CN217837480U

CN217837480U - Device for taking and placing saggars by using mechanical arm

Info

Publication number: CN217837480U
Application number: CN202221766912.6U
Authority: CN
Inventors: 杨杨; 程晓强; 智勇嘉; 朱超平
Original assignee: BEIJING ZODNGOC AUTOMATIC TECHNOLOGY CO LTD
Current assignee: BEIJING ZODNGOC AUTOMATIC TECHNOLOGY CO LTD
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2022-11-18
Anticipated expiration: 2032-07-08

Abstract

The utility model relates to an utilize manipulator to realize that sagger gets device of putting, get the function block including frame, the sagger interception function subassembly that is used for intercepting the sagger, be used for advancing the sagger after the interception and advance the position sagger location function subassembly, be used for carrying the sagger of being positioned to the sagger of sagger transport function subassembly. The device for taking and placing the saggar by using the manipulator realizes the saggar taking and placing action by adopting components such as a two-axis manipulator and the like, the taking and placing action is stable and high-speed, and the consistency of the taking and placing positions is high; the sagger is taken and placed, manual operation action and movement locus are simulated, and the device has less need for modification of a production line when being installed; the sagger positioning device also comprises a sagger intercepting function component and a sagger positioning function component, and when the sagger is grabbed, the position consistency is high; the sagger conveying functional component adopts a synchronous belt to bear and convey saggers, the sagger conveying functional component is driven by a servo motor, the sagger conveying action is stable, and the conveying position consistency is high.

Description

Device for taking and placing saggars by using mechanical arm

Technical Field

The utility model relates to an utilize manipulator to realize that sagger gets device of putting belongs to lithium electricity material production facility technical field.

Background

In the production process of the lithium battery positive electrode material, the saggars are used as carriers of the powder material, the material is conveyed to a kiln for sintering, the sintered material is discharged out of the kiln, the empty saggars are filled with the powder material again after the sintered material in the saggars is poured, the powder material enters the kiln again for sintering, and the saggars are recycled as carriers of the powder material. With the accumulation of the use times, the sagger has the defects of peeling, slag falling, cracks and the like, if the sagger is continuously used, the fault of a kiln can be caused, the waste of powder materials can be caused, and the quality of a sintered material finished product can be influenced.

In the production of lithium battery materials, the defect detection of saggars in the current production line can be based on a saggar visual detection system (such as the technologies of a one-stop intelligent defect detection system disclosed in patent CN202011099840.X of our company, an intelligent and efficient saggar detection device based on a visual system and the like), and the detection system is used for judging whether the saggars have defects or not. After the defects are detected, replacement is manually implemented. The manual replacement operation method has the advantages that because a kiln exists in a production workshop, the temperature of the workshop is high, the production line continuously runs for 24 hours, manual operation is achieved, the working intensity is high, and the efficiency is low.

Therefore, it is necessary to find an automatic production line capable of replacing the manual work.

SUMMERY OF THE UTILITY MODEL

The utility model discloses not enough to prior art exists, provide an utilize manipulator to realize that the sagger is got and is put device, concrete technical scheme as follows:

the utility model provides an utilize manipulator to realize device that casket-like bowl was put, includes the frame, is used for intercepting the casket-like bowl interception function subassembly of casket-like bowl, is used for carrying out the casket-like bowl location function subassembly of location with the casket-like bowl after the interception, is used for getting the function subassembly to put the casket-like bowl of location to the casket-like bowl of conveying function subassembly, casket-like bowl is got and is put function subassembly, casket-like bowl interception function subassembly, casket-like bowl location function subassembly and casket-like bowl conveying function subassembly and all install in frame department.

