CN216707505U

CN216707505U - Multi-axis robot and grabbing mechanism thereof

Info

Publication number: CN216707505U
Application number: CN202123251521.9U
Authority: CN
Inventors: 宋海肖; 黄杰; 曹平
Original assignee: Dongguan Tuosida Technology Co ltd
Current assignee: Dongguan Tuosida Technology Co ltd
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-06-10
Anticipated expiration: 2031-12-22

Abstract

The utility model discloses a grabbing mechanism which is suitable for feeding and/or discharging a battery module. The first embracing body and the second embracing body are positioned under the mechanism base body, the first embracing body is also assembled on the mechanism base body, and the second embracing body is aligned with the first embracing body along the left and right directions of the mechanism base body; the screw rod is rotatably assembled on the mechanism base body and extends along the left and right directions of the mechanism base body, the second holding body is slidably arranged on the mechanism base body, the screw nut is slidably sleeved on the screw rod and is fixedly connected with the second holding body, the rotating motor is fixed on the mechanism base body and drives the screw rod to rotate, and the rotating screw rod drives the screw nut and the second holding body to slide along the screw rod; the battery module clamping device is suitable for reliably clamping battery modules of different specifications. In addition, the utility model also discloses a multi-axis robot.

Description

Multi-axis robot and grabbing mechanism thereof

Technical Field

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

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 robot is a common device responsible for charging and discharging the battery modules.

However, in the existing robot, the grabbing device responsible for grabbing the battery module adopts a clamping mode, namely, the relative sliding of the two clamping jaws achieves the purpose of loosening and clamping the battery module, and the power of the loosening and clamping movement of the clamping jaws comes from the air cylinder, so that the existing grabbing device cannot be compatible with grabbing of the battery modules with different specifications.

Therefore, a multi-axis robot and a grabbing mechanism thereof suitable for reliably clamping battery modules with different specifications are needed to overcome the above defects.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a grabbing mechanism which is suitable for reliably clamping battery modules with different specifications.

Another object of the present invention is to provide a multi-axis robot adapted to reliably clamp battery modules of different specifications.

In order to achieve the purpose, the grabbing mechanism is suitable for feeding and/or discharging the battery module and comprises a rotating motor, a screw rod, a nut, a mechanism base body used for being assembled at the tail joint of a multi-axis joint main body, and a first holding body and a second holding body which are matched with each other to hold and clamp the battery module. The first embracing body and the second embracing body are positioned under the mechanism base body, the first embracing body is also assembled on the mechanism base body, and the second embracing body is aligned with the first embracing body along the left and right directions of the mechanism base body; the screw rod is rotatably assembled on the mechanism base body and extends along the left and right directions of the mechanism base body, the second embracing body is slidably arranged on the mechanism base body, the screw nut is slidably sleeved on the screw rod and is fixedly connected with the second embracing body, the rotating motor is fixed on the mechanism base body and drives the screw rod to rotate, and the screw nut and the second embracing body are driven by the rotating screw rod to slide along the screw rod together.

Preferably, the first clasp body is assembled on the mechanism base body in a position-adjustable manner along the left and right directions of the mechanism base body.

Preferably, the mechanism seat body is provided with at least two mounting positions arranged at intervals along the left and right directions of the mechanism seat body, and the first clasp body is selectively assembled at any one of the mounting positions.

Preferably, each of the mounting positions is formed by a plurality of mounting holes.

Preferably, first armful of body is faced one side of second armful of body is respectively towards being close to the protruding first side of stretching out of direction of second armful of body is pressed protruding and first is pressed protruding, the second armful of body is faced one side of first armful of body is respectively towards being close to the protruding second side of stretching out of direction of first armful of body is pressed protruding and the second is pressed protruding down, first side is pressed protruding to be followed the left and right sides direction of mechanism pedestal with second side is pressed protruding and is aligned, first is pressed protruding to be followed the left and right sides direction of mechanism pedestal with the second is pressed protruding and is aligned down.

