CN219854612U

CN219854612U - Pitch-changing manipulator, mechanical arm and cell stacking pitch-changing device

Info

Publication number: CN219854612U
Application number: CN202321168289.9U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Wuxi Lead Intelligent Equipment Co Ltd
Current assignee: Wuxi Lead Intelligent Equipment Co Ltd
Priority date: 2023-05-15
Filing date: 2023-05-15
Publication date: 2023-10-20
Anticipated expiration: 2033-05-15

Abstract

The application relates to the technical field of battery processing equipment, in particular to a variable-pitch manipulator, a mechanical arm and a battery cell stacking variable-pitch device. A pitch-changing manipulator, the pitch-changing manipulator comprising: a mounting member; the first pick-up piece is arranged on the mounting piece and is used for picking up or lowering the first piece to be stacked; the second pickup piece is arranged on the mounting piece and opposite to the first pickup piece along the first direction and is used for picking up or lowering a second piece to be stacked; the variable-pitch driving piece is used for driving at least one of the second picking piece and the first picking piece to move along a first direction towards or away from the other, so that the width of a gap between the first piece to be stacked and the second piece to be stacked is adjusted to a preset width. The distance-changing manipulator provided by the application can ensure that the width of the gap between every two adjacent battery cells is a preset width.

Description

Pitch-changing manipulator, mechanical arm and cell stacking pitch-changing device

Technical Field

The application relates to the technical field of battery processing equipment, in particular to a variable-pitch manipulator, a mechanical arm and a battery cell stacking variable-pitch device.

Background

During the production of a battery, it is often necessary to stack a plurality of cells to increase the capacity of the battery. In the related art, when stacking the battery cells, the glue is generally applied or foam is adhered directly between the battery cells so as to stack the battery cells, and the processing technology is adopted to stack the battery cells so that the gap between two adjacent battery cells is close to zero, therefore, the distance is fixed, and the implementation is easy. However, for some types of batteries, new requirements are put on the processing technology, specifically, two adjacent battery cells need to be stacked by welding, and in this case, in order to ensure the welding quality, a gap with a preset width needs to be reserved between the two battery cells, and how to ensure that the width of the gap between every two adjacent battery cells is the preset width becomes a technical problem to be solved.

Disclosure of Invention

The utility model discloses a variable-pitch manipulator, a mechanical arm and a cell stacking variable-pitch device, which can ensure that the width of a gap between two adjacent cells is a preset width.

To achieve the above object, in a first aspect, the present utility model discloses a pitch-changing manipulator, including:

A mounting member;

a first pick-up member provided to the mounting member, the first pick-up member being for picking up or lowering a first member to be stacked;

the second pickup piece is arranged on the mounting piece and opposite to the first pickup piece along the first direction, and is used for picking up or lowering a second to-be-stacked piece;

and the variable-pitch driving piece is used for driving at least one of the second picking piece and the first picking piece to move along the first direction towards or away from the other direction so as to adjust the width of the gap between the first piece to be stacked and the second piece to be stacked to a preset width.

When the first picking member picks up the first to-be-stacked member and the second picking member picks up the second to-be-stacked member, when the variable-pitch driving member drives at least one of the second picking member and the first picking member to move along the first direction towards the direction approaching or away from the other, the variable-pitch driving member can drive at least one of the first to-be-stacked member and the second to-be-stacked member to move along the first direction towards the direction approaching or away from the other, and therefore the purpose of adjusting the width of a gap between the first to-be-stacked member and the second to-be-stacked member to a preset width can be achieved.

Therefore, the purpose of adjusting the width of the gap between the first to-be-stacked piece and the second to-be-stacked piece to a preset width can be achieved by driving at least one of the second to-be-stacked piece and the first to-be-stacked piece to move along the first direction towards or away from the other. When the first to-be-stacked piece and the second to-be-stacked piece are the electric cores, the purpose of adjusting the width of the gap between the two adjacent electric cores to the preset width can be achieved, and the technical problem that the width of the gap between each two adjacent electric cores cannot be ensured to be the preset width in the related technology is solved. When the width of the gap between the two adjacent electric cores can be ensured to be the preset width, the welding quality between the two adjacent electric cores can be better.

Optionally, the first pick-up member is fixedly disposed on the mounting member, the second pick-up member is slidably disposed on the mounting member along the first direction, and the variable-pitch driving member is configured to drive the second pick-up member to move along the first direction toward a direction close to or far away from the first pick-up member, so as to adjust a width of a gap between the first to-be-stacked member and the second to-be-stacked member to the preset width.

Optionally:

the number of the first pick-up pieces is multiple, the multiple first pick-up pieces are respectively and fixedly arranged on the mounting piece along a second direction, and the second direction is perpendicular to the first direction;

the second pickup pieces are multiple in number and correspond to the first pickup pieces one by one;

the distance-changing manipulator further comprises a connecting plate, the connecting plate is slidably arranged on the mounting part along the first direction, a plurality of second picking-up parts are fixedly arranged on the connecting plate along the second direction respectively, the distance-changing driving part is connected with the connecting plate and used for driving the connecting plate to move along the first direction towards a direction close to or far away from the first picking-up part so as to adjust the width of a gap between the first to-be-stacked part and the corresponding second to-be-stacked part to the preset width.

Optionally:

the first pick-up piece is a clamping jaw;

and/or the number of the groups of groups,

the second pick-up member is a clamping jaw.

In a second aspect, the present application discloses a robotic arm comprising:

a universal arm; the method comprises the steps of,

the first aspect of the present application provides the pitch-changing manipulator, wherein the universal arm is connected with the mounting part through a flange, and the universal arm is used for driving the pitch-changing manipulator to the feeding position, so that the first picking part picks up the first to-be-stacked part and the second picking part picks up the second to-be-stacked part, and the universal arm is further used for driving the pitch-changing manipulator to the discharging position, so that the first picking part lowers the first to-be-stacked part and the second picking part lowers the second to-be-stacked part.

In a third aspect, the application discloses a cell stack displacement device, which comprises the mechanical arm in the second aspect.

Optionally, the cell stack pitch-changing device further includes:

the pre-stacking mechanism is used for pre-stacking the first to-be-stacked piece and the second to-be-stacked piece to the feeding station;

the device comprises a final stacking mechanism, wherein the final stacking mechanism is oppositely arranged with the pre-stacking mechanism at intervals, the mechanical arm is positioned between the pre-stacking mechanism and the final stacking mechanism, the universal arm is used for driving the distance-changing mechanical arm to the feeding station, so that the first picking piece and the second picking piece pick up the first piece to be stacked and the second piece to be stacked from the pre-stacking mechanism respectively, and the universal arm is also used for driving the distance-changing mechanical arm to the discharging station, so that the first picking piece and the second picking piece respectively drop the first piece to be stacked and the second piece to be stacked to the final stacking mechanism.

Optionally, the pre-stacking mechanism includes:

the pre-stacking assembly comprises a rack and a sliding plate, and the sliding plate is slidably arranged on the rack along the first direction;

The preset positioning component is arranged on the sliding plate;

the carrying assembly is used for carrying the first to-be-stacked piece and the second to-be-stacked piece to the preset assembly, the preset assembly is used for positioning the first to-be-stacked piece and the second to-be-stacked piece so as to pre-stack the first to-be-stacked piece and the second to-be-stacked piece, and the sliding plate is used for driving the pre-stacked first to-be-stacked piece and the second to-be-stacked piece to slide along the first direction so as to enable the first to-be-stacked piece and the second to-be-stacked piece to be pre-stacked to the feeding station.

