanism to enable the duplex carrying manipulator to linearly move along the X direction, starting the Y-direction moving mechanism to enable the duplex carrying manipulator to linearly move along the Y direction, and starting the Z-direction moving mechanism to enable the duplex carrying manipulator to vertically move along the Z direction so as to adjust the three-dimensional position of the clamping mechanism;
2) when the first clamping mechanism is close to a battery to be carried, the first clamping cylinder is started, the first air claw is opened, the Z-direction moving mechanism for mounting the first clamping mechanism is started again, the first air claw descends again until the battery is positioned in the first air claw, then the first clamping cylinder acts again, the first air claw clamps, and the battery is clamped at the moment; the angle of the first air claw is adjusted through the first rotary cylinder in the clamping process so as to adapt to the battery;
3) when a first pneumatic claw of the duplex carrying manipulator vertically moves and touches an obstacle, the anti-collision sensor component acts, and the vertical movement of the Z-direction moving mechanism can be controlled to stop through the detection of the sensor;
4) when the first clamping mechanism acts, the second clamping mechanism acts in parallel and independently, the second clamping mechanism is close to the battery to be conveyed, the second clamping cylinder starts, the second air claw opens, the Z-direction moving mechanism for mounting the second clamping mechanism starts again, the second air claw descends to the position, where the battery is located, of the second air claw again, then the second clamping cylinder acts again, the second air claw clamps tightly, the battery is transferred to a working position from a middle rotating position, and the angle of each second air claw is adjusted through the second rotating assembly in the clamping process to adapt to the battery.
The utility model has the beneficial effects that:
the duplex carrying manipulator can perform three-dimensional free motion in the process of carrying batteries and can perform 360-degree revolution and autorotation;
the manipulator also has an accurate anti-collision function;
the double-linkage carrying manipulator also has the advantages that the double manipulators move simultaneously, are independent and do not interfere with each other;
the duplex carrying manipulator can be widely suitable for batteries with various sizes, can also be suitable for battery storage scenes of various battery trays and battery transfer stations, is operated automatically in the whole process, and improves the production efficiency of the batteries.
Drawings
FIG. 1 is a structural diagram of a duplex carrying manipulator for lithium batteries according to the utility model;
FIG. 2 is a front view of the duplex lithium battery handling robot of the present invention;
FIG. 3 is a top view of the duplex lithium battery handling robot of the present invention;
FIG. 4 is a left side view of the duplex lithium battery handling robot of the present invention;
FIG. 5 is a block diagram of a first clamp structure;
FIG. 6 is another block diagram of the first clamp structure;
FIG. 7 is a top view of the first clamp structure;
FIG. 8 is a block diagram of a second clamping arrangement;
FIG. 9 is a front view of a second clamp structure;
fig. 10 is a left side view of the second clamp structure.
Detailed Description
The utility model is further described below with reference to the accompanying drawings.
With reference to the accompanying drawings:
embodiment 1 the utility model provides a lithium battery duplex carrying manipulator, which comprises an X-direction moving mechanism 3 for driving the lithium battery duplex carrying manipulator to horizontally move along an X direction, a plurality of supporting columns 1 for supporting the X-direction moving mechanism 3, a Y-direction moving mechanism 2 for driving the lithium battery duplex carrying manipulator to horizontally move along a Y direction, a Z-direction moving mechanism 6 for driving the lithium battery duplex carrying manipulator to move along a Z direction, and a clamping mechanism for carrying batteries, wherein the horizontal moving direction of the X-direction moving mechanism 3 is the X direction, the horizontal direction perpendicular to the X direction is the Y direction, and the direction perpendicular to a horizontal plane is the Z direction;
the X-direction moving mechanisms 3 are two groups, are arranged at the top of the supporting upright post 1 in parallel and oppositely, and comprise an X-axis mounting plate 31 for supporting X-direction moving mechanism parts, an X-direction driving device 32 for outputting driving force, an X-direction guide rail 33 for guiding and an X-direction slider 34 for driving the Y-direction moving mechanism 2 to horizontally move, and the X-axis mounting plate 31 is horizontally arranged at the top of the supporting upright post 1 along the X direction; the X-direction driving device 32 is a power member, and an output end thereof extends and retracts in the X direction and is connected to the X-direction slider 34; the X-direction guide rail 33 is horizontally paved on the X-axis mounting plate 31 along the X direction and guides the lithium battery duplex carrying manipulator to horizontally move along the X direction; the X-direction sliding block 34 is arranged on the X-direction guide rail 33 in a sliding manner and is connected with the Y-axis connecting plate 21 of the Y-direction moving mechanism 2; when the X-direction driving device 32 acts, the X-direction sliding block 34 is driven to horizontally move on the X-direction guide rail 33 along the X direction, the Y-direction moving mechanism is further driven to horizontally move in the X direction, and the first clamping mechanism and the second clamping mechanism are further driven to horizontally move in the same direction or in the opposite direction of the X direction, so that the purpose that the double-lithium battery carrying manipulator horizontally moves in the X direction is finally achieved;