Preferably, the first body of embracing is carried on the back to one side of the body is installed the first cylinder of output up to the second, the output of first cylinder is installed and is located briquetting on the first under-pressure is protruding, the second is carried on the back to the body one side of the first body of embracing is installed the second cylinder of output up to the back, the output of second cylinder is installed and is located briquetting on the second under-pressure is protruding, first cylinder orders about the briquetting is done in the first time and is close to or keeps away from the slip of first under-pressure is protruding, the second cylinder orders about the briquetting is done on the second and is close to or keeps away from the slip of second under-pressure is protruding.

Preferably, the rotating motor is located right above the mechanism base, the screw rod is located right below the mechanism base, and the rotating motor drives the screw rod to rotate through belt transmission, chain transmission or gear transmission.

Preferably, an inverted-door-shaped enclosing frame is assembled under the mechanism base, a space is enclosed between the enclosing frame and the mechanism base, one end of the screw rod is located in the space, the other end of the screw rod penetrates out of the enclosing frame, and the second enclosing body is slidably sleeved on the enclosing frame.

Preferably, a portal connecting seat is assembled above the middle part of the mechanism seat body, and the mechanism seat body is assembled and connected with the tail joint of the multi-axis joint main body through the portal connecting seat.

In order to achieve the above object, the multi-axis robot of the present invention includes a multi-axis joint body and the above grasping mechanism, wherein the mechanism base is assembled to a distal joint of the multi-axis joint body.

Compared with the prior art, the grabbing mechanism further comprises a rotating motor, a screw rod and a nut, the screw rod is rotatably assembled on the mechanism base body and extends along the left and right directions of the mechanism base body, the second holding body is slidably arranged on the mechanism base body, the nut is slidably sleeved on the screw rod and is fixedly connected with the second holding body, the rotating motor is fixed on the mechanism base body and drives the screw rod to rotate, and the rotating screw rod drives the nut and the second holding body to slide along the screw rod together, so that the second holding body and the first holding body can hold or release the holding-clamping battery module together; and the sliding stroke of the second holding body is determined by the length of the screw rod, and the second holding body can be stopped at any position of the screw rod, so that the battery module clamping device is suitable for reliably holding battery modules with different specifications.

Drawings

Fig. 1 is a schematic perspective view of a multi-axis robot according to the present invention.

Fig. 2 is a schematic perspective view of a grasping mechanism in the multi-axis robot of the present invention.

Fig. 3 is a schematic plan view of the grasping mechanism shown in fig. 2 viewed in the direction indicated by the arrow C.

Fig. 4 is a schematic plane structure diagram of the grabbing mechanism shown in fig. 3 after the first clasp body is adjusted.

Fig. 5 is a schematic plan view of the grasping mechanism shown in fig. 4 showing the battery module.

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, the multi-axis robot 100 of the present invention includes a multi-axis joint main body 10 and a grasping mechanism 20, wherein a mechanism base 21 of the grasping mechanism 20 is assembled to a distal joint 11 of the multi-axis joint main body 10, and the multi-axis joint main body 10 drives the grasping mechanism 20 to perform multi-axis motion, so as to satisfy the requirement of the grasping mechanism 20 for blanking the battery module 200, and similarly, also satisfy the requirement of the battery module 200 for loading. Specifically, in fig. 1, in order to facilitate stacking of the discharged battery modules 200, the multi-axis robot 100 of the present invention further includes three pallets 30 located beside the multi-axis joint body 10, and the pallets 30 are arranged in order. For example, the multi-axis joint body 10 may be a three-axis, four-axis, five-axis or six-axis joint body, so that the multi-axis robot 100 of the present invention correspondingly forms a three-axis, four-axis, five-axis or six-axis robot, but not limited thereto.