Optionally, the predetermined bit assembly includes:

the positioning plate is arranged on the sliding plate;

the abutting piece is arranged on the positioning plate, the abutting piece and the positioning plate form a first placement position and a second placement position which are arranged along the first direction, and the first placement position and the second placement position are positioned on two sides of the abutting piece along the first direction;

the first pressing piece is arranged on the sliding plate and corresponds to the first placing position, the first placing position is used for placing the first to-be-stacked piece, and the first pressing piece is used for pushing the first to-be-stacked piece along the first direction so that the first to-be-stacked piece is abutted to the first side face of the abutting piece to position the first to-be-stacked piece;

The second pressing piece is arranged on the sliding plate and corresponds to the second placing position, the second placing position is used for placing the second to-be-stacked piece, and the second pressing piece is used for pushing the second to-be-stacked piece along the first direction so that the second to-be-stacked piece is abutted to a second side face, opposite to the first side face, of the abutting piece to locate the second to-be-stacked piece.

Optionally, the handling assembly comprises:

a mobile driving module;

the turnover module is arranged on the mobile driving module;

the clamping module is arranged on the overturning module, the clamping module is used for clamping the first to-be-stacked piece and the second to-be-stacked piece, the overturning module is used for driving the clamping module to overturn so as to adjust the first to-be-stacked piece and the second to-be-stacked piece to a preset angle, the mobile driving module is used for carrying the first to-be-stacked piece and the second to-be-stacked piece which are adjusted to the preset angle to the preset assembly, and the clamping module is also used for lowering the first to-be-stacked piece and the second to-be-stacked piece to the preset assembly.

Optionally, the flipping module includes:

the bottom plate is arranged on the mobile driving module;

the overturning driving piece is arranged on the bottom plate;

the turnover plate is hinged to the bottom plate and the turnover driving piece respectively, the clamping module is connected to the turnover plate, the turnover driving piece is used for driving the turnover plate to leave an initial position for turnover to adjust the first piece to be stacked and the second piece to be stacked to the preset angle, or the turnover driving piece is used for driving the turnover plate to reset to the initial position.

Optionally, the final stacking mechanism includes:

a transport assembly;

the tray assembly is arranged on the conveying assembly, the conveying assembly is used for driving the tray assembly to the blanking station, and the universal arm is also used for driving the distance-changing manipulator to the blanking station, so that the first pick-up piece and the second pick-up piece can respectively lower the first piece to be stacked and the second piece to be stacked to the tray assembly.

Optionally, the tray assembly includes:

a bottom support plate;

the final positioning assembly is arranged on the bottom supporting plate and comprises a supporting plate, a plurality of partition plates are arranged on the supporting plate along the first direction in an array mode, a plurality of partition plates are divided into a plurality of positioning grooves in the supporting plate, and the universal arm is further used for driving the distance-changing mechanical arm to the blanking station so that the first picking piece and the second picking piece can respectively lower the first to-be-stacked piece and the second to-be-stacked piece to two adjacent positioning grooves.

Optionally, the final positioning assembly further comprises:

the blocking plate is arranged at one end of the supporting plate along the extending direction of the separating plate;

the clamping piece is arranged at the other end of the supporting plate along the extending direction of the partition plate and is used for pressing the first to-be-stacked piece and the second to-be-stacked piece to the blocking plate along the extending direction of the partition plate so that the first to-be-stacked piece and the second to-be-stacked piece are both fixed in the positioning groove.

Optionally:

the final positioning assembly further comprises a positioning block, wherein the positioning block is arranged on the bottom supporting plate, and a positioning hole is formed in the positioning block;

the distance-changing manipulator further comprises a positioning bolt, the positioning bolt is arranged on the mounting piece, and when the positioning bolt is inserted into the positioning hole, the first pick-up piece and the second pick-up piece are aligned with the adjacent two positioning grooves respectively.

Compared with the prior art, the application has the beneficial effects that:

Therefore, the purpose of adjusting the width of the gap between the first to-be-stacked piece and the second to-be-stacked piece to a preset width can be achieved by driving at least one of the second to-be-stacked piece and the first to-be-stacked piece to move along the first direction towards or away from the other. Then, when the first to-be-stacked piece and the second to-be-stacked piece are both the electric cores, the purpose of adjusting the width of the gap between the two adjacent electric cores to the preset width can be achieved, the technical problem that the width of the gap between each two adjacent electric cores cannot be ensured to be the preset width in the related technology is solved, and further the welding quality between the two adjacent electric cores is better.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an isometric view of a variable-pitch manipulator according to an embodiment of the present application;

FIG. 2 is a front view of the variable pitch robot of FIG. 1;

FIG. 3 is a left side view of the pitch horn of FIG. 2;

fig. 4 is a schematic structural diagram of a mechanical arm according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a cell stacking distance-changing device according to an embodiment of the present application;

FIG. 6 is a schematic view of the pre-stack assembly and pre-positioning assembly of FIG. 5;

FIG. 7 is a schematic view of the pre-positioning assembly of FIG. 5;

FIG. 8 is a schematic view of the handling assembly of FIG. 5;

FIG. 9 is a schematic view of a tray assembly according to an embodiment of the present application;

fig. 10 is a schematic structural view of another tray assembly according to an embodiment of the present application.

Description of the main reference numerals

1-a mounting;

2-a first pick-up;

3-a second pick-up;

4-a variable-pitch drive;

5-connecting plates;

6-heightening the plate;

7-positioning a bolt;

8-a slide rail assembly edge; 81-a guide rail; 82-a slider;

9-a flange;

10-a variable-pitch manipulator;

20-universal arms;

30-a pre-stacking mechanism; 301-a pre-stack assembly; 3011-a frame; 3012-a sliding plate; 302-a pre-positioning assembly; 3021-positioning a plate; 3022-an abutment; 30221-sub-abutments; 3023-a first compression member; 3024-a second compression member; 303-handling assembly; 3031—a mobile drive module; 3032-a flip module; 3032 a-backplane; 3032 b-flip drive; 3032 c-roll-over panel; 3033-a clamping module;

40-a final stacking mechanism; 401-a transport assembly; 402-a tray assembly; 4021-a bottom plate; 4022-a final positioning assembly; 4022 a-a support plate; 4022 b-separator plate; 4022 c-blocking plate; 4022 d-a clamp; 4022 e-locating pieces; 4022e 1-locating holes;

50-mechanical arm

A1-a first placement bit; a2-a second placement bit; c-positioning grooves; f1-a first direction; f2-a second direction; j1-a first part to be stacked; j2-a second part to be stacked; w1 is a feeding station; w2-a blanking station; h-notch.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

The technical scheme of the application will be further described with reference to specific embodiments and drawings.

Example 1

Fig. 1 is an isometric view of a pitch-changing manipulator 10 according to an embodiment of the present application, fig. 2 is a front view of the pitch-changing manipulator 10 in fig. 1, and fig. 3 is a left side view of the pitch-changing manipulator 10 in fig. 2.

Referring to fig. 1, 2 and 3, the pitch changing robot 10 includes: a mounting member 1, a first pick-up member 2, a second pick-up member 3 and a pitch drive member 4. Wherein, first pick-up member 2 is provided at mounting member 1, and first pick-up member 2 is for picking up or lowering first to-be-stacked member J1. The second picking member 3 is disposed on the mounting member 1 and opposite to the first picking member 2 in a first direction F1 (Y-axis direction in fig. 3), and the second picking member 3 is configured to pick up or lower the second to-be-stacked member J2. The variable-pitch driving member 4 is configured to drive at least one of the second picking member 3 and the first picking member 2 to move in a direction approaching or moving away from the other along the first direction F1, so as to adjust the width of the gap between the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset width.

