CN216302668U - Loading and unloading mechanism of robot - Google Patents

Abstract

The utility model discloses a loading and unloading mechanism of a robot, which comprises a mechanism frame, a plurality of bolt devices which are arranged along the outer edge outline of the mechanism frame at intervals, and floating devices which are arranged on the mechanism frame and have the same number as the bolt devices. The bolt device is arranged on the mechanism frame and can move to extend upwards and retract downwards to the mechanism frame; each floating device is positioned at the side edge of one corresponding bolt device and comprises a floating conical head which can stretch and slide up and down. The loading and unloading mechanism of the robot enables the tray module to be reliably positioned under the adjustment of the floating device by virtue of the design of the floating device, and then enables the positioned tray module to be fixed by virtue of the pin device, so that the tray module is reliably loaded by the loading and unloading mechanism of the robot.

Description

Loading and unloading mechanism of robot

Technical Field

The utility model relates to the field of power battery production, in particular to a feeding and discharging mechanism of a robot in charge of feeding and discharging of a tray module.

Background

In a new energy automobile, the power battery can not be used, and the electric energy provided by the power battery can meet the power requirement of the automobile so as to gradually replace the mode of providing power by gasoline, diesel oil and the like.

The production process of the power battery relates to a packaging process of the power battery, a baking process of the packaged power battery, a pouring process of the baked power battery and the like.

In the power battery baking process, the batteries processed by the packaging process and stacked are manually placed on the tray one by an operator, and then the tray is placed into a baking box by a manipulator for baking.

In the existing manipulator, because the part of the upper material and the lower material is unreasonable in design, the tray module is inserted into the tray module from the lower part by means of a pin device in the manipulator in the feeding process of the tray module so as to achieve the purpose of stabilizing the tray module. However, the latch device in the manipulator needs to be accurately aligned with the tray module and then can be inserted into the tray module, so that the alignment time between the latch device and the tray module is long and the alignment is unreliable, and the reliability of feeding and discharging of the tray module is further influenced.

Therefore, a robot loading and unloading mechanism that shortens the alignment time and ensures the reliability of loading and unloading of the tray module is needed to overcome the above-mentioned drawbacks.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a loading and unloading mechanism of a robot, which shortens the alignment time and ensures the loading and unloading reliability of a tray module.

In order to achieve the purpose, the loading and unloading mechanism of the robot comprises a mechanism frame, a plurality of pin devices which are arranged at intervals along the outer edge outline of the mechanism frame, and floating devices which are arranged on the mechanism frame and are the same as the pin devices in number. The bolt device is arranged on the mechanism frame, the bolt device can move to extend upwards and retract downwards into the mechanism frame, each floating device is positioned on the side edge of the corresponding bolt device, and each floating device comprises a floating conical head which can stretch and slide up and down.

Preferably, the floating device further comprises a fixed seat fixed at the mechanism frame, the floating conical head is assembled on the fixed seat, and the floating conical head further protrudes upwards out of the fixed seat.

Preferably, the upper end of the floating cone head comprises a circular truncated cone section and a cylindrical section located right below the circular truncated cone section, the center lines of the cylindrical section and the circular truncated cone section are coincident, and the diameter of the cylindrical section is equal to the bottom diameter of the circular truncated cone section.

Preferably, the circular platform section and the partial cylindrical section protrude out of the fixed seat in each direction.

Preferably, the mechanism frame is a square frame, the floating device is installed on the long side of the mechanism frame, and the latch device is installed on the mechanism frame at a position between the two long sides of the mechanism frame.

Preferably, the floating device is mounted to the long side of the mechanism frame from the outside of the mechanism frame.

Preferably, the floating means on one long side of the mechanism frame are arranged back to back with the floating means on the other long side of the mechanism frame.

Preferably, the loading and unloading mechanism of the robot further comprises a sensor, wherein the sensor is mounted on a short side of the mechanism frame from the outside of the mechanism frame, and the short side corresponds to two latch devices positioned in the mechanism frame.

Preferably, the bolt device comprises an upper driver, a lower driver and a bolt, the output ends of the upper driver and the lower driver are arranged upwards, and the bolt is assembled and connected with the output ends of the upper driver and the lower driver.

Preferably, the number of the floating devices and the number of the latch devices are four, all the floating devices are arranged in a square shape, and all the latch devices are arranged in a square shape.

Compared with the prior art, the robot loading and unloading mechanism further comprises the floating devices which are arranged on the mechanism frame and the number of the floating devices is the same as that of the pin devices, each floating device is located on the side edge of the corresponding pin device, each floating device comprises the floating conical heads which can stretch and slide up and down, so that when the robot loading and unloading mechanism loads the tray module from the lower side, one or more of the floating conical heads are inserted into the tray module firstly, and the rest of the floating conical heads enter the tray module in the process of being inserted into and adjusting the tray module by the first inserter, so that the tray module is aligned with the pin devices after all the floating conical heads are inserted, the pin devices are quickly and accurately inserted into the tray module, the alignment time is shortened, and the reliability of loading and unloading of the tray module is ensured.