the Y-direction moving mechanisms 2 are two groups and are oppositely connected with the head end and the tail end of the two groups of X-direction moving mechanisms 3 in parallel, and each Y-direction moving mechanism comprises a Y-axis connecting plate 21 for connecting the Y-direction moving mechanisms 2 with the X-direction moving mechanisms 3, a Y-axis mounting plate 22 for supporting parts of the Y-direction moving mechanisms 2, a Y-direction driving device 23 for pushing a Y-direction sliding block 25 to horizontally move on a Y-direction guiding rail 24, a Y-direction guiding rail 24 for guiding and a Y-direction sliding block 25 for driving the Z-direction moving mechanism 6 to horizontally move along the Y direction, wherein the Y-axis connecting plate 21 is horizontally and fixedly arranged at the end part of the X-direction moving mechanism 3 along the Y direction; the Y-axis mounting plate 22 and the Y-axis connecting plate 21; the Y-direction driving device 23 is a power component, the output end of the Y-direction driving device extends and retracts along the Y direction, and the output end is connected with the Y-direction sliding block 25; the Y-direction guide rail 24 is horizontally arranged on the Y-axis mounting plate 22 along the Y direction; the Y-direction sliders 25 are arranged on the Y-direction guide rails 24 in a sliding mode, and each Y-direction slider 25 is correspondingly provided with one set of the Z-direction moving mechanism 6; when the Y-direction driving device 23 acts, the Y-direction sliding block 25 is driven to horizontally move on the Y-direction guide rail 24, and then the first clamping mechanism 4 and the second clamping mechanism 5 are driven to horizontally move in the Y direction, and finally the purpose that the lithium battery duplex carrying manipulator horizontally moves in the Y direction is achieved;
the two sets of Z-direction moving mechanisms 6 are respectively vertically arranged on the two Y-direction sliders 25, and comprise a Z-direction lifting device 61 for driving the Z-direction slider 63 to move, a Z-direction guide rail 62 arranged along the Z direction and a Z-direction slider 63 for driving the clamping mechanism to lift along the Z direction, wherein the Z-direction lifting device 61 is arranged on the Y-direction slider 25 and keeps the lifting end of the Z-direction lifting device 61 to stretch along the Z direction; the Z-direction guide rail 62 is connected with the Y-direction slide block 25; the Z-direction sliding block 63 is connected with a corresponding clamping mechanism;
the clamping mechanism is a core component of the lithium battery duplex carrying manipulator and comprises a first clamping mechanism 4 for transferring the soft package battery from a tray to a middle transition position and a second clamping mechanism 5 for transferring the soft package battery from the middle transition position to a working position, the first clamping mechanism 4 and the second clamping mechanism 5 are respectively suspended below two sets of Z-direction moving mechanisms 6, and the first clamping mechanism 4 comprises a first Z-axis connecting plate 41 for connecting the first clamping mechanism 4 to the Z-direction moving mechanisms, a first mounting plate 42 for fixing a first rotating cylinder 43, a first rotating cylinder 43 for driving the first clamping jaw assembly 44 to rotate 360 degrees around a Z-direction central axis of the first clamping jaw assembly 44 and a first clamping jaw assembly 44 for clamping the battery; the first Z-axis connecting plate 41 is arranged on one of the Z-direction sliding blocks 63; the first rotary cylinder 43 is vertically installed on the first Z-axis connecting plate 41 through the first installing plate 42, the rotation center axis of the first rotary cylinder 43 is arranged along the Z-direction, and the rotation end of the first rotary cylinder 43 is connected with the first clamping jaw assembly 44; the bottom of the first clamping jaw assembly 44 is provided with a plurality of clamping parts for clamping the battery; when the first rotating cylinder 43 rotates 360 degrees, the first clamping jaw assembly 44 is driven to rotate 360 degrees;
the second clamping mechanism 5 comprises a second Z-axis connecting plate 51 for connecting the second clamping mechanism 5 to the Z-direction sliding block 63 and a plurality of sets of second clamping jaw assemblies 52 arranged on the second Z-axis connecting plate 51, and the second Z-axis connecting plate 51 is arranged on the other Z-direction sliding block 63; the second jaw assembly 52 is rotatably suspended from the second Z-axis connecting plate 51.