In the embodiment of the application, since the first picking member 2 and the second picking member 3 are both disposed on the mounting member 1 and are disposed opposite to each other along the first direction F1 (in the Y-axis direction in fig. 3), and since the variable-pitch driving member 4 is capable of driving at least one of the second picking member 3 and the first picking member 2 to move along the first direction F1 toward or away from the other, when the variable-pitch driving member 4 drives at least one of the second picking member 3 and the first picking member 2 to move along the first direction F1 toward or away from the other, the distance between the first picking member 2 and the second picking member 3 along the first direction F1 can be reduced or increased.

Based on this, when the first picking member 2 picks up the first to-be-stacked member J1 and the second picking member 3 picks up the second to-be-stacked member J2, the variable-pitch driving member 4 drives at least one of the second picking member 3 and the first picking member 2 to move in the direction approaching or separating from the other member along the first direction F1, so that the at least one of the first to-be-stacked member J1 and the second to-be-stacked member J2 can be driven to move in the direction approaching or separating from the other member along the first direction F1, and the purpose of adjusting the width of the gap between the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset width can be achieved.

It can be seen that the purpose of adjusting the width of the gap between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to a preset width can be achieved by driving at least one of the second picking-up piece 3 and the first picking-up piece 2 to move along the first direction F1 toward or away from the other. Then, when the first to-be-stacked piece J1 and the second to-be-stacked piece J2 are both the electric cores, the purpose of adjusting the width of the gap between the two adjacent electric cores to the preset width can be achieved, the technical problem that the width of the gap between each two adjacent electric cores cannot be ensured to be the preset width in the related art is solved, and further the welding quality between the two adjacent electric cores is better.

Of course, the above-mentioned first to-be-stacked member J1 and the second to-be-stacked member J2 are only one possible implementation manner of the embodiment of the present application, and based on different application scenarios, the first to-be-stacked member J1 and the second to-be-stacked member J2 may be other possible components, and the embodiment of the present application does not limit the first to-be-stacked member J1 and the second to-be-stacked member J2.

In addition, since the distance-changing driving member 4 is only required to drive at least one of the second picking member 3 and the first picking member 2 to move along the first direction F1 toward or away from the other, the purpose of adjusting the width of the gap between the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset width can be achieved, and the implementation principle is very simple, therefore, the structure of the distance-changing manipulator 10 can be simplified to a certain extent, and the cost of the distance-changing manipulator 10 can be reduced.

The mounting member 1 may be a mounting plate or a mounting frame, and the embodiment of the present application is not limited thereto. The variable-pitch drive 4 may be any component such as a motor or an air cylinder that can drive at least one of the second pick-up 3 and the first pick-up 2 to move in the direction of approaching or separating from the other along the first direction F1, and the variable-pitch drive 4 is not limited in the embodiment of the present application.

The first pick-up member 2 may be a clamping jaw, and when the first pick-up member 2 is a clamping jaw, the mechanical structure of the clamping jaw is mature, so that the reliability of the mechanical structure of the first pick-up member 2 can be ensured. Of course, the first pick-up member 2 may be other possible components, for example, the first pick-up member 2 may also be a suction nozzle, which is not limited in the embodiment of the present application. When the first pick-up 2 is a clamping jaw, in particular, the clamping jaw may be understood as a clamping cylinder.

Likewise, the second picking member 3 may be a clamping jaw. The structure of the second picking member 3 may be similar to that of the first picking member 2, and the second picking member 3 will not be described in detail in the embodiment of the present application.

When the first picking member 2 and/or the second picking member 3 are clamping jaws, in some embodiments, referring to fig. 1, the clamping direction (X-axis direction in fig. 1) of the clamping jaws is perpendicular to the first direction F1.

Since the second picking member 3 is opposed to the first picking member 2 in the first direction F1, by making the gripping direction (X-axis direction in fig. 1) of the gripping jaws perpendicular to the first direction F1, it is possible to avoid the occurrence of interference between the first picking member 2 and the second picking member 3 during gripping by the gripping jaws.

The clamping direction of the clamping jaw is perpendicular to the first direction F1, that is, the clamping direction of the clamping jaw is only required to be approximately perpendicular to the first direction F1, which is not limited in a narrow sense in the embodiment of the present application.

It should be noted that, the above-mentioned variable-pitch driving member 4 drives at least one of the second picking member 3 and the first picking member 2 to move along the first direction F1 towards or away from the other, and in the first possible case, referring to fig. 2 and 3, the first picking member 2 is fixedly disposed on the mounting member 1, the second picking member 3 is slidably disposed on the mounting member 1 along the first direction F1, and the variable-pitch driving member 4 is used for driving the second picking member 3 to move along the first direction F1 towards or away from the first picking member 2, so as to adjust the width of the gap between the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset width.

In this embodiment, since the first picking member 2 is fixedly disposed on the mounting member 1, and the second picking member 3 is slidably disposed on the mounting member 1 along the first direction F1, the width of the gap between the first member to be stacked J1 and the second member to be stacked J2 can be adjusted to a predetermined width when the variable-pitch driving member 4 drives the second picking member 3 to move in the direction approaching or separating from the first picking member 2 along the first direction F1.

In this implementation manner of adjusting the width of the gap between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to a preset width, since the first pick-up piece 2 is fixedly arranged on the mounting piece 1 and the second pick-up piece 3 is slidably arranged on the mounting piece 1 along the first direction F1, the second pick-up piece 3 is driven to move along the first direction F1 towards a direction close to or far from the first pick-up piece 2 only by the variable-pitch driving piece 4, so that the purpose of adjusting the width of the gap between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to the preset width can be achieved without driving the second pick-up piece 3 and the first pick-up piece 2 to synchronously move, and therefore, the structure of the whole variable-pitch manipulator 10 can be simplified to a certain extent.

In a second possible case, the second pick-up member 3 is fixedly arranged on the mounting member 1, the first pick-up member 2 is slidably arranged on the mounting member 1 along the first direction F1, and the variable-pitch driving member 4 is used for driving the first pick-up member 2 to move along the first direction F1 towards or away from the second pick-up member 3 so as to adjust the width of the gap between the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset width.

In a third possible case, the first picking member 2 and the second picking member 3 are both slidably disposed on the mounting member 1 along the first direction F1, and the variable-pitch driving member 4 is configured to drive the first picking member 2 to move along the first direction F1 in a direction approaching or separating from the second picking member 3, and the variable-pitch driving member 4 is also configured to drive the second picking member 3 to move along the first direction F1 in a direction approaching or separating from the first picking member 2. That is, the variable-pitch driving member 4 can drive the second picking member 3 and the first picking member 2 to move synchronously along the first direction F1, so that the speed of adjusting the width of the gap between the first to-be-stacked member J1 and the second to-be-stacked member J2 to the preset width can be increased.

In one possible implementation manner, referring to fig. 2 and 3, the second pick-up member 3 may be slidably disposed on the mounting member 1 along the first direction F1 by the sliding rail assembly 8, specifically, the sliding rail assembly 8 may include a guide rail 81 and a sliding block 82, the guide rail 81 extends along the first direction F1, the sliding block 82 is slidably disposed on the guide rail 81 along the extending direction of the guide rail 81, and the second pick-up member 3 is disposed on the sliding block 82, so that when the sliding block 82 slides along the extending direction of the guide rail 81, the second pick-up member 3 is driven to slide along the first direction F1, that is, the second pick-up member 3 is slidably disposed on the mounting member 1 along the first direction F1.

Of course, the second pick-up member 3 may be slidably disposed on the mounting member 1 along the first direction F1 by other means, which are not illustrated herein.

The variable-pitch drive 4 may be an air cylinder, an electric cylinder, a motor, or the like, and the embodiment of the present application is not limited to the variable-pitch drive 4.