With reference to fig. 2 to 5, the grabbing mechanism 20 includes a mechanism base 21, a first clasp 22, a second clasp 23, a rotating motor 24, a screw 25 and a nut 26. The mechanism base 21 is assembled at the end joint 11 of the multi-axis joint main body 10, the first clasp body 22 and the second clasp body 23 are matched with each other to clasp the battery module 200, the first clasp body 22 and the second clasp body 23 are positioned right below the mechanism base 21, the first clasp body 22 is also assembled at the mechanism base 21, and the mechanism base 21 provides a supporting function and an assembling place for the first clasp body 22; the second clasping body 23 is aligned with the first clasping body 22 along the left-right direction of the mechanism base 21, so that the first clasping body 22 and the second clasping body 23 clamp the battery module 200 along the left-right direction of the mechanism base 21; the screw rod 25 is rotatably assembled on the mechanism seat 21, the mechanism seat 21 provides a supporting function and an assembling place for the screw rod 25, and the screw rod 25 also extends along the left-right direction of the mechanism seat 21, so that the length direction of the screw rod 25 is arranged along the left-right direction of the mechanism seat 21; the second embracing body 23 is slidably disposed on the mechanism base 21, so that the second embracing body 23 can slide on the mechanism base 21; the screw 26 is slid on the screw rod 25 and is fixedly connected with the second embracing body 23, the rotating motor 24 is fixed on the mechanism base 21 and drives the screw rod 25 to rotate, the rotating screw rod 25 drives the screw 26 and the second embracing body 23 to slide along the screw rod 25, so that the second embracing body 23 correspondingly embraces or loosens the battery module 200 with the first embracing body 22. Specifically, in fig. 3 and 4, the first clasping body 22 is assembled on the mechanism base 21 in a position-adjustable manner along the left-right direction of the mechanism base 21, so that the first clasping body 22 can flexibly adjust its position on the mechanism base 21 according to actual needs, and further the application range of the grabbing mechanism 20 to battery modules 200 with different specifications is expanded. More specifically, in fig. 2, the mechanism seat 21 is provided with two mounting locations 211 arranged at intervals in the left-right direction of the mechanism seat 21, and the first clasp body 22 is selectively mounted at any one of the mounting locations 211, for example, in fig. 2 and 3, the first clasp body 22 is mounted with the mounting location 211 on the left side, and in fig. 4, the first clasp body 22 is mounted with the mounting location 211 on the right side. For example, in fig. 2, each mounting position 211 is formed by six mounting holes to simplify the structure of the mounting position 211, and of course, each mounting position 211 may be formed by two, three, four or five mounting holes which are different according to actual needs, so the utility model is not limited to the illustration in the drawings. In addition, the number of the mounting positions 211 can also be set to three or four, which is not limited to the illustration in the drawings.

As shown in fig. 2 to 5, a side (for example, but not limited to, the right side in fig. 3) of the first clasp body 22 facing the second clasp body 23 protrudes with a first side embossing 221 and a first lower embossing 222 respectively in a direction approaching the second clasp body 23, a side (for example, but not limited to, the left side in fig. 3) of the second clasp body 23 facing the first clasp body 22 protrudes with a second side embossing 231 and a second lower embossing 232 respectively in a direction approaching the first clasp body 22, the first side embossing 221 is aligned with the second side embossing 231 along the left-right direction of the mechanism base 21, and the first lower embossing 222 is aligned with the second lower embossing 232 along the left-right direction of the mechanism base 21; the left side and the right side of the battery module 200 are clamped through the matching of the first side embossing 221 and the second side embossing 231, and the battery module 200 clamped jointly by the first side embossing 221 and the second side embossing 231 is supported from the lower side through the matching of the first lower embossing 222 and the second lower embossing 232, so that the clamping reliability of the battery module 200 is improved. Specifically, in fig. 2 to 5, a first cylinder 27 with an upward output end 271 is installed on a side (for example, but not limited to, the left side in fig. 3) of the first clasp body 22 facing away from the second clasp body 23, a first upper pressing block 272 located right above the first lower pressing protrusion 222 is installed on the output end 271 of the first cylinder 27, a second cylinder 28 with an upward output end 281 is installed on a side (for example, but not limited to, the right side in fig. 3) of the second clasp body 23 facing away from the first clasp body 22, a second upper pressing block 282 located right above the second lower pressing protrusion 232 is installed on the output end 281 of the second cylinder 28, the first cylinder 27 drives the first upper pressing block 271 to slide toward or away from the first lower pressing protrusion 222, the second cylinder 28 drives the second upper pressing block 282 to slide toward or away from the second lower pressing protrusion 232, so as to utilize cooperation of the first cylinder 27, the first upper pressing block 272 and the first lower pressing protrusion 222, and the second cylinder 28, The cooperation of the second upper pressing block 282 and the second lower pressing protrusion 232 enables the first upper pressing block 272 and the first lower pressing protrusion 222 to clamp the left side of the battery module 200 along the up-down direction of the mechanism base 21, and enables the second upper pressing block 282 and the second lower pressing protrusion 232 to clamp the right side of the battery module 200 along the up-down direction of the mechanism base 21, and then the first side pressing protrusion 221 and the second side pressing protrusion 231 are combined to clamp the battery module 200 along the left-right direction of the mechanism base 21, so that the clamping of the battery module 200 in the up-down, left-right and left-right directions is realized, and the reliability of the clamping of the battery module 200 is improved.