As an improvement of the technical scheme, the sagger taking and placing functional component comprises a two-axis manipulator, a mounting base plate, a connecting plate, a clamping jaw cylinder mounting plate, a clamping jaw connecting plate, a linear bearing mounting plate, a guide optical axis parallel connection plate and a clamping jaw action connecting plate, wherein the two-axis manipulator comprises a Z-axis sliding table and an X-axis sliding table, and the X-axis sliding table is fixedly connected with the rack; the two-axis manipulator is fixedly connected with the rack, the mounting substrate is connected with a Z-axis sliding table of the two-axis manipulator, the mounting substrate is fixedly connected with the clamping jaw air cylinder mounting plate through a connecting plate, and the clamping jaw air cylinder is fixedly mounted on the upper surface of the clamping jaw air cylinder mounting plate; the clamping jaw connecting plates are oppositely arranged, the clamping jaws are provided with four clamping jaws which are fixedly installed at two ends of the clamping jaw connecting plates respectively, the linear bearings are connected with the guide optical shafts in a sliding mode, the linear bearing installing plates are fixedly connected with the clamping jaw air cylinder installing plates, one ends of the guide optical shafts are fixedly connected with the clamping jaw connecting plates, and the other ends of the guide optical shafts are fixedly connected with the guide optical shaft parallel plates; the clamping jaw action connecting plate is of an L-shaped structure, one end of the clamping jaw action connecting plate is fixedly connected with the guide optical axis parallel plate, and the other end of the clamping jaw action connecting plate is fixedly connected with the movable end of the clamping jaw air cylinder.

As the improvement of above-mentioned technical scheme, sagger interception function subassembly includes cylinder mounting panel, triaxial cylinder, interception support, support backing plate, cylinder mounting panel and frame fixed connection, triaxial cylinder and cylinder mounting panel fixed connection, the interception support is connected with the expansion end of triaxial cylinder, the support backing plate is fixed with the interception leg joint.

As the improvement of above-mentioned technical scheme, sagger locate function subassembly is provided with two sets ofly and is relative setting, sagger locate function subassembly includes cylinder installing support, biax cylinder, claps neat backing plate, biax cylinder is connected fixedly with cylinder installing support, clap neat backing plate and install the expansion end at biax cylinder.

As an improvement of the technical scheme, the sagger conveying function component comprises a first sensor, a synchronous belt conveyor, a guide wheel and a second sensor, wherein the first sensor is arranged at the driven end of the synchronous belt conveyor, and the second sensor is arranged at the driving end of the synchronous belt conveyor; the guide wheels are arranged on two sides of the synchronous belt conveyor.

As an improvement of the technical scheme, the mounting substrate is also provided with a mounting substrate reinforcing rib plate.

As the improvement of the technical scheme, the sagger positioning functional component further comprises an air cylinder protective cover, and the air cylinder protective cover is arranged outside the movable end of the double-shaft air cylinder.

The sagger taking and placing device utilizing the manipulator of the utility model adopts components such as a two-axis manipulator to realize the sagger taking and placing action, the taking and placing action is stable and high-speed, and the consistency of the taking and placing positions is high; the sagger is taken and placed, manual operation action and movement locus are simulated, and the device has less need for modification of a production line when being installed; the sagger is grabbed, the position consistency is high; the sagger conveying functional component adopts a synchronous belt to bear and convey the sagger, the sagger conveying functional component is driven by a servo motor, the conveying action of the sagger is stable, and the conveying position consistency is high.

Drawings

Fig. 1 is a schematic structural view of the device for taking and placing saggars by using a manipulator according to the present invention;

fig. 2 is a schematic structural view of the sagger picking and placing functional component of the present invention;

fig. 3 is a schematic view of the sagger picking and placing function module of the present invention when the two-axis manipulator is not installed;

fig. 4 is a schematic connection diagram of the sagger interception function component and the sagger positioning function component according to the present invention;

fig. 5 is a schematic structural view of the sagger delivering functional component of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplicity of description, rather than to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

As shown in fig. 1, the apparatus for taking and placing saggars by using a robot comprises a frame 1, a saggar intercepting function component 3 for intercepting saggars, a saggar positioning function component 4 for positioning the intercepted saggars, and a saggar taking and placing function component 2 for conveying the positioned saggars to a saggar conveying function component 5, wherein the saggar taking and placing function component 2, the saggar intercepting function component 3, the saggar positioning function component 4 and the saggar conveying function component 5 are all installed at the frame 1.

The action of the device for taking and placing the saggar by utilizing the manipulator is realized as follows:

1. the sagger 6 moves on the production line, and when the defective sagger is found (either manually or by means of visual inspection technology), the sagger interception function component 3 is started to intercept the defective sagger.

2. After the interception of the defective sagger is stopped, the sagger positioning function component 4 positions the defective sagger, thereby positioning the defective sagger.