In some embodiments, referring to fig. 1, 2 and 3, the number of the first pick-up members 2 is plural, and the plural first pick-up members 2 are respectively fixed to the mounting member 1 along a second direction F2 (X-axis direction in fig. 1), and the second direction F2 is perpendicular to the first direction F1 (Y-axis direction in fig. 1). The number of the second picking members 3 is plural and corresponds to the first picking members 2 one by one. The variable-pitch manipulator further comprises a connecting plate 5, the connecting plate 5 is slidably arranged on the mounting piece 1 along the first direction F1, a plurality of second pickup pieces 3 are fixedly arranged on the connecting plate 5 along the second direction F2, the variable-pitch driving piece 4 is connected with the connecting plate 5 and used for driving the connecting plate 5 to move along the first direction F1 towards a direction close to or far away from the first pickup piece 2 so as to adjust the width of a gap between the first to-be-stacked piece J1 and the corresponding second to-be-stacked piece J2 to a preset width.

In this embodiment, since the plurality of second pick-up members 3 are respectively fixed to the connecting plate 5 along the second direction F2, and the connecting plate 5 is slidably disposed on the mounting member 1 along the first direction F1, when the variable-pitch driving member 4 drives the connecting plate 5 to move along the first direction F1 toward or away from the first pick-up member 2, the plurality of second pick-up members 3 fixed to the connecting plate 5 can be synchronously driven to move along the direction toward or away from the corresponding first pick-up member 2, so that the widths of the gaps between the plurality of second to-be-stacked members J2 and the corresponding first to-be-stacked members J1 can be adjusted to the preset widths at a time, thereby greatly improving the working efficiency.

In some exemplary embodiments, the number of the first picking members 2 is two, and when the number of the first picking members 2 is two, the number of the second picking members 3 may be two because the second picking members 3 are in one-to-one correspondence with the first picking members 2. Of course, in other exemplary embodiments, the number of the first picking members 2 and the number of the second picking members 3 may be other numbers, and the number of the first picking members 2 and the number of the second picking members 3 are not limited in the embodiments of the present application.

In some embodiments, referring to fig. 3, the structure of the first pick-up member 2 is the same as that of the second pick-up member 3, the pitch-variable manipulator further includes a lifting plate 6, the lifting plate 6 is fixedly arranged on the mounting member 1 and opposite to the connecting plate 5 along the first direction F1, the plurality of first pick-up members 2 are respectively fixedly arranged on the lifting plate 6 along the second direction F2, a distance between a surface of the lifting plate 6, on which the first pick-up member 2 is fixedly arranged, and the mounting member 1 is a first distance (a distance between a lower surface of the lifting plate 6 and a lower surface of the mounting member 1 in fig. 3), a distance between a surface of the connecting plate 5, on which the second pick-up member 3 is fixedly arranged, and the mounting member 1 is a second distance (a distance between a lower surface of the connecting plate 5 and a lower surface of the mounting member 1 in fig. 3), and the first distance is equal to the second distance.

Because the first distance is equal to the second distance, and because the structure of the first picking member 2 is the same as the structure of the second picking member 3, when the plurality of first picking members 2 are respectively fixed on the raised plate 6 along the second direction F2, and the plurality of second picking members 3 are respectively fixed on the connecting plate 5 along the second direction F2, the heights of the first picking member 2 and the second picking member 3 relative to the mounting member 1 can be just equal, and then the first picking member 2 and the second picking member 3 can just be aligned along the first direction F1. In this way, it is convenient for picking up the first to-be-stacked piece J1 and the second to-be-stacked piece J2 by the first picking piece 2 and the second picking piece 3 respectively, and adjusting the width of the gap between the first to-be-stacked piece J1 and the corresponding second to-be-stacked piece J2.

Through making a plurality of first pickup pieces 2 set firmly respectively in the backing plate 6 along the second direction F2, backing plate 6 plays the effect of backing up first pickup piece 2, can still make first pickup piece 2 equal with the second pickup piece 3 for the "height" of mounting 1 under the same circumstances of the structure of first pickup piece 2 and second pickup piece 3, consequently, need not additionally to design first pickup piece 2 again, only need design a pickup piece, can act as first pickup piece 2 and second pickup piece 3 through this pickup piece, has improved the commonality of pickup piece for the spare part kind of displacement manipulator reduces, has simplified the mechanical structure of displacement manipulator, has reduced the cost of displacement manipulator.

Example two

Fig. 4 is a schematic structural diagram of a mechanical arm according to an embodiment of the present application.

Referring to fig. 4 and 5, the robot arm 50 includes: the gimbal arm 20 and the pitch changing manipulator 10. Referring to fig. 4, the universal arm 20 is connected with the mounting member 1 through the flange 9, the universal arm 20 is used for driving the distance-changing manipulator 10 to the feeding station W1, so that the first picking member 2 picks up the first to-be-stacked member J1, and the second picking member 3 picks up the second to-be-stacked member J2, and the universal arm 20 is also used for driving the distance-changing manipulator 10 to the discharging station W2, so that the first picking member 2 lowers the first to-be-stacked member J1, and the second picking member 3 lowers the second to-be-stacked member J2.

The structure of the variable-pitch manipulator 10 may be the same as that of any one of the variable-pitch manipulators 10 in the first embodiment, and may bring about the same or similar beneficial effects, and the description of the variable-pitch manipulator 10 in the above embodiment may be referred to specifically, which is not repeated herein.

In the embodiment of the application, since the universal arm 20 is connected with the mounting piece 1 of the variable-pitch manipulator 10 through the flange 9, when the universal arm 20 starts to move, the variable-pitch manipulator 10 can be driven to the feeding station W1 or the discharging station W2. When the pitch-changing manipulator 10 is located at the loading station W1, the first pick-up member 2 and the second pick-up member 3 can pick up the first to-be-stacked member J1 and the second to-be-stacked member J2 respectively.

After the first picking member 2 and the second picking member 3 pick up the first to-be-stacked member J1 and the second to-be-stacked member J2, respectively, the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 can be adjusted to a predetermined width by moving at least one of the first picking member 2 and the second picking member 3 in the first direction F1 toward or away from the other.

After the gap width between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 is adjusted to the preset width, the gimbal arm 20 can drive the pitch-changing manipulator 10 to the blanking station W2, so that the first to-be-stacked piece J1 is lowered by the first pick-up piece 2, the second to-be-stacked piece J2 is lowered by the second pick-up piece 3, and thus the gap width between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 placed at the blanking station W2 is just the preset width, that is, the gap width between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 can be ensured to be adjusted to the preset width.

Example III

Fig. 5 is a schematic structural diagram of a cell stacking distance-changing device according to an embodiment of the present application. Referring to fig. 5, the cell stack pitch device includes a robotic arm 50.

The structure of the mechanical arm 50 may be the same as that of the mechanical arm 50 in the second embodiment, and may bring about the same or similar beneficial effects, and the description of the mechanical arm 50 in the second embodiment may be referred to specifically, which is not repeated herein.

In the embodiment of the application, the mechanical arm 50 can ensure that the gap width between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 is adjusted to the preset width. Therefore, when the cell stack pitch-changing device includes the mechanical arm 50, the cell stack pitch-changing device can ensure that the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 is adjusted to the preset width.

In some embodiments, referring to fig. 5 and 6, the cell stack pitch device further comprises: pre-stacking mechanism 30 and final stacking mechanism 40. The pre-stacking mechanism 30 is used for pre-stacking the first to-be-stacked piece J1 and the second to-be-stacked piece J2 at the feeding station W1. The final stacking mechanism 40 and the pre-stacking mechanism 30 are disposed opposite to each other at a distance, the mechanical arm 50 is located between the pre-stacking mechanism 30 and the final stacking mechanism 40, the universal arm 20 is used for driving the distance-changing mechanical arm 10 to the feeding station W1, so that the first picking member 2 and the second picking member 3 pick up the first to-be-stacked member J1 and the second to-be-stacked member J2 from the pre-stacking mechanism 30, respectively, and the universal arm 20 is also used for driving the distance-changing mechanical arm 10 to the discharging station W2, so that the first picking member 2 and the second picking member 3 drop the first to-be-stacked member J1 and the second to-be-stacked member J2 to the final stacking mechanism 40, respectively.