As shown in fig. 2 to 5, the rotating motor 24 is located right above the mechanism base 21, and the screw rod 25 is located right below the mechanism base 21, so that the rotating motor 24 and the screw rod 25 are arranged on the mechanism base 21 in different sides, so that the arrangement between them is more compact and reasonable; the rotating motor 24 drives the screw rod 25 to rotate through belt transmission, so as to ensure that the rotating motor 24 can drive the screw rod 25 to rotate remotely and stably, and of course, the rotating motor 24 can also drive the screw rod 25 to rotate through chain transmission or gear transmission according to actual needs. For example, the output shaft of the rotating motor 24 is provided with a primary pulley 241, the screw 25 is provided with a secondary pulley 242 aligned with the primary pulley 241, the secondary pulley 242 and the primary pulley 241 are sleeved with a belt 243, so that the secondary pulley 242 and the screw 25 are driven to rotate together by the belt 243 during the rotation of the primary pulley 241 driven by the rotating motor 24.

As shown in fig. 2 to 5, an inverted "door" -shaped enclosure frame 212 is assembled right below the mechanism base 21, a space 213 is enclosed between the enclosure frame 212 and the mechanism base 21, one end of the lead screw 25 is located in the space 213, the other end of the lead screw 25 penetrates through the enclosure frame 212, and the second embracing body 23 is slidably sleeved on the enclosure frame 212, so that the arrangement of the second embracing body 23, the enclosure frame 212 and the lead screw 25 is more compact, and the second embracing body 23 can slide more smoothly under the guidance of the enclosure frame 212 to the second embracing body 23. In addition, a door-shaped connecting seat 29 is assembled above the middle part of the mechanism seat body 21, and the mechanism seat body 21 is assembled and connected with the end joint 11 of the multi-axis joint main body 10 through the door-shaped connecting seat 29, so that the convenience of the assembly operation of the grabbing mechanism 10 and the end joint 11 of the multi-axis joint main body 10 is improved.

The clamping process of the grabbing mechanism of the utility model on the battery module is explained by combining the accompanying drawings: as shown in fig. 5, when the first downward pressing protrusion 222 of the first clasp body 22 supports the left side of the battery module 200 and the first lateral pressing protrusion 221 contacts with the left side of the battery module 200, the rotating motor 24 drives the screw rod 25 to rotate, the rotating screw rod 25 drives the screw nut 26 to slide along with the second clasp body 23 in the direction approaching to the first clasp body 22 until the second lateral pressing protrusion 231 of the second clasp body 23 contacts with the right side of the battery module 200, and the second downward pressing protrusion 232 supports the right side of the battery module 200 from below; then, the first cylinder 27 drives the first upper pressing block 272 to slide in a direction close to the first lower pressing protrusion 222, and the second cylinder 28 drives the second upper pressing block 282 to slide in a direction close to the second lower pressing protrusion 232, so that the first upper pressing block 272 and the first lower pressing protrusion 222 clamp the left side of the battery module 200 together, and the second upper pressing block 282 and the second lower pressing block 232 clamp the right side of the battery module 200 together, thereby achieving the purpose of clasping the battery module 200.

Compared with the prior art, the grabbing mechanism 20 of the utility model further comprises a rotating motor 24, a screw rod 25 and a nut 26, wherein the screw rod 25 is rotatably assembled on the mechanism base body 21 and extends along the left-right direction of the mechanism base body 21, the second embracing body 23 is slidably arranged on the mechanism base body 21, the nut 26 is slidably sleeved on the screw rod 25 and is fixedly connected with the second embracing body 23, the rotating motor 24 is fixed on the mechanism base body 21 and drives the screw rod 25 to rotate, and the rotating screw rod 25 drives the nut 26 and the second embracing body 23 to slide along the screw rod 25 together, so that the second embracing body 23 and the first embracing body 22 embrace and clamp or loosen the embrace and clamp battery module 200 together; the sliding stroke of the second embracing body 23 is determined by the length of the screw rod 25, and the second embracing body 23 can be stopped at any position of the screw rod 25, so that the battery module clamp is suitable for reliably embracing and clamping battery modules 200 with different specifications.