Further, the first clamping jaw assembly 44 includes a first clamping jaw mounting plate 441 and a plurality of first clamping jaw members 442 used for clamping and carrying batteries, and the first clamping jaw mounting plate 441 is mounted at the rotating end of the first rotating cylinder 43; the first jaw member 442 is attached directly below the first jaw mounting plate 441.
Further, the first jaw part 442 includes a first connector 4421, a first clamp cylinder 4422 and a first air claw 4423, the first connector 4421 is connected right below the first jaw mounting plate 441; the first clamping cylinder 4422 is installed below the first connecting piece 4421 and is used for controlling the closing and opening of the air claw 4423; the first air claw 4423 is arranged below the first clamping cylinder 4422 and is composed of a pair of oppositely arranged first clamping pieces, and the first clamping pieces are respectively arranged at two clamping ends of the first clamping cylinder 4422 which move in the opposite direction or the reverse direction to form a revolution air claw for clamping the battery.
Further, the second clamping jaw assembly 52 comprises a second mounting plate 521 for mounting and connecting the second clamping jaw assembly 52 to the second Z-axis connecting plate 51, a second rotating assembly 522 for driving a second clamping cylinder 523360 to rotate, a second clamping cylinder 523 and a second air jaw 524; the second mounting plate 521 is connected to the second Z-axis connecting plate 51; the second rotating assembly 522 is connected below the second mounting plate 521, keeps the second rotating assembly 522 rotating around the central axis in the Z direction, and drives the second clamping cylinder 523 and the second air gripper 524 to rotate 360 ° when the second rotating assembly 522 rotates 360 °; the second clamping cylinder 523 is installed at the rotating end of the second rotating assembly 522 and is used for controlling the closing and opening of the second air claw 524; the second pneumatic claw 4423 is arranged below the second clamping cylinder 523 and is composed of a pair of second clamping pieces which are arranged oppositely, and the second clamping pieces are respectively arranged at two clamping ends of the second clamping cylinder 523 which move oppositely or reversely to form a self-rotating pneumatic claw for clamping the battery.
Further, the support columns 1 are reference support members for supporting the X-direction moving mechanisms, and are six in total, and are supported by two groups of the X-direction moving mechanisms 3 at the front, middle, and rear ends, respectively.
Further, the first jaw assembly 44 further includes a collision avoidance sensor assembly 443 for detecting whether the battery is collided, and the collision avoidance sensor assembly 443 is disposed at each of the corner positions of the first jaw mounting plate 441.
Further, the X-direction driving device 32, the Y-direction driving device 23, and the Z-direction lifting device 61 may be components powered by an air cylinder, a motor, or the like; the X-direction guide rail 33, the X-direction slider 34, the Y-direction guide rail 24, the Y-direction slider 25, the Z-direction guide rail 62, and the Z-direction slider 63 may be other horizontal guide members.
Furthermore, the X-direction moving mechanisms are divided into two groups, wherein the two groups can be both power linear guide, or one group of power linear guide, and the other group of linear traction follow-up.
1) when a battery tray or a battery processing station containing batteries is prepared in place, the duplex carrying manipulator is started, the X-direction moving mechanism 3 is started to enable the duplex carrying manipulator to linearly run along the X direction, the Y-direction moving mechanism 2 is started to enable the duplex carrying manipulator to linearly run along the Y direction, and the Z-direction moving mechanism 6 is started to enable the duplex carrying manipulator to vertically run along the Z direction so as to adjust the three-dimensional position of the clamping mechanism;
2) when the first clamping mechanism 4 approaches the battery to be carried, the first clamping air cylinder 4422 is started, the first air claw 4423 is opened, the Z-direction moving mechanism 6 for mounting the first clamping mechanism is started again, the first air claw 4423 descends again until the battery is positioned in the first air claw 4423, then the first clamping air cylinder 4422 operates again, the first air claw 4423 clamps, and the battery is clamped at the moment; the angle of the first air claw is adjusted through the first rotary cylinder in the clamping process so as to adapt to the battery;
3) when the first air claw 4423 of the duplex carrying manipulator vertically moves and collides with an obstacle, the anti-collision sensor assembly 443 acts, and the vertical movement of the Z-direction moving mechanism 6 can be controlled to stop through the detection of the sensor;
4) when the first clamping mechanism 4 acts, the second clamping mechanism 5 acts in parallel and independently, the second clamping mechanism 5 is close to the battery to be conveyed, the second clamping cylinder 523 is started, the second air claw 524 is opened, the Z-direction moving mechanism for mounting the second clamping mechanism is started again, the second air claw 524 descends to the position, where the battery is located, of the second air claw 524, then the second clamping cylinder 523 acts again, the second air claw 524 clamps, then the battery is transferred to the working position from the middle position, and the angle of each second air claw 524 is adjusted through the second rotating assembly 522 in the clamping process to adapt to the battery.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the utility model should not be considered limited to the specific forms set forth in the embodiments but include equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.