In the embodiment of the application, when the universal arm 20 drives the distance-changing manipulator 10 to the feeding station W1, the first picking member 2 and the second picking member 3 can pick up the first to-be-stacked member J1 and the second to-be-stacked member J2 respectively.

After the first picking member 2 and the second picking member 3 pick up the first to-be-stacked member J1 and the second to-be-stacked member J2, respectively, the pitch-changing manipulator 10 may adjust the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 to a predetermined width by moving at least one of the first picking member 2 and the second picking member 3 in the first direction F1 toward or away from the other.

After the gap width between the first to-be-stacked piece J1 and the second to-be-stacked piece J2 is adjusted to the preset width, when the gimbal arm 20 drives the pitch-changing manipulator 10 to the blanking station W2, the first pick-up piece 2 and the second pick-up piece 3 can respectively lower the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to the final stacking mechanism 40.

Since the pitch-changing robot 10 can adjust the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 to the predetermined width, the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 that are lowered to the final stacking mechanism 40 after the first to-be-stacked member J1 and the second to-be-stacked member J2 are lowered to the final stacking mechanism 40 by the first and second picking members 2 and 3, respectively, will be the predetermined width.

In some embodiments, referring to fig. 5 and 6, pre-stack mechanism 30 comprises: a pre-stack assembly 301, a pre-set assembly 302, and a handling assembly 303. The pre-stacking assembly 301 includes a frame 3011 and a sliding plate 3012, the sliding plate 3012 is slidably disposed on the frame 3011 along a first direction F1, and the pre-positioning assembly 302 is disposed on the sliding plate 3012. The handling component 303 is used for handling the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to the pre-positioning component 302, the pre-positioning component 302 is used for positioning the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to pre-stack the first to-be-stacked piece J1 and the second to-be-stacked piece J2, and the sliding plate 3012 is used for driving the pre-stacked first to-be-stacked piece J1 and the second to-be-stacked piece J2 to slide along the first direction F1 to pre-stack the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to the feeding station W1.

In the embodiment of the application, first, the handling component 303 can handle the first to-be-stacked member J1 and the second to-be-stacked member J2 to the predetermined position component 302, and after the first to-be-stacked member J1 and the second to-be-stacked member J2 are handled to the predetermined position component 302, the predetermined position component 302 can position the first to-be-stacked member J1 and the second to-be-stacked member J2 so that the positions of the first to-be-stacked member J1 and the second to-be-stacked member J2 on the predetermined position component 302 are relatively accurate, and at this time, it can be understood that the first to-be-stacked member J1 and the second to-be-stacked member J2 are pre-stacked.

Since the pre-positioning component 302 is disposed on the sliding plate 3012, after the first to-be-stacked piece J1 and the second to-be-stacked piece J2 are pre-stacked, the sliding plate 3012 can drive the pre-stacked first to-be-stacked piece J1 and the pre-stacked second to-be-stacked piece J2 to slide along the first direction F1 until the first to-be-stacked piece J1 and the second to-be-stacked piece J2 are pre-stacked at the feeding station W1, so that the first pick-up piece 2 and the second pick-up piece 3 of the variable-pitch manipulator 10 can pick up the first to-be-stacked piece J1 and the second to-be-stacked piece J2 at the feeding station W1, respectively.

By arranging the pre-positioning component 302, the positioning component 302 can position the first to-be-stacked piece J1 and the second to-be-stacked piece J2, so that the positions of the first to-be-stacked piece J1 and the second to-be-stacked piece J2 on the pre-positioning component 302 are relatively accurate, convenience is provided for the subsequent picking up of the first to-be-stacked piece J1 and the second to-be-stacked piece J2 by the first picking up piece 2 and the second picking up piece 3 of the distance-changing manipulator 10 at the feeding station W1 respectively, and the situation that the first to-be-stacked piece J1 and the second to-be-stacked piece J2 cannot be picked up by the first picking up piece 2 and the second picking up piece 3 is avoided.

The sliding plate 3012 may be slidably disposed on the frame 3011 along the first direction F1 in a plurality of manners, for example, may be disposed on the frame 3011 along the first direction F1 by a sliding rail assembly, or may be disposed on the frame 3011 along the first direction F1 by other manners, which is not limited in this embodiment of the present application.

In some embodiments, referring to fig. 6 and 7, the pre-positioning component 302 comprises: a positioning plate 3021, an abutment 3022, a first compression member 3023 and a second compression member 3024. The positioning plate 3021 is disposed on the sliding plate 3012, the abutting piece 3022 is disposed on the positioning plate 3021, the abutting piece 3022 and the positioning plate 3021 form a first placement position A1 and a second placement position A2 arranged along a first direction F1 (Y-axis direction in fig. 6), the first placement position A1 and the second placement position A2 are located at two sides of the abutting piece 3022 along the first direction F1, the first pressing piece 3023 is disposed on the sliding plate 3012 and corresponds to the first placement position A1, the first placement position A1 is used for placing a first to-be-stacked piece J1, and the first pressing piece 3023 is used for pushing the first to-be-stacked piece J1 along the first direction F1, so that the first to-be-stacked piece J1 abuts against a first side surface of the abutting piece 3022 to position the first to-be-stacked piece J1. The second pressing member 3024 is disposed on the sliding plate 3012 and corresponds to the second placement position A2, where the second placement position A2 is used for placing the second to-be-stacked member J2, and the second pressing member 3024 is used for pushing the second to-be-stacked member J2 along the first direction F1, so that the second to-be-stacked member J2 abuts against a second side surface of the abutting member 3022 opposite to the first side surface to position the second to-be-stacked member J2.

In this embodiment, since the first placement position A1 and the second placement position A2 are located on both sides of the abutting piece 3022 along the first direction F1, when the first placement position A1 is placed with the first to-be-stacked piece J1 and the second placement position A2 is placed with the second to-be-stacked piece J2, the first to-be-stacked piece J1 can be made to abut against the first side surface of the abutting piece 3022 (the surface of the abutting piece 3022 facing the negative Y-axis direction in fig. 7) as the first pressing piece 3023 pushes the first to-be-stacked piece J1 along the first direction F1, and thus the first to-be-stacked piece J1 can be positioned. Similarly, as the second pressing member 3024 pushes the second member to be stacked J2 in the first direction F1, the second member to be stacked J2 can be made to abut against a second side surface (a surface of the abutting member 3022 facing the Y-axis positive direction in fig. 7) of the abutting member 3022 opposite to the first side surface, and thus the second member to be stacked J2 can be positioned.

The first side surface and the first side surface are positioning surfaces of the abutting element 3022, and after the first to-be-stacked element J1 abuts against the first side surface of the abutting element 3022 and the second to-be-stacked element J2 abuts against the second side surface of the abutting element 3022, a gap width between the first to-be-stacked element J1 and the first to-be-stacked element J1 is adjusted to be a thickness of the abutting element 3022 along the first direction F1.

The first pressing member 3023 and the second pressing member 3024 respectively push the first to-be-stacked member J1 and the first to-be-stacked member J1 along the second pressing member 3024, so that the first to-be-stacked member J1 abuts against the first side surface of the abutting member 3022, and the second to-be-stacked member J2 abuts against the second side surface of the abutting member 3022, thereby achieving the purpose of positioning the first to-be-stacked member J1 and the second to-be-stacked member J2, and the two side surfaces of the abutting member 3022 along the first direction F1 respectively form the positioning surfaces of the first to-be-stacked member J1 and the second to-be-stacked member J2, so that the first to-be-stacked member J1 and the second to-be-stacked member J2 share one positioning element (the abutting member 3022), and the purpose of simplifying the structure of the pre-positioning assembly 302 can be achieved.

