CN216180610U

CN216180610U - Multi-electric-core stepless variable-pitch gripper mechanism

Info

Publication number: CN216180610U
Application number: CN202122746822.2U
Authority: CN
Inventors: 缪恒; 谢年旺; 章善林; 陈友财; 缪泽强
Original assignee: Ningde Sikeqi Intelligent Equipment Co Ltd
Current assignee: Ningde Sikeqi Intelligent Equipment Co Ltd
Priority date: 2021-11-10
Filing date: 2021-11-10
Publication date: 2022-04-05
Anticipated expiration: 2031-11-10

Abstract

The utility model provides a multi-electric-core stepless variable-pitch gripper mechanism, which comprises a flange plate arranged at the tail end of a mechanical arm, the lower end of the flange plate is provided with a first U-shaped plate, the lower end of a vertical plate of the first U-shaped plate is provided with a first supporting plate, the left end and the right end of the upper end surface of the first supporting plate are respectively provided with a supporting block, a roller shaft is erected between the two supporting blocks, a driving motor for driving the roller shaft to rotate is arranged on the left side of the roller shaft, a plurality of first arc-shaped grooves are formed in the left end of the outer side surface of the roller shaft, the right end of the outer side surface of the roller shaft is provided with a plurality of second arc-shaped grooves with the direction opposite to that of the first arc-shaped grooves, connecting blocks are arranged in the first arc-shaped groove and the second arc-shaped groove, a strip-shaped guide rail groove is formed in the first supporting plate, and a moving block is arranged in the strip-shaped guide rail groove; the battery cell grabbing device is simple in structure, convenient and fast to operate and convenient to grab battery cells of different models.

Description

Multi-electric-core stepless variable-pitch gripper mechanism

Technical Field

The utility model relates to the technical field of battery cell transportation, in particular to a multi-battery cell stepless variable-pitch gripper mechanism.

Background

The battery cell refers to a single electrochemical battery cell containing a positive electrode and a negative electrode, and is generally not used directly. The battery is different from a battery which comprises a protection circuit and a shell and can be directly used. The composition of the lithium ion secondary rechargeable battery is as follows: and the battery cell + a protection circuit board. The battery core is formed by removing the protective circuit board from the rechargeable battery. It is an electric storage portion in the rechargeable battery. The quality of the battery core directly determines the quality of the rechargeable battery.

Electric core needs snatch and place electric core in process of production, prior art snatchs and places electric core through installing the grabbing hand mechanism at the robot arm end, but current electric core tongs mechanism, only two compatible control range usually, the action that adopts the cylinder is to snatching and placing of electric core, this kind of mechanism not only can snatch specific size's electric core, and meet under the condition of producing line remodeling, need shut down, then the manual work is carried out and is grabbed the part and change, can reduce the production efficiency of electric core, the output of producing the line is seriously influenced.

Disclosure of Invention

In view of this, the present invention provides a multi-cell stepless variable-pitch gripper mechanism, which is convenient for picking and placing cells of different models.

The utility model is realized by adopting the following method: the utility model provides a stepless displacement tongs mechanism of many electric cores which characterized in that: the automatic feeding device comprises a flange plate which is used for being installed at the tail end of an mechanical arm, wherein a first U-shaped plate is arranged at the lower end of the flange plate, a first supporting plate is arranged at the lower end of a vertical plate of the first U-shaped plate, supporting blocks are arranged at the left end and the right end of the upper end surface of the first supporting plate respectively, a roller shaft is erected between the two supporting blocks, a driving motor used for driving the roller shaft to rotate is arranged at the left side of the roller shaft, a plurality of first arc-shaped grooves are formed in the left end of the outer side surface of the roller shaft, a plurality of second arc-shaped grooves opposite to the first arc-shaped grooves in direction are formed in the right end of the outer side surface of the roller shaft, connecting blocks are arranged in the first arc-shaped grooves and the second arc-shaped grooves, strip-shaped guide grooves are formed in the first supporting plate, a moving block is arranged in the strip-shaped guide grooves, and the upper end surface of the moving block is connected with the lower end surface of the connecting blocks, the lower end face of the moving block is provided with a second supporting plate, the second supporting plate is connected with the first supporting plate through a limiting guide piece, a pneumatic claw locking plate is arranged below the second supporting plate, the pneumatic claw locking plate is connected with the second supporting plate through a buffer piece, and a pneumatic claw is arranged at the lower end of the pneumatic claw locking plate.