3. The sagger taking and placing functional component 2 conveys the positioned saggers to the upper part of the sagger conveying functional component 5, and the sagger conveying functional component 5 conveys the saggers.

In this embodiment, the frame 1 is preferably a square tube welded structure, and the welded structure has high strength and good stability. The direction of the arrows in fig. 1 is the direction of travel of the sagger 6 on the production line.

Example 2

As shown in fig. 2 and 3, the sagger fetching and placing functional assembly 2 includes a two-axis manipulator 201, a mounting substrate 202, a connecting plate 204, a clamping jaw cylinder 205, a clamping jaw cylinder mounting plate 206, a clamping jaw 207, a clamping jaw connecting plate 208, a linear bearing 209, a linear bearing mounting plate 210, a guide optical axis 211, a guide optical axis parallel connection plate 212 and a clamping jaw action connecting plate 213, wherein the two-axis manipulator 201 includes a Z-axis sliding table and an X-axis sliding table, and the X-axis sliding table is fixedly connected with the rack 1; the two-axis manipulator 201 is fixedly connected with the rack 1, the mounting substrate 202 is connected with a Z-axis sliding table of the two-axis manipulator 201, the mounting substrate 202 is fixedly connected with the clamping jaw air cylinder mounting plate 206 through the connecting plate 204, and the clamping jaw air cylinder 205 is fixedly mounted on the upper surface of the clamping jaw air cylinder mounting plate 206; the clamping jaw connecting plates 208 are arranged in a corresponding mode, the clamping jaws 207 are provided with four clamping jaws and are fixedly installed at two ends of the clamping jaw connecting plates 208 respectively, the linear bearings 209 are connected with the guide optical shafts 211 in a sliding mode, the linear bearing installing plates 210 are fixedly connected with the clamping jaw air cylinder installing plates 206, one ends of the guide optical shafts 211 are fixedly connected with the clamping jaw connecting plates 208, and the other ends of the guide optical shafts 211 are fixedly connected with the guide optical shaft parallel connection plates 212; the clamping jaw action connecting plate 213 is an L-shaped structure, one end of the clamping jaw action connecting plate 213 is fixedly connected with the guide optical axis parallel plate 212, and the other end of the clamping jaw action connecting plate 213 is fixedly connected with the movable end of the clamping jaw air cylinder 205.

After the clamping jaw air cylinder 205 starts, the movable end of the clamping jaw air cylinder 205 drives the guide optical axis 211 to slide relative to the linear bearing 209 through the clamping jaw action connecting plate 213 and the guide optical axis parallel plate 212, and the guide optical axis 211 drives the two sets of clamping jaws 207 which are oppositely arranged to move in opposite directions due to relative arrangement, so that the clamping jaws 207 are opened and closed.

In some embodiments, to improve the mounting strength, the mounting substrate 202 is further provided with a mounting substrate stiffener plate 203.

Example 3

As shown in fig. 4, the sagger intercepting function component 3 comprises a cylinder mounting plate 301, a triaxial cylinder 302, an intercepting bracket 303 and a bracket backing plate 304, the cylinder mounting plate 301 is fixedly connected with the rack 1, the triaxial cylinder 302 is fixedly connected with the cylinder mounting plate 301, the intercepting bracket 303 is connected with the movable end of the triaxial cylinder 302, and the bracket backing plate 304 is fixedly connected with the intercepting bracket 303.

The tri-axial cylinder 302 is a cylinder having a piston shaft and two guide shafts, and the tri-axial cylinder 302 can significantly increase the load relative to a cylinder having only one piston shaft.

During the operation of the sagger interception functional component 3, the movable end of the triaxial cylinder 302 extends out, the support base plate 304 and the interception support 303 move downwards from top to bottom, and finally the support base plate 304 blocks the advancing direction of the defective sagger, so as to intercept the defective sagger. When no interception is needed, the active end of triaxial cylinder 302 is retracted, and support plate 304 and intercepting support 303 move upwards from below, and finally support plate 304 and intercepting support 303 do not cause any obstacle to the advance of sagger 6.

Example 4

As shown in fig. 4, the sagger positioning functional component 4 is provided with two sets and is arranged oppositely, the sagger positioning functional component 4 comprises a cylinder mounting bracket 401, a double-shaft cylinder 402 and a clapping and aligning base plate 404, the double-shaft cylinder 402 is fixedly connected with the cylinder mounting bracket 401, and the clapping and aligning base plate 404 is mounted at the movable end of the double-shaft cylinder 402.