The first pressing member 3023 and the second pressing member 3024 may be air cylinders or motors, and the embodiment of the application does not limit the first pressing member 3023 and the second pressing member 3024.

In order to avoid that the areas of the first side and the second side of the abutting element 3022 are too large, so that the contact areas of the first to-be-stacked element J1 and the second to-be-stacked element J2 with the first side and the second side are too large, and further, when the first to-be-stacked element J1 is locally raised or recessed, the first to-be-stacked element J1 cannot be in complete contact with the first side, in some embodiments, referring to fig. 6 and 7, the abutting element 3022 is provided with a notch H penetrating through the first side and the second side, so that the abutting element 3022 forms two sub-abutting elements 30221 which are oppositely arranged at intervals, thereby effectively reducing the area of the first side, and further effectively reducing the contact area of the first to-be-stacked element J1 with the first side, so that the first to-be-stacked element J1 is better in contact with the first side.

Similarly, the area of the second side surface can be effectively reduced, and then the contact area between the second to-be-stacked piece J2 and the second side surface can be effectively reduced, so that the second to-be-stacked piece J2 and the second side surface can be better attached.

In some embodiments, referring to fig. 5 and 8, the handling assembly 303 comprises: a mobile drive module 3031, a flip module 3032, and a clamp module 3033. The flipping module 3032 is disposed on the mobile driving module 3031. The clamping module 3033 is disposed on the overturning module 3032, the clamping module 3033 is used for clamping the first to-be-stacked piece J1 and the second to-be-stacked piece J2, the overturning module 3032 is used for driving the clamping module 3033 to overturn so as to adjust the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to a preset angle, the mobile driving module 3031 is used for carrying the first to-be-stacked piece J1 and the second to-be-stacked piece J2 adjusted to the preset angle to the preset assembly 302, and the clamping module 3033 is also used for lowering the first to-be-stacked piece J1 and the second to-be-stacked piece J2 to the preset assembly 302.

In this embodiment, when the clamping module 3033 clamps the first to-be-stacked piece J1 and the second to-be-stacked piece J2, since the clamping module 3033 is disposed on the turning module 3032, when the turning module 3032 turns over, the first to-be-stacked piece J1 and the second to-be-stacked piece J2 can be driven to turn over, so that the first to-be-stacked piece J1 and the second to-be-stacked piece J2 can be adjusted to a preset angle, which provides convenience for the first placement position A1 and the second placement position A2 of the pre-positioning assembly 302 to be placed later.

After the first to-be-stacked member J1 and the second to-be-stacked member J2 are adjusted to the predetermined angle, since the clamping module 3033 is disposed on the flipping module 3032, and the flipping module 3032 is disposed on the moving driving module 3031, the moving driving module 3031 can convey the first to-be-stacked member J1 and the second to-be-stacked member J2 adjusted to the predetermined angle to the predetermined positioning module 302, and after the first to-be-stacked member J1 and the second to-be-stacked member J2 are conveyed to the predetermined positioning module 302, the clamping module 3033 can lower the first to-be-stacked member J1 and the second to-be-stacked member J2 to the predetermined positioning module 302 so as to perform the predetermined positioning on the first to-be-stacked member J1 and the second to-be-stacked member J2 by the predetermined positioning module 302.

Referring to fig. 8, the mobile driving module 3031 may be a three-axis mobile driving module 3031, and specifically, may be an X axis, a Y axis, and a Z axis.

In some embodiments, referring to fig. 8, the rollover module 3032 includes: a bottom plate 3032a, a flip drive 3032b, and a flip plate 3032c. The bottom plate 3032a is disposed on the mobile driving module 3031. The reverse driving piece 3032b is provided on the bottom plate 3032a. The turnover plate 3032c is hinged to the bottom plate 3032a and the turnover driving member 3032b, respectively, the clamping module 3033 is connected to the turnover plate 3032c, the turnover driving member 3032b is used for driving the turnover plate 3032c to turn 90 ° away from the initial position so as to adjust the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset angle, or the turnover driving member 3032b is used for driving the turnover plate 3032c to reset to the initial position.

Because the clamping module 3033 is connected to the flipping plate 3032c, the flipping plate 3032c is hinged to the bottom plate 3032a and the flipping driving member 3032b, when the flipping driving member 3032b drives the flipping plate 3032c to rotate relative to the bottom plate 3032a and the flipping driving member 3032b and turn over 90 ° away from the initial position, the first to-be-stacked member J1 and the second to-be-stacked member J2 disposed on the flipping plate 3032c can be driven to turn over 90 ° so as to achieve the purpose of adjusting the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset angle.

When the first to-be-stacked piece J1 and the second to-be-stacked piece J2 are the electric cores, the electric cores placed horizontally can be adjusted to be placed vertically by driving the first to-be-stacked piece J1 and the second to-be-stacked piece J2 arranged on the turnover plate 3032c to turn over 90 degrees, or the electric cores placed vertically are adjusted to be placed horizontally, so that the electric core stacking machine is very flexible.

Of course, the tilting drive 3032b drives the tilting plate 3032c to tilt 90 ° from the initial position, which is only one possible tilting angle shown in the embodiment of the present application, but may also tilt 45 ° or 60 ° or the like, and may be freely set as required, which is not limited in the embodiment of the present application.

It should be noted that, when the clamping module 3033 is a clamping jaw, in order to accelerate the working efficiency of the clamping module 3033, the number of clamping jaws may be multiple, for example, refer to fig. 8, the number of clamping jaws may be two, when the number of clamping jaws may be two, refer to fig. 6, the number of the pre-positioning assemblies 302 may be two, and the two pre-positioning assemblies 302 are in one-to-one correspondence with the two clamping jaws, so that the two first to-be-stacked pieces J1 may be respectively placed on the two pre-positioning assemblies 302 through the two clamping jaws at a time, thereby greatly improving the working efficiency of the clamping module 3033.

In some embodiments, referring to fig. 5 and 9, the final stacking mechanism 40 includes: a transport assembly 401 and a tray assembly 402. The tray assembly 402 is disposed on the conveying assembly 401, the conveying assembly 401 is configured to drive the tray assembly 402 to the blanking station W2, and the universal arm 20 is further configured to drive the distance-changing manipulator 10 to the blanking station W2, so that the first pick-up member 2 and the second pick-up member 3 respectively lower the first to-be-stacked member J1 and the second to-be-stacked member J2 to the tray assembly 402.

Since the tray assembly 402 is disposed on the conveying assembly 401, the conveying assembly 401 may drive the tray assembly 402 to the blanking station W2, and after the conveying assembly 401 drives the tray assembly 402 to the blanking station W2, the universal arm 20 may drive the pitch-changing manipulator 10 to the blanking station W2, so that the first pick-up member 2 and the second pick-up member 3 respectively lower the first to-be-stacked member J1 and the second to-be-stacked member J2 to the tray assembly 402.

Since the pitch-changing manipulator 10 has already adjusted the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 to the predetermined width, when the first and second picking members 2 and 3 respectively lower the first to-be-stacked member J1 and the second to-be-stacked member J2 to the tray assembly 402, the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 on the tray assembly 402 will be the predetermined width.