It should be noted that the direction indicated by the arrow a in the drawing is the direction from left to right of the mechanism base 21, and the direction indicated by the arrow B in the drawing is the direction from top to bottom of the mechanism base 21.

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

1. A grabbing mechanism is suitable for feeding and/or discharging a battery module, and comprises a mechanism base body which is used for being assembled at the tail joint of a multi-axis joint main body and a first embracing body and a second embracing body which are mutually matched to embrace the battery module, wherein the first embracing body and the second embracing body are positioned under the mechanism base body, the first embracing body is further assembled on the mechanism base body, the second embracing body is aligned with the first embracing body along the left and right directions of the mechanism base body, the grabbing mechanism is characterized by further comprising a rotating motor, a screw rod and a screw nut, the screw rod is rotatably assembled on the mechanism base body and extends along the left and right directions of the mechanism base body, the second embracing body is slidably arranged on the mechanism base body, the screw nut is slidably sleeved on the screw rod and is fixedly connected with the second embracing body, the rotating motor is fixed on the mechanism base body and drives the screw rod to rotate, the rotating screw rod drives the screw nut and the second holding body to slide along the screw rod.

2. The grasping mechanism according to claim 1, wherein the first clasping body is mounted to the mechanism base so as to be positionally adjustable in a left-right direction of the mechanism base.

3. The grasping mechanism according to claim 2, wherein the mechanism base is provided with at least two mounting positions spaced apart in a left-right direction of the mechanism base, and the first clasp body is selectively mounted to any one of the mounting positions.

4. The grasping mechanism according to claim 3, wherein each of the mounting locations is formed by a plurality of mounting holes.

5. The grasping mechanism according to claim 1, wherein a side of the first clasping body facing the second clasping body protrudes a first side embossing and a first downward embossing toward a direction close to the second clasping body, respectively, a side of the second clasping body facing the first clasping body protrudes a second side embossing and a second downward embossing toward a direction close to the first clasping body, respectively, the first side embossing is aligned with the second side embossing along a left-right direction of the mechanism base, and the first downward embossing is aligned with the second downward embossing along a left-right direction of the mechanism base.

6. The grabbing mechanism according to claim 5, wherein a first cylinder with an upward output end is installed on one side of the first embracing body facing away from the second embracing body, a first upper pressing block located right above the first downward pressing protrusion is installed on an output end of the first cylinder, a second cylinder with an upward output end is installed on one side of the second embracing body facing away from the first embracing body, a second upper pressing block located right above the second downward pressing protrusion is installed on an output end of the second cylinder, the first cylinder drives the first upper pressing block to slide close to or away from the first downward pressing protrusion, and the second cylinder drives the second upper pressing block to slide close to or away from the second downward pressing protrusion.

7. The grasping mechanism according to claim 1, wherein the rotating motor is located directly above the mechanism base, the lead screw is located directly below the mechanism base, and the rotating motor drives the lead screw to rotate through belt transmission, chain transmission or gear transmission.

8. The grasping mechanism according to claim 7, wherein an inverted "door" -shaped enclosing frame is assembled right below the mechanism base, a space is enclosed between the enclosing frame and the mechanism base, one end of the screw rod is located in the space, the other end of the screw rod penetrates out of the enclosing frame, and the second embracing body is slidably sleeved on the enclosing frame.

9. The grasping mechanism according to claim 1, wherein a gate-shaped connecting seat is assembled above the middle part of the mechanism seat body, and the mechanism seat body is assembled and connected with the tail joint of the multi-axis joint main body through the gate-shaped connecting seat.

10. A polyaxial robot comprising a polyaxial joint body, characterized in that the polyaxial robot further comprises the grasping mechanism according to any one of claims 1 to 9, the mechanism base being fitted to a distal joint of the polyaxial joint body.