The dual-axis cylinder 402 is a cylinder with two piston rods and can withstand a certain radial force. The cylinder mounting bracket 401 can be fixedly connected with the inner side and the outer side of the production line, the sagger positioning functional components 4 are respectively mounted on the inner side and the outer side of the production line, and the motion track of the double-shaft cylinder 402 is vertical to the motion direction of the sagger 6.

When the sagger is intercepted and stopped, the sagger positioning functional component 4 acts along with the sagger, the movable end of the double-shaft air cylinder 402 extends out, the two aligning cushion plates 404 are driven by the double-shaft air cylinder 402 to move in an opposite direction, and therefore the sagger can be clamped, and the sagger positioning operation is completed.

In some embodiments, the sagger positioning function 4 further comprises a cylinder shield 403, the cylinder shield 403 being mounted outside the movable end of the dual-axis cylinder 402. The cylinder shield 403 has a certain protection function.

Example 5

As shown in fig. 5, the sagger delivering functional unit 5 includes a first sensor 501, a synchronous belt conveyor 502, a guide wheel 503 and a second sensor 504, wherein the first sensor 501 is installed at the driven end of the synchronous belt conveyor 502, and the second sensor 504 is installed at the driving end of the synchronous belt conveyor 502; the guide wheels 503 are installed on both sides of the timing belt conveyor 502.

The first sensor 501 and the second sensor 504 may be photoelectric sensors, such as a relative infrared sensor and a reflection infrared sensor. The guide wheel 503 can limit the movement locus of the sagger. The conveying belt in the synchronous belt conveyor 502 adopts a synchronous belt, and the driving motor is a servo motor.

Example 6

After the saggars are positioned by the saggar positioning functional component 4, at this moment, a Z-axis sliding table of the two-axis manipulator 201 in the saggar taking and placing functional component 2 moves to a position right above the defective saggar, the Z-axis sliding table drives the clamping jaw 207 to vertically move downwards, the clamping jaw 207 vertically moves downwards to a proper height, the clamping jaw air cylinder 205 is switched from an open state to a closed state, and the clamping jaw 207 clamps two sides of the saggar. At this time, the three-axis cylinder 302 and the two-axis cylinder 402 are retracted, the clamping jaw 207 clamps the sagger and moves up vertically, the clamping jaw 207 moves up to a proper height, and the X-axis sliding table of the two-axis robot 201 drives the clamping jaw 207 to move horizontally above the sagger conveying functional assembly 5.

The clamping jaw 207 is driven by a Z-axis sliding table of the two-axis manipulator 201 to vertically move downwards to a proper height, the clamping jaw air cylinder 205 is switched from a closed state to an open state, and the sagger is placed on the synchronous belt conveyor 502.

The sagger taking and placing functional component 2 is reset, the clamping jaw 207 moves to the upper part of the production line, and the next action signal is waited.

On the synchronous belt conveyor 502, the saggars can be stacked into four layers, and after the saggars are stacked into four layers, the synchronous belt conveyor 502 acts to drag the saggars to move towards the driving end of the synchronous belt conveyor 502. When the first sensor 501 does not output a signal, the synchronous belt conveyor 502 stops, and the next stack of saggers is put into a stack for four layers and then operates.

Five stacks of saggars can be placed on the synchronous belt conveyor 502 at most, and when the first stack of saggars reaches the driving end of the synchronous belt conveyor 502, the second sensor 504 outputs signals to prompt that the stacking number of the saggars reaches the upper line and the saggars need to be taken out manually.

Example 7

In embodiment 1, the sagger 6 is detected to have a defect, and the detection unit can be used to judge that the sagger has a defect and output a signal to the device; the detection unit can adopt the technologies of the invention patents of our company, namely, cn202011099840.X, one-stop intelligent defect detection system, CN202010068786.6, one-based-vision-system intelligent efficient sagger detection device, and the like, and the detection technology of the detection unit is not the key point of protection of the utility model, which is not described herein again. After receiving the detection unit signal, the sagger interception function component 3 operates accordingly.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.