By arranging the tray assembly 402, on the one hand, the tray assembly 402 can provide a position for placing the first to-be-stacked piece J1 and the second to-be-stacked piece J2, and on the other hand, since the tray assembly 402 is arranged on the conveying assembly 401, the position of the tray assembly 402 can be adjusted through the conveying assembly 401, so that the positions of the first to-be-stacked piece J1 and the second to-be-stacked piece J2 can be adjusted, and the device is very flexible.

The conveying assembly 401 may be a conveying belt or any structure capable of conveying the tray assembly 402, and the conveying assembly 401 is not limited in this embodiment of the present application.

In some embodiments, referring to fig. 9, the tray assembly 402 includes: a bottom plate 4021 and a final positioning assembly 4022. Wherein, final positioning assembly 4022 sets up in collet 4021, final positioning assembly 4022 includes backup pad 4022a, backup pad 4022a is provided with a plurality of division boards 4022b along first direction F1 array, a plurality of constant head tanks C are divided into to a plurality of division boards 4022b on backup pad 4022a, universal arm 20 still is used for driving displacement manipulator 10 to unloading station W2 department to make first piece J1 and second piece J2 to be stacked to two adjacent constant head tanks C are to first piece J2 and the second piece 3 of picking up to be stacked respectively.

By dividing the plurality of partition boards 4022b into a plurality of positioning grooves C arranged in the array along the first direction F1 on the support board 4022a, the positioning grooves C can serve to accommodate the first to-be-stacked member J1 and the second to-be-stacked member J2, and the first to-be-stacked member J1 and the second to-be-stacked member J2 can be ensured to be stably placed in the positioning grooves C.

It can be appreciated that, considering that the pitch-changing manipulator 10 has adjusted the gap width between the first to-be-stacked member J1 and the second to-be-stacked member J2 to a preset width before the first to-be-stacked member J1 and the second to-be-stacked member J2 are lowered into the two adjacent positioning grooves C, in order to ensure that the first to-be-stacked member J1 and the second to-be-stacked member J2 can be just placed into the two adjacent positioning grooves C, the thickness of the partition 4022b along the first direction F1 can be made equal to the preset width, so that the first to-be-stacked member J1 and the second to-be-stacked member J2 are lowered into the two adjacent positioning grooves C by the first and second pick-up members 3, respectively.

In order to place more pieces to be stacked on the support plate 4022a of the final positioning assembly 4022, in some embodiments, referring to fig. 9, the number of positioning slots C may be four, and when the number of positioning slots C is four and the pitch changing manipulator 10 includes two picking pieces of the first picking piece 2 and the second picking piece 3, the pitch changing manipulator 10 may place two pieces to be stacked in two positioning slots C first, then place two pieces to be stacked in the remaining two positioning slots C, and fill the four positioning slots C.

To further enhance the ability of the tray assembly 402 to carry the components to be stacked, in some embodiments, referring to fig. 9, the tray assembly 402 includes two final positioning assemblies 4022, and of course, the tray assembly 402 may also include three final positioning assemblies 4022 or four final positioning assemblies 4022, and the number of final positioning assemblies 4022 is not limited in the embodiments of the present application.

In some embodiments, referring to fig. 9, the final positioning assembly 4022 further includes: a blocking plate 4022c and a clip 4022d. The blocking plate 4022C is disposed at one end of the supporting plate 4022a along the extending direction of the partition plate 4022b, the clamping member 4022d is disposed at the other end of the supporting plate 4022a along the extending direction of the partition plate 4022b, and the clamping member 4022d is configured to press the first to-be-stacked member J1 and the second to-be-stacked member J2 against the blocking plate 4022C along the extending direction of the partition plate 4022b (in the direction F2 in fig. 9), so that the first to-be-stacked member J1 and the second to-be-stacked member J2 are both fixed in the positioning groove C.

By making the clamping member 4022d compress the first to-be-stacked member J1 and the second to-be-stacked member J2 against the blocking plate 4022c along the extending direction of the partition plate 4022b, the first to-be-stacked member J1 and the second to-be-stacked member J2 can be fixed, so that the first to-be-stacked member J1 and the second to-be-stacked member J2 are prevented from shaking.

The clamping member 4022d may be a clamping plate, and the embodiment of the present application does not limit the clamping member 4022 d.

In an actual application scenario, in order to ensure that the first to-be-stacked member J1 and the second to-be-stacked member J2 can be placed in two adjacent positioning slots C, before the first to-be-stacked member J1 and the second to-be-stacked member J2 are placed in two adjacent positioning slots C, the clamping member 4022d may be moved along a direction away from the blocking plate 4022C, so that the first to-be-stacked member J1 and the second to-be-stacked member J2 can be placed in the positioning slots C.

After the first to-be-stacked member J1 and the second to-be-stacked member J2 are placed in the positioning groove C, the clamping member 4022d can be moved along the direction close to the blocking plate 4022C, so that the first to-be-stacked member J1 and the second to-be-stacked member J2 are pressed against the blocking plate 4022C, and thus the first to-be-stacked member J1 and the second to-be-stacked member J2 can be fixed.

The movement of the clamping member 4022d along the direction away from the blocking plate 4022C may be manually or automatically implemented, and when the movement is manually implemented, a spring may be disposed between the clamping member 4022d and the supporting plate 4022a, and when the clamping member 4022d is manually made to move along the direction away from the blocking plate 4022C, the spring may be gradually compressed, and after the first to-be-stacked member J1 and the second to-be-stacked member J2 are placed in the two adjacent positioning slots C, when a person leaves the clamping member 4022d, under the action of the elasticity of the spring, the clamping member 4022d may move towards the direction close to the blocking plate 4022C, so that the first to-be-stacked member J1 and the second to-be-stacked member J2 are clamped in the positioning slots C.

When implemented in an automated manner, a cylinder or motor or the like may be disposed between the clip 4022d and the support plate 4022a, and driving the clip 4022d in a direction away from or toward the blocking plate 4022c may be implemented by the cylinder or motor.

In some embodiments, referring to fig. 4 and 10, the final positioning assembly 4022 further includes a positioning block 4022e, the positioning block 4022e is disposed on the bottom bracket 4021, and the positioning block 4022e is provided with a positioning hole 4022e1. The distance-changing manipulator 10 further comprises a positioning bolt 7, the positioning bolt 7 is arranged on the mounting piece 1, and when the positioning bolt 7 is inserted into the positioning hole 4022e1, the first pick-up piece 2 and the second pick-up piece 3 are aligned with two adjacent positioning grooves C respectively.

Through setting up location bolt 7 on mounting 1 to make when location bolt 7 inserts and locates locating hole 4022e1, first piece J1 and second piece J2 that wait to stack align with two adjacent constant head tanks C, like this, through the cooperation between location bolt 7 and the locating hole 4022e1, can play the effect of assistance in positioning, and then can make first piece 2 that picks up with second piece 3 respectively with two adjacent constant head tanks C align, thereby can make first piece J1 and second piece J2 that wait to stack very accurate put into two constant head tanks C.

The number of the positioning pins 7 may be two, three, or four, which is not limited in the embodiment of the present application. The number of the positioning holes 4022e1 may be two, three, four, or the like, which is not limited in the embodiment of the present application.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. The utility model provides a displacement manipulator which characterized in that, displacement manipulator includes:

a mounting (1);

a first pick-up member (2), the first pick-up member (2) being provided to the mounting member (1), the first pick-up member (2) being for picking up or lowering a first part (J1) to be stacked;

a second pick-up member (3), the second pick-up member (3) being disposed on the mounting member (1) and opposite to the first pick-up member (2) in a first direction (F1), the second pick-up member (3) being configured to pick up or lower a second to-be-stacked member (J2);

And the variable-pitch driving piece (4) is used for driving at least one of the second picking piece (3) and the first picking piece (2) to move along the first direction (F1) towards a direction approaching or away from the other so as to adjust the width of a gap between the first piece (J1) to be stacked and the second piece (J2) to be stacked to a preset width.

2. The variable-pitch manipulator according to claim 1, wherein the first pick-up member (2) is fixedly arranged on the mounting member (1), the second pick-up member (3) is slidably arranged on the mounting member (1) along the first direction (F1), and the variable-pitch driving member (4) is used for driving the second pick-up member (3) to move along the first direction (F1) towards a direction approaching or separating from the first pick-up member (2) so as to adjust the width of a gap between the first to-be-stacked member (J1) and the second to-be-stacked member (J2) to the preset width.

3. The pitch-changing manipulator of claim 2, wherein:

the number of the first pickup pieces (2) is multiple, the first pickup pieces (2) are respectively and fixedly arranged on the mounting piece (1) along a second direction (F2), and the second direction (F2) is perpendicular to the first direction (F1);

The number of the second pickup pieces (3) is a plurality of and corresponds to the first pickup pieces (2) one by one;

the variable-pitch manipulator further comprises a connecting plate (5), the connecting plate (5) is slidably arranged in the mounting piece (1) along the first direction (F1), a plurality of second pickup pieces (3) are fixedly arranged in the connecting plate (5) along the second direction (F2) respectively, the variable-pitch driving piece (4) is connected with the connecting plate (5) and is used for driving the connecting plate (5) to move along the first direction (F1) towards a direction close to or far away from the first pickup piece (2) so as to adjust the width of a gap between the first to-be-stacked piece (J1) and the corresponding second to-be-stacked piece (J2) to the preset width.

4. A torque converter manipulator according to any one of claims 1-3, characterized in that:

the first pick-up piece (2) is a clamping jaw;

and/or the number of the groups of groups,

the second pick-up (3) is a clamping jaw.

5. A robotic arm, characterized in that the robotic arm (50) comprises:

a gimbal arm (20); the method comprises the steps of,

the pitch-changing manipulator (10) according to any one of claims 1-4, wherein the universal arm (20) is connected with the mounting part (1) through a flange, the universal arm (20) is used for driving the pitch-changing manipulator (10) to the position of the loading station (W1) so that the first picking part (2) picks up the first part (J1) to be stacked and the second picking part (3) picks up the second part (J2) to be stacked, and the universal arm (20) is also used for driving the pitch-changing manipulator (10) to the position of the unloading station (W2) so that the first picking part (2) lowers the first part (J1) to be stacked and the second picking part (3) lowers the second part (J2) to be stacked.

6. A cell stack pitch device comprising the robotic arm of claim 5.

7. The cell stack pitch device of claim 6, further comprising:

a pre-stacking mechanism (30), wherein the pre-stacking mechanism (30) is used for pre-stacking the first to-be-stacked piece (J1) and the second to-be-stacked piece (J2) to the feeding station (W1);

the final stacking mechanism (40), final stacking mechanism (40) with the interval is relative to setting up in advance stacking mechanism (30), arm (50) are located advance stacking mechanism (30) with between final stacking mechanism (40), universal arm (20) are used for driving displacement manipulator (10) to material loading station (W1) department, so that first pick up piece (2) and second pick up piece (3) are respectively from advance stacking mechanism (30) go up first piece (J1) and second piece (J2) of waiting to stack, universal arm (20) still are used for driving displacement manipulator (10) to unloading station (W2) department, so that first pick up piece (2) and second pick up piece (3) respectively descend first piece (J1) and second piece (J2) of waiting to stack to final stacking mechanism (40).

8. The cell stack pitch device of claim 7, wherein the pre-stack mechanism (30) comprises:

a pre-stack assembly (301), the pre-stack assembly (301) comprising a frame (3011) and a sliding plate (3012), the sliding plate (3012) being slidably arranged to the frame (3011) along the first direction (F1);

-a pre-positioning assembly (302), said pre-positioning assembly (302) being provided to said sliding plate (3012);

the carrying assembly (303), the carrying assembly (303) is used for carrying the first to-be-stacked piece (J1) and the second to-be-stacked piece (J2) to the preset position assembly (302), the preset position assembly (302) is used for positioning the first to-be-stacked piece (J1) and the second to-be-stacked piece (J2) so as to pre-stack the first to-be-stacked piece (J1) and the second to-be-stacked piece (J2), and the sliding plate (3012) is used for driving the pre-stacked first to-be-stacked piece (J1) and the second to-be-stacked piece (J2) to slide along the first direction (F1) so as to pre-stack the first to-be-stacked piece (J1) and the second to-be-stacked piece (J2) to the feeding station (W1).

9. The cell stack pitch device of claim 8, wherein the predetermined bit assembly (302) comprises:

A positioning plate (3021), the positioning plate (3021) being provided to the sliding plate (3012);

an abutting piece (3022), wherein the abutting piece (3022) is arranged on the positioning plate (3021), the abutting piece (3022) and the positioning plate (3021) form a first placement position (A1) and a second placement position (A2) which are arranged along the first direction (F1), and the first placement position (A1) and the second placement position (A2) are located on two sides of the abutting piece (3022) along the first direction (F1);

-a first presser (3023), the first presser (3023) being provided to the sliding plate (3012) and corresponding to the first placement position (A1), the first placement position (A1) being used for placing the first piece (J1) to be stacked, the first presser (3023) being used for pushing the first piece (J1) to be stacked in the first direction (F1) so that the first piece (J1) to be stacked abuts against a first side face of the abutment (3022) to position the first piece (J1) to be stacked;

the second pressing piece (3024), the second pressing piece (3024) is arranged in the sliding plate (3012) and corresponds to the second placing position (A2), the second placing position (A2) is used for placing the second to-be-stacked piece (J2), and the second pressing piece (3024) is used for pushing the second to-be-stacked piece (J2) along the first direction (F1), so that the second to-be-stacked piece (J2) is abutted to a second side surface, opposite to the first side surface, of the abutting piece (3022) to locate the second to-be-stacked piece (J2).

10. The cell stack pitch device of claim 8, wherein the handling assembly (303) comprises:

a mobile drive module (3031);

a flipping module (3032), the flipping module (3032) being disposed on the mobile drive module (3031);

the clamping module (3033), the clamping module (3033) set up in upset module (3032), clamping module (3033) are used for the centre gripping first piece (J1) and the second piece (J2) of waiting to stack, upset module (3032) are used for driving clamping module (3033) upset, with first piece (J1) and the second piece (J2) of waiting to stack are adjusted to preset angle, remove drive module (3031) are used for with adjust to preset angle first piece (J1) and the second piece (J2) of waiting to stack are carried to predetermined group spare (302), clamping module (3033) still are used for the decline first piece (J1) and the second piece (J2) of waiting to stack to predetermined group spare (302).

11. The cell stack pitch device of claim 10, wherein the flipping module (3032) comprises:

a base plate (3032 a), the base plate (3032 a) being provided to the mobile drive module (3031);

A flip drive (3032 b), the flip drive (3032 b) being disposed on the base plate (3032 a);

the turnover plate (3032 c), the turnover plate (3032 c) is hinged to the bottom plate (3032 a) and the turnover driving piece (3032 b) respectively, the clamping module (3033) is connected to the turnover plate (3032 c), and the turnover driving piece (3032 b) is used for driving the turnover plate (3032 c) to turn over by 90 degrees from an initial position so as to adjust the first piece (J1) to be stacked and the second piece (J2) to be stacked to the preset angle, or the turnover driving piece (3032 b) is used for driving the turnover plate (3032 c) to reset to the initial position.

12. The cell stack pitch device according to any of claims 7-11, wherein the final stack mechanism (40) comprises:

a transport assembly (401);

the tray assembly (402), tray assembly (402) set up in conveying assembly (401), conveying assembly (