Claims (6)
1. The utility model provides a manipulator is carried to lithium cell pair which characterized in that includes: the automatic battery conveying device comprises an X-direction moving mechanism (3) for driving a lithium battery duplex conveying manipulator to horizontally move along the X direction, a plurality of supporting upright posts (1) for supporting the X-direction moving mechanism (3), a Y-direction moving mechanism (2) for driving the lithium battery duplex conveying manipulator to horizontally move along the Y direction, a Z-direction moving mechanism (6) for driving the lithium battery duplex conveying manipulator to move along the Z direction, and a clamping mechanism for conveying batteries, wherein the horizontal moving direction of the X-direction moving mechanism (3) is the X direction, the horizontal direction vertical to the X direction is the Y direction, and the direction vertical to the horizontal plane is the Z direction;
the X-direction moving mechanisms (3) are two groups, are arranged at the top of the supporting upright post (1) in parallel and oppositely, and comprise X-axis mounting plates (31) for supporting X-direction moving mechanism components, X-direction driving devices (32) for outputting driving force, X-direction guide rails (33) for guiding and X-direction sliders (34) for driving the Y-direction moving mechanisms (2) to horizontally move, wherein the X-axis mounting plates (31) are horizontally arranged at the top of the supporting upright post (1) along the X direction; the X-direction driving device (32) is a power component, the output end of the X-direction driving device stretches along the X direction and is connected with the X-direction sliding block (34); the X-direction guide rail (33) is horizontally paved on the X-axis mounting plate (31) along the X direction and guides the lithium battery duplex carrying manipulator to horizontally move along the X direction; the X-direction sliding block (34) is arranged on the X-direction guide rail (33) in a sliding mode and is connected with a Y-axis connecting plate (21) of the Y-direction moving mechanism (2);
the Y-direction moving mechanisms (2) are arranged in two groups and are oppositely connected with the head end and the tail end of the two groups of X-direction moving mechanisms (3) in parallel, and each Y-direction moving mechanism comprises a Y-axis connecting plate (21) used for connecting the Y-direction moving mechanisms (2) with the X-direction moving mechanisms (3), a Y-axis mounting plate (22) used for supporting the Y-direction moving mechanism (2), a Y-direction driving device (23) used for pushing a Y-direction sliding block (25) to horizontally move on a Y-direction guide rail (24), a Y-direction guide rail (24) used for guiding and a Y-direction sliding block (25) used for driving a Z-direction moving mechanism (6) to horizontally move along the Y direction, wherein the Y-axis connecting plates (21) are horizontally and fixedly arranged at the end parts of the X-direction moving mechanisms (3) along the Y direction; the Y-axis mounting plate (22) and the Y-axis connecting plate (21); the Y-direction driving device (23) is a power component, the output end of the Y-direction driving device stretches along the Y direction, and the output end is connected with the Y-direction sliding block (25); the Y-direction guide rail (24) is horizontally arranged on the Y-axis mounting plate (22) along the Y direction; the Y-direction sliding blocks (25) are arranged on the Y-direction guide rail (24) in a sliding mode, and each set of Z-direction moving mechanism (6) is correspondingly installed on each Y-direction sliding block (25);
the two sets of Z-direction moving mechanisms (6) are respectively vertically arranged on the two Y-direction sliding blocks (25), and comprise Z-direction lifting devices (61) for driving the Z-direction sliding blocks (63) to move, Z-direction guide rails (62) arranged along the Z direction and Z-direction sliding blocks (63) for driving the clamping mechanisms to lift along the Z direction, wherein the Z-direction lifting devices (61) are arranged on the Y-direction sliding blocks (25) and keep the lifting ends of the Z-direction lifting devices (61) to stretch along the Z direction; the Z-direction guide rail (62) is connected with the Y-direction slide block (25); the Z-direction sliding block (63) is connected with the corresponding clamping mechanism;
the clamping mechanism comprises a first clamping mechanism (4) used for transferring the soft package battery from the tray to the middle transition position and a second clamping mechanism (5) used for transferring the soft package battery from the middle transition position to the working position, the first clamping mechanism (4) and the second clamping mechanism (5) are respectively suspended below two sets of Z-direction moving mechanisms (6), and the first clamping mechanism (4) comprises a first Z-axis connecting plate (41) used for connecting the first clamping mechanism (4) to the Z-direction moving mechanisms, a first mounting plate (42) used for fixing a first rotary air cylinder (43), a first rotary air cylinder (43) used for driving the first clamping jaw assembly (44) to rotate 360 degrees around the Z-direction central axis of the first clamping jaw assembly (44) and a first clamping jaw assembly (44) used for clamping the battery; the first Z-axis connecting plate (41) is mounted on one Z-direction sliding block (63); the first rotary cylinder (43) is vertically installed on the first Z-axis connecting plate (41) through the first installing plate (42), the rotary central shaft of the first rotary cylinder (43) is arranged along the Z direction, and the rotary end of the first rotary cylinder (43) is connected with the first clamping jaw assembly (44); the bottom of the first clamping jaw assembly (44) is provided with a plurality of clamping parts for clamping the battery;
the second clamping mechanism (5) comprises a second Z-axis connecting plate (51) used for connecting the second clamping mechanism (5) to the Z-direction sliding block (63) and a plurality of second clamping jaw assemblies (52) arranged on the second Z-axis connecting plate (51), and the second Z-axis connecting plate (51) is arranged on the other Z-direction sliding block (63); the second jaw assembly (52) is rotatably suspended from the second Z-axis web (51).