Furthermore, spacing guide part includes a T style of calligraphy guide rail, both ends all are provided with before the up end of second backup pad T style of calligraphy guide rail, the lower terminal surface of first backup pad be provided with T style of calligraphy guide rail matched with guide rail piece.

Further, the bolster includes a sleeve, both ends all inlay before the up end of second backup pad and are equipped with the sleeve, the sleeve pierces through the second backup pad just extends to outside the second backup pad, the sleeve through a linear bearing with the second backup pad is connected, the sleeve lower extreme is provided with a buffer spring, the buffer spring lower extreme with the gas claw lock is paid the board up end and is connected.

Furthermore, a baffle is arranged on the right end face of the drum shaft and located on the right side of the supporting block, a first L-shaped supporting plate is arranged on the right side of the upper end face of the first supporting plate, a plurality of third arc-shaped grooves are formed in the vertical plate annular array of the first L-shaped supporting plate, and a first optical fiber sensor is arranged in each third arc-shaped groove.

Further, both ends all are provided with third backup pad and fourth backup pad about the lower terminal surface of first backup pad, and two fourth backup pads are located between two third backup pads, both ends all are provided with second L template around the medial surface of third backup pad, the bar groove has been seted up on the vertical board of second L template, both ends around the medial surface of third backup pad the bar groove with the medial surface of fourth backup pad all is provided with second optical fiber sensor.

Furthermore, both ends about the up end front side of first backup pad with the up end rear side of first backup pad all is provided with a carriage, the up end rear side of first backup pad with all be provided with L type piece in the carriage, be provided with third optical fiber sensor on the vertical board of L type piece.

Furthermore, the up end left and right sides of first backup pad all is provided with the third L template, the preceding terminal surface of third L template is provided with the fifth backup pad, the preceding terminal surface of fifth backup pad is provided with fourth L template and a Z style of calligraphy template, the trailing flank of the vertical board of upper end of Z style of calligraphy template with the preceding terminal surface of fifth backup pad is connected, the vertical board trailing flank of lower extreme of Z style of calligraphy template through a connecting plate with the terminal surface is connected before the vertical board of fourth L template, the terminal surface is provided with a camera before the vertical board of lower extreme of Z style of calligraphy template, the camera pierces through the lower extreme connecting plate of fourth L template and extends to the lower extreme of fourth L template.

Further, a fourth optical fiber sensor is arranged on the inner side of the air claw.

Furthermore, a fifth optical fiber sensor is arranged on the air claw locking plate.

The utility model has the beneficial effects that: according to the device, the driving motor, the roller shaft, the first arc-shaped groove, the second arc-shaped groove and the gas claw are added, the driving motor can drive the roller shaft to rotate, the roller shaft can drive the gas claw in the first arc-shaped groove and the gas claw in the second arc-shaped groove to move in opposite directions, so that the position of the gas claw is adjusted, the grabbing and placing of multiple cells in different sizes can be compatible under the condition of no shutdown, and the yield of a production line is improved; the buffer spring and the second optical fiber sensor are added in the device, the buffer spring can buffer the gas claw when the gas claw moves downwards, and when the gas claw locking plate and the gas claw shield the second optical fiber sensor, the second optical fiber sensor gives an alarm to prevent the gas claw from exceeding a reasonable stroke and avoid the gas claw from being longitudinally extruded to cause the damage of the gas claw; a third optical fiber sensor is added in the device, and the third optical fiber sensor can judge whether a battery core exists below the gas claw, so that the gas claw can grab the battery core; the camera is added in the device, and can shoot the state of the battery cell below the gas claw, so that the gas claw can better grab the battery cell; a fourth optical fiber sensor is added in the device, and the fourth optical fiber sensor can judge whether the electric core is on the gripper or not, so that the electric core can be gripped and placed conveniently; a fifth optical fiber sensor is added in the device, and can judge the state of the gas claw, so that the grabbing of the cell by the gas claw is facilitated; the baffle and the first optical fiber sensor are added into the device, so that the first optical fiber sensors at different positions can be shielded by the baffle to adjust the moving distance of the gas claw, and the gas claw can grasp the battery cores of different models; the battery cell grabbing device is simple in structure, convenient and fast to operate and convenient to grab battery cells of different models.

Drawings

FIG. 1 is a schematic view of the structure of the present invention.

Fig. 2 is a schematic diagram of the second supporting plate structure.