Drawings

Fig. 1 is a schematic perspective view of a loading and unloading mechanism according to the present invention.

Fig. 2 is a schematic plan view of the loading and unloading mechanism shown in fig. 1 when viewed from top to bottom.

Fig. 3 is a schematic structural plan view of the loading and unloading mechanism shown in fig. 1, as seen from front to back.

Fig. 4 is a schematic perspective view of a floating device in the loading and unloading mechanism shown in fig. 1.

Detailed Description

In order to explain technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.

Referring to fig. 1 to 3, the loading and unloading mechanism 100 of the robot of the present invention is configured to be mounted on an execution end of a robot, such as an execution end of a multi-joint robot, and the robot drives the loading and unloading mechanism 100 of the present invention to move, so as to meet the movement requirement of the loading and unloading mechanism 100 of the present invention during loading and unloading. The loading and unloading mechanism 100 of the present invention includes a mechanism frame 10, four latch devices 20 spaced along the outer edge profile of the mechanism frame 10, and floating devices 30 mounted on the mechanism frame 10 and having the same number as the latch devices 20. The latch device 20 is mounted on the mechanism frame 10, and the latch device 20 can move to extend upwards and retract downwards into the mechanism frame 10 so as to meet the requirement that the latch device 20 is inserted into or pulled out of the tray module; each floating device 30 is located at the side of a corresponding one of the bolt devices 20, and each floating device 30 comprises a floating cone head 31 capable of sliding up and down in a telescopic manner. Specifically, in fig. 1 and 2, all the floating devices 30 are arranged in a square shape, and all the latch devices 20 are arranged in a square shape, so that the floating devices 30 are inserted into the tray module from four corners of the square shape, and the tray module is better adjusted in the insertion process, so that the purpose of accurately positioning the tray module is achieved after all the floating devices 30 are inserted into the tray module, and meanwhile, the latch devices 20 are inserted into the positioned tray module from four corners of the square shape, so that the tray module is reliably and stably fixed; it should be noted that, according to the actual requirement, the number of the latch devices 20 may also be two or three, when there are two latch devices 20, they are arranged diagonally, and when there are three, they are arranged in a triangle, but not limited thereto. More specifically, the following:

as shown in fig. 1 to 4, the floating device 30 further includes a fixing seat 32 fixed at the mechanism frame 10, the floating cone head 31 is assembled on the fixing seat 32, and the floating cone head 31 further protrudes upwards from the fixing seat 32, so as to facilitate the assembly operation of the floating cone head 31 on the mechanism frame 10 by introducing the fixing seat 32. Specifically, in fig. 3 and 4, the upper end of the floating cone 31 includes a circular truncated cone section 311 and a cylindrical section 312 located right below the circular truncated cone section 311, the center lines of the cylindrical section 312 and the circular truncated cone section 311 coincide, and the diameter of the cylindrical section 312 is also equal to the bottom diameter of the circular truncated cone section 311, so that on one hand, the floating cone 31 is convenient to machine and manufacture, on the other hand, the floating cone 31 is easier to insert and adjust the tray module by virtue of the structure of the circular truncated cone section 311 with a small upper part and a large lower part, and finally, the inserted tray module is positioned by the cylindrical section 312. More specifically, in fig. 3, the circular truncated cone section 311 and the partial cylindrical section 312 protrude out of the fixing seat 32 in each direction, so that the floating cone 31 is inserted into the tray module first, and the reliability of the adjustment of the tray module after the floating cone 31 is inserted is ensured. It is understood that, according to actual needs, the fixed seat 32 may be eliminated, and the floating cone head 31 is directly installed at the mechanism frame 10, so the above description is not limited.

As shown in fig. 1 and 2, the mechanism frame 10 is a square frame, the floating device 30 is installed on the long side 11 of the mechanism frame 10, and the latch device 20 is installed on the mechanism frame 10 at a position between the two long sides 11 of the mechanism frame 10, so that the arrangement of the latch device 20 and the floating device 30 on the mechanism frame 10 is reasonable and reliable. Specifically, in fig. 1 and 2, the floating device 30 is mounted on the long side 11 of the mechanism frame 10 from the outside of the mechanism frame 10, and preferably, the floating device 30 on one long side 11 of the mechanism frame 10 is arranged back to back with the floating device 30 on the other long side 11 of the mechanism frame 10, so that the floating device 30 is not located between the two long sides 11 of the mechanism frame 10, and is just staggered with the latch device 20 located between the two long sides 11, thereby making the arrangement of the latch device 20 and the floating device 30 on the mechanism frame 10 more compact and reasonable, but not limited thereto.