2. The lithium battery duplex handling manipulator of claim 1, characterized in that: the first clamping jaw assembly (44) comprises a first clamping jaw mounting plate (441) and a plurality of first clamping jaw components (442) used for clamping and carrying batteries, and the first clamping jaw mounting plate (441) is mounted at the rotating end of the first rotating cylinder (43); the first jaw member (442) is attached directly below the first jaw mounting plate (441).
3. The lithium battery duplex handling manipulator of claim 2, characterized in that: the first jaw part (442) includes a first connector (4421), a first clamping cylinder (4422), and a first gas claw (4423), the first connector (4421) being connected directly below the first jaw mounting plate (441); the first clamping cylinder (4422) is installed below the first connecting piece (4421) and is used for controlling the closing and opening of the first air claw (4423); the first air claw (4423) is arranged below the first clamping cylinder (4422) and consists of a pair of oppositely arranged first clamping pieces, and the first clamping pieces are respectively arranged at two clamping ends of the first clamping cylinder (4422) which move oppositely or reversely to form a revolution air claw for clamping the battery.
4. The lithium battery duplex handling manipulator of claim 3, characterized in that: the second clamping jaw assembly (52) comprises a second mounting plate (521) for mounting and connecting the second clamping jaw assembly (52) to the second Z-axis connecting plate (51), a second rotating assembly (522) for driving the second clamping cylinder (523) to rotate for 360 degrees, a second clamping cylinder (523) and a second air jaw (524); the second mounting plate (521) is connected with the second Z-axis connecting plate (51); the second rotating assembly (522) is connected below the second mounting plate (521), and keeps the second rotating assembly (522) to take a Z-direction central shaft as a rotating center; the second clamping cylinder (523) is arranged at the rotating end of the second rotating assembly (522) and is used for controlling the closing and the opening of the second air claw (524); the second air claw (524) is arranged below the second clamping cylinder (523) and consists of a pair of oppositely arranged second clamping pieces, and the second clamping pieces are respectively arranged at two clamping ends of the second clamping cylinder (523) which move oppositely or reversely to form a self-rotating air claw for clamping the battery.
5. The lithium battery duplex handling manipulator of claim 4, characterized in that: the X-direction moving mechanism is characterized in that the number of the supporting upright columns (1) is six, every two supporting upright columns are in one group and are respectively supported at the front end, the middle end and the rear end of the two groups of X-direction moving mechanisms (3).
6. The lithium battery duplex handling manipulator of claim 5, characterized in that: the first clamping jaw assembly (44) further comprises an anti-collision sensor assembly (443) used for detecting whether the battery is collided, and the anti-collision sensor assembly (443) is arranged at each top corner position of the first clamping jaw mounting plate (441).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120160501.1U CN215515713U (en) | 2021-01-20 | 2021-01-20 | Lithium battery duplex carrying manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120160501.1U CN215515713U (en) | 2021-01-20 | 2021-01-20 | Lithium battery duplex carrying manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN215515713U true CN215515713U (en) | 2022-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120160501.1U Active CN215515713U (en) | 2021-01-20 | 2021-01-20 | Lithium battery duplex carrying manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN215515713U (en) |
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2021
- 2021-01-20 CN CN202120160501.1U patent/CN215515713U/en active Active
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