Detailed Description

The utility model is further described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, the utility model provides an embodiment of a multi-core stepless variable-pitch gripper mechanism, which includes a flange 1 installed at the end of a mechanical arm, the gripper is installed on the mechanical arm through the flange 1, the gripper mechanism is driven to move by the mechanical arm, a first U-shaped plate 2 is installed at the lower end of the flange 1, a first support plate 3 is installed at the lower end of a vertical plate of the first U-shaped plate 2, a support block 4 is installed at each of the left and right ends of the upper end surface of the first support plate 3, a roller shaft 5 is erected between the two support blocks 4, a drive motor 6 for driving the roller shaft 5 to rotate is installed at the left side of the roller shaft 5, a motor frame 7 for supporting the drive motor 6 is installed on the first support plate 3, a plurality of first arc-shaped grooves 8 are installed at the left end of the outer side surface of the roller shaft 5, a plurality of second arc-shaped grooves 9 opposite to the first arc-shaped grooves 8 are formed in the right end of the outer side surface of the roller shaft 5, connecting blocks 10 are arranged in the first arc-shaped grooves 8 and the second arc-shaped grooves 9, the roller shaft 5 can be driven to rotate by the driving motor 6, the roller shaft 5 can drive the connecting blocks 10 in the first arc-shaped grooves 8 and the second arc-shaped grooves 9 to move in opposite directions by the rotation of the roller shaft, strip-shaped guide rail grooves 11 are formed in the first supporting plate 3, moving blocks 12 are arranged in the strip-shaped guide rail grooves 11, the moving blocks 12 can be driven to move in the strip-shaped guide rail grooves 11 by the movement of the connecting blocks 10, the upper end surfaces of the moving blocks 12 are connected with the lower end surfaces of the connecting blocks 10, second supporting plates 13 are arranged on the lower end surfaces of the moving blocks 12, and the second supporting plates 13 are connected with the first supporting plates 3 through limiting guide members 14, spacing guide 14 can become linear motion with the curvilinear motion of connecting block 10, second backup pad 13 below is provided with gas claw lock and pays board 15, gas claw lock pay board 15 through a bolster 16 with second backup pad 13 is connected, the lower extreme of gas claw lock pay board 15 is provided with a gas claw 17, and moving block 12 removes and can drive second backup pad 13 and gas claw 17 and remove, adjusts the position of gas claw 17 to realize that gas claw 17 can snatch the electric core of different models, be provided with the gravity cushion 18 on the gas claw 17, the gravity cushion 18 can avoid gas claw 17 to the grabbing extrusion deformation of electric core.

As shown in fig. 1 and fig. 2, the limiting guide 14 includes a T-shaped guide rail 19, the T-shaped guide rail 19 is disposed at both front and rear ends of the upper end surface of the second support plate 13, a guide rail block (not shown) matched with the T-shaped guide rail 19 is disposed at the lower end surface of the first support plate 3, and the T-shaped guide rail 19 is matched with the guide rail block to limit and guide the second support plate 13, so as to change the curve motion of the connection block 10 and the second support plate 13 into a linear motion.

As shown in fig. 2, the buffering member 16 includes a sleeve 20, the sleeve 20 is embedded at both front and rear ends of the upper end surface of the second supporting plate 13, the sleeve 20 is made of acrylic rubber, the sleeve 20 penetrates through the second supporting plate 13 and extends out of the second supporting plate 13, the sleeve 20 is connected to the second supporting plate 13 through a linear bearing (not shown), a buffering spring 21 is disposed at the lower end of the sleeve 20, the lower end of the buffering spring 21 is connected to the upper end surface of the pneumatic claw locking plate 15, and the buffering spring 21 can buffer when the pneumatic claw 17 is pressed against another object, so as to prevent the pneumatic claw 17 from being damaged due to the pressing.

As shown in fig. 1, a baffle 22 is disposed on a right end surface of the drum shaft 5, the baffle 22 is located on a right side of the support block 4, a first L-shaped support plate 23 is disposed on a right side of an upper end surface of the first support plate 3, a plurality of third arc-shaped grooves 24 are disposed in a vertical plate annular array of the first L-shaped support plate 23, a first optical fiber sensor 25 is disposed in the third arc-shaped grooves 24, the type of the first optical fiber sensor 25 may be WLL170, but not limited thereto, the drum shaft 5 can shield the first optical fiber sensors 25 at different positions by rotating, so as to adjust a rotation angle of the drum shaft 5.