As shown in fig. 1 to 3, the loading and unloading mechanism 100 of the present invention further includes an inductor 40, the inductor 40 is mounted on a short side 12 of the mechanism frame 10 from the outside of the mechanism frame 10, and the short side 12 corresponds to two latch devices 20 located in the mechanism frame 10, that is, in fig. 1 and 2, the inductor 40 is mounted on the short side 12 behind the mechanism frame 10 from the outside of the mechanism frame 10, and the two latch devices 20 are adjacent to the short side 12 from the inside of the mechanism frame 10, which is arranged such that the inductor 40 and the two latch devices 20 are offset from each other, so that their arrangement on the mechanism frame 10 is more compact and reasonable, but not limited thereto.

As shown in fig. 1-3, the latch mechanism 20 includes an upper and lower actuator 21 and a latch 22. The output ends of the upper and lower drivers 21 are arranged upwards, the bolt 22 is assembled and connected with the output ends of the upper and lower drivers 21, and the bolt 22 is driven by the upper and lower drivers 21 to be inserted into or pulled out of the tray module upwards. For example, the up-down driver 21 is a cylinder or a hydraulic cylinder, but not limited thereto.

Compared with the prior art, because the loading and unloading mechanism 100 of the robot of the utility model also comprises the floating devices 30 which are arranged on the mechanism frame 10 and have the same number as the latch devices 20, each floating device 30 is arranged at the side of a corresponding latch device 20, each floating device 30 comprises a floating conical head 31 which can slide up and down in a telescopic way, when the loading and unloading mechanism 100 of the robot of the present invention loads the tray module from below, one or more floating conical heads 31 of all the floating conical heads 31 are inserted into the tray module first, while the rest of the tray module enters the tray module in the process of inserting and adjusting the tray module by the first inserter, thereby allowing the pallet module to be aligned with the latch means 20 after all floating cones 31 have been inserted, so that the latch device 20 can be quickly and accurately inserted into the tray module, thereby shortening the alignment time and ensuring the reliability of loading and unloading of the tray module. In the floating cone head 31, the first person to insert is to push the tray module to move along the long side 11 and/or the short side 12 of the mechanism frame 10 to achieve the purpose that the rest person enters the tray module.

The above disclosure is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the utility model, so that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the utility model.

Claims (10)

1. The utility model provides a last unloading mechanism of robot, includes mechanism frame and a plurality of along the outer fringe profile of mechanism frame separates the bolt device of range, the bolt device install in mechanism frame, the bolt device can be upwards stretched out and retract downwards the motion of mechanism frame, its characterized in that, the last unloading mechanism of robot still including install in mechanism frame and quantity with the same floating installation of bolt device, every floating installation is located one that corresponds the side of bolt device, every floating installation respectively contains the unsteady conical head that can stretch out and draw back from top to bottom and slide.

2. The loading and unloading mechanism of robot of claim 1, wherein the floating device further comprises a fixed seat fixed at the mechanism frame, the floating cone head is assembled at the fixed seat, and the floating cone head further protrudes upwards from the fixed seat.

3. The loading and unloading mechanism of robot of claim 2, wherein the upper end of the floating cone head includes a circular truncated cone section and a cylindrical section located right below the circular truncated cone section, the center lines of the cylindrical section and the circular truncated cone section coincide with each other, and the diameter of the cylindrical section is equal to the bottom diameter of the circular truncated cone section.

4. The loading and unloading mechanism of claim 3, wherein the circular platform section and the partial cylindrical section are each protruded from the fixing base.

5. The loading and unloading mechanism of robot of claim 1, wherein said mechanism frame is a square frame, said floating device is installed on the long side of said mechanism frame, and said latch device is installed on the position of said mechanism frame between the two long sides of said mechanism frame.

6. The loading and unloading mechanism of robot of claim 5, wherein said floating device is mounted to the long side of said mechanism frame from the outside of said mechanism frame.

7. The loading and unloading mechanism of robot as claimed in claim 6, wherein the floating device on one long side of the mechanism frame is arranged back to back with the floating device on the other long side of the mechanism frame.

8. The loading and unloading mechanism of robot of claim 5, further comprising a sensor, said sensor is mounted to a short side of said mechanism frame from outside said mechanism frame, said short side corresponding to two latch means located in said mechanism frame.

9. The loading and unloading mechanism of robot of claim 1, wherein the latch device comprises an upper and lower driver and a latch, the output end of the upper and lower driver is arranged upward, and the latch is assembled with the output end of the upper and lower driver.

10. The loading and unloading mechanism of robot of claim 1, wherein there are four each of said floating devices and said latch devices, all of said floating devices are arranged in a square, and all of said latch devices are arranged in a square.

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