Claims

1. The utility model provides an utilize manipulator to realize device that sagger was got and was put which characterized in that: the sagger intercepting and conveying combined machine comprises a rack (1), a sagger intercepting functional component (3) for intercepting saggers, a sagger positioning functional component (4) for positioning the intercepted saggers, and a sagger taking and placing functional component (2) for conveying the positioned saggers to a sagger conveying functional component (5), wherein the sagger taking and placing functional component (2), the sagger intercepting functional component (3), the sagger positioning functional component (4) and the sagger conveying functional component (5) are all installed in the rack (1).

2. The device for taking and placing saggars by using a mechanical arm as claimed in claim 1, wherein: the sagger taking and placing functional component (2) comprises a two-axis manipulator (201), an installation base plate (202), a connecting plate (204), a clamping jaw cylinder (205), a clamping jaw cylinder installation plate (206), a clamping jaw (207), a clamping jaw connecting plate (208), a linear bearing (209), a linear bearing installation plate (210), a guide optical axis (211), a guide optical axis parallel connection plate (212) and a clamping jaw action connecting plate (213), wherein the two-axis manipulator (201) comprises a Z-axis sliding table and an X-axis sliding table, and the X-axis sliding table is fixedly connected with a rack (1); the two-axis manipulator (201) is fixedly connected with the rack (1), the mounting substrate (202) is connected with a Z-axis sliding table of the two-axis manipulator (201), the mounting substrate (202) is fixedly connected with the clamping jaw air cylinder mounting plate (206) through a connecting plate (204), and the clamping jaw air cylinder (205) is fixedly mounted on the upper surface of the clamping jaw air cylinder mounting plate (206); the clamping jaw connecting plates (208) are arranged oppositely, the clamping jaws (207) are four and are fixedly mounted at two ends of the clamping jaw connecting plates (208) respectively, the linear bearings (209) are connected with the guide optical shafts (211) in a sliding mode, the linear bearing mounting plates (210) are fixedly connected with the clamping jaw air cylinder mounting plates (206), one ends of the guide optical shafts (211) are fixedly connected with the clamping jaw connecting plates (208), and the other ends of the guide optical shafts (211) are fixedly connected with the guide optical shaft parallel connection plates (212); the clamping jaw action connecting plate (213) is of an L-shaped structure, one end of the clamping jaw action connecting plate (213) is fixedly connected with the guide optical axis parallel plate (212), and the other end of the clamping jaw action connecting plate (213) is fixedly connected with the movable end of the clamping jaw air cylinder (205).

3. The apparatus for taking and putting saggars by using a manipulator as claimed in claim 1, wherein: sagger interception function subassembly (3) include cylinder mounting panel (301), triaxial cylinder (302), interception support (303), support backing plate (304), cylinder mounting panel (301) and frame (1) fixed connection, triaxial cylinder (302) and cylinder mounting panel (301) fixed connection, interception support (303) are connected with the expansion end of triaxial cylinder (302), support backing plate (304) are connected fixedly with interception support (303).

4. The device for taking and placing saggars by using a mechanical arm as claimed in claim 1, wherein: sagger locate function subassembly (4) are provided with two sets ofly and are relative setting, sagger locate function subassembly (4) include cylinder installing support (401), biax cylinder (402), clap neat backing plate (404), biax cylinder (402) are connected fixedly with cylinder installing support (401), clap neat backing plate (404) and install the expansion end at biax cylinder (402).

5. The device for taking and placing saggars by using a mechanical arm as claimed in claim 1, wherein: the sagger conveying function component (5) comprises a first sensor (501), a synchronous belt conveyor (502), a guide wheel (503) and a second sensor (504), wherein the first sensor (501) is installed at the driven end of the synchronous belt conveyor (502), and the second sensor (504) is installed at the driving end of the synchronous belt conveyor (502); the guide wheels (503) are arranged on two sides of the synchronous belt conveyor (502).

6. The apparatus for taking and putting saggars by using a manipulator as claimed in claim 2, wherein: the mounting substrate (202) is also provided with a mounting substrate reinforcing rib plate (203).

7. The apparatus for taking and putting saggars by using a manipulator as claimed in claim 4, wherein: the sagger positioning functional component (4) further comprises an air cylinder protective cover (403), and the air cylinder protective cover (403) is installed outside the movable end of the double-shaft air cylinder (402).