As shown in fig. 1, a third support plate 26 and a fourth support plate 27 are disposed at both left and right ends of a lower end surface of the first support plate 3, the third support plate 26 is provided with a plurality of first holes 28 for reducing weight, the two fourth support plates 27 are disposed between the two third support plates 26, both front and rear ends of an inner side surface of the third support plate 26 are provided with second L-shaped plates 29, a vertical plate of the second L-shaped plate 29 is provided with a strip-shaped groove 30, both front and rear ends of an inner side surface of the third support plate 26 are provided with a second optical fiber sensor 31, the type of the second optical fiber sensor 31 may be WLL170, but not limited thereto, the second optical fiber sensor 31 on the fourth support plate 27 can detect a position of the air lock plate 15, and the second optical fiber sensor 31 on the strip-shaped groove 30 can detect a position of the air lock 17, when the air claw locking plate 15 and the air claw 17 are excessively squeezed and shield the second optical fiber sensor 31, the second optical fiber sensor 31 can give an alarm, and then the mechanical arm stops moving the hand claw.

As shown in fig. 1, a supporting frame 32 is disposed at each of the left and right ends of the front end surface of the first supporting plate 3 and the rear end surface of the first supporting plate 3, an L-shaped block 33 is disposed at each of the rear end surface of the first supporting plate 3 and the supporting frame 32, a plurality of second holes 34 for reducing weight are formed in the L-shaped block 33, a third optical fiber sensor 35 is disposed on a vertical plate of the L-shaped block 33, and the type of the third optical fiber sensor 35 may be WLL170, but is not limited thereto, and the third optical fiber sensor 35 can determine whether there is an electric core below the gas claw 17.

As shown in fig. 1, the left and right sides of the upper end surface of the first support plate 3 are provided with third L-shaped plates 36, the front end surface of the third L-shaped plate 36 is provided with a fifth support plate 37, the front end surface of the fifth support plate 37 is provided with a fourth L-shaped plate 38 and a Z-shaped plate 39, the rear side surface of the upper vertical plate of the Z-shaped plate 39 is connected with the front end surface of the fifth support plate 37, the rear side surface of the lower vertical plate of the Z-shaped plate 39 is connected with the front end surface of the vertical plate of the fourth L-shaped plate 38 through a connection plate 40, the connection plate 40 can improve the connection firmness of the Z-shaped plate 39 and the fourth L-shaped plate 38, the front end surface of the lower vertical plate of the Z-shaped plate 39 is provided with a camera 41, the model of the camera 41 may be D7500, but is not limited thereto, the camera 41 penetrates through the lower end of the fourth L-shaped plate 38 and extends to the lower end of the fourth L-shaped plate 38, the camera 41 can judge the position state of the battery cell below, and then adjust the position state of the gripper structure, so that the gas claw 17 can grip the battery cell conveniently.

Referring to fig. 1 and fig. 2, a fourth optical fiber sensor 42 is disposed inside the gas claw 17, and the model of the fourth optical fiber sensor 42 may be WLL170, but is not limited thereto, and the fourth optical fiber sensor 42 is capable of detecting whether there is a battery cell on the gas claw 17.

With continued reference to fig. 1 and fig. 2, the locking plate of the air gripper 17 is provided with a fifth optical fiber sensor 43, the model of the fifth optical fiber sensor 43 may be WLL170, but not limited thereto, and the fifth optical fiber sensor 43 can detect the open-close state of the air gripper 17.

The working principle of the utility model is as follows: when the device is used, the driving motor is firstly started, the driving motor drives the drum shaft to rotate, the baffle plate on the drum shaft shields the first optical fiber sensors at different positions, then the driving motor is closed, so that the rotation angle of the drum shaft is adjusted, the drum shaft can rotate to drive the connecting blocks on the first arc-shaped groove and the second arc-shaped groove to respectively move towards two sides, the connecting blocks can drive the gas claws to respectively move towards two sides, so that the positions of the gas claws are adjusted to adapt to the width of a battery cell, after the adjustment is completed, the gripper is moved to the upper part of the workbench through the mechanical arm, then the third optical fiber sensor can judge whether the battery cell is below the gas claw, when the battery cell is judged to be below, the camera continues to judge the position state of the battery cell below, then the gripper is adjusted through the mechanical arm, then the gas claw is started, and when the fifth optical fiber sensor detects that the gas claw is in the opening state, the arm drives the tongs and moves downwards and prepares to snatch, contact back and receive upwards extrusion when gas claw and object, make the gas claw owing to the buffering that receives the spring, relative motion takes place for gas claw lock pair board and second backup pad, receive excessive extrusion and shelter from the second optical fiber sensor when gas claw lock pair board and gas claw, second optical fiber sensor can report to the police, then stop the downward movement of mechanical arm to the tongs, then fourth optical fiber sensor can judge whether have electric core on the gas claw, when judging that there is electric core on the gas claw, the gas claw snatchs electric core, the arm drives electric core through the tongs and removes to next step, and place electric core.

The circuit principles and structures of the driving motor, the optical fiber sensor and the camera in the utility model are all the prior art, and it is clear to those skilled in the art that the detailed description is not provided herein, and the utility model protects the structural characteristics of the multi-core stepless variable-pitch gripper mechanism.

The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.

Claims

1. The utility model provides a stepless displacement tongs mechanism of many electric cores which characterized in that: the automatic feeding device comprises a flange plate which is used for being installed at the tail end of an mechanical arm, wherein a first U-shaped plate is arranged at the lower end of the flange plate, a first supporting plate is arranged at the lower end of a vertical plate of the first U-shaped plate, supporting blocks are arranged at the left end and the right end of the upper end surface of the first supporting plate respectively, a roller shaft is erected between the two supporting blocks, a driving motor used for driving the roller shaft to rotate is arranged at the left side of the roller shaft, a plurality of first arc-shaped grooves are formed in the left end of the outer side surface of the roller shaft, a plurality of second arc-shaped grooves opposite to the first arc-shaped grooves in direction are formed in the right end of the outer side surface of the roller shaft, connecting blocks are arranged in the first arc-shaped grooves and the second arc-shaped grooves, strip-shaped guide grooves are formed in the first supporting plate, a moving block is arranged in the strip-shaped guide grooves, and the upper end surface of the moving block is connected with the lower end surface of the connecting blocks, the lower end face of the moving block is provided with a second supporting plate, the second supporting plate is connected with the first supporting plate through a limiting guide piece, a pneumatic claw locking plate is arranged below the second supporting plate, the pneumatic claw locking plate is connected with the second supporting plate through a buffer piece, and a pneumatic claw is arranged at the lower end of the pneumatic claw locking plate.

2. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: spacing guide part includes a T style of calligraphy guide rail, both ends all are provided with before the up end of second backup pad T style of calligraphy guide rail, the lower terminal surface of first backup pad be provided with T style of calligraphy guide rail matched with guide rail piece.

3. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: the bolster includes a sleeve, both ends all inlay before the up end of second backup pad is equipped with the sleeve, the sleeve pierces through the second backup pad just extends to outside the second backup pad, the sleeve through a linear bearing with the second backup pad is connected, the sleeve lower extreme is provided with a buffer spring, the buffer spring lower extreme with the gas claw lock is paid board up end and is connected.

4. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: the right end face of the roller shaft is provided with a baffle, the baffle is located on the right side of the supporting block, a first L-shaped supporting plate is arranged on the right side of the upper end face of the first supporting plate, a plurality of third arc-shaped grooves are formed in the vertical plate annular array of the first L-shaped supporting plate, and a first optical fiber sensor is arranged in each third arc-shaped groove.

5. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: both ends all are provided with third backup pad and fourth backup pad about the lower terminal surface of first backup pad, and two fourth backup pads are located between two third backup pads, both ends all are provided with second L template around the medial surface of third backup pad, the bar groove has been seted up on the vertical board of second L template, both ends around the medial surface of third backup pad the bar groove with the medial surface of fourth backup pad all is provided with second optical fiber sensor.

6. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: both ends about the up end front side of first backup pad with the up end rear side of first backup pad all is provided with a carriage, the up end rear side of first backup pad with all be provided with L type piece in the carriage, be provided with third optical fiber sensor on the vertical board of L type piece.

7. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: the up end left and right sides of first backup pad all is provided with the third L template, the preceding terminal surface of third L template is provided with the fifth backup pad, the preceding terminal surface of fifth backup pad is provided with fourth L template and a Z style of calligraphy template, the trailing flank of the vertical board of upper end of Z style of calligraphy template with the preceding terminal surface of fifth backup pad is connected, the vertical board trailing flank of lower extreme of Z style of calligraphy template through a connecting plate with terminal surface connection before the vertical board of fourth L template, the terminal surface is provided with a camera before the vertical board of lower extreme of Z style of calligraphy template, the camera pierces through the lower extreme connecting plate of fourth L template and extend to the lower extreme of fourth L template.

8. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: and a fourth optical fiber sensor is arranged on the inner side of the air claw.

9. A multi-cell infinitely variable grip mechanism as claimed in claim 1, wherein: and a fifth optical fiber sensor is arranged on the air claw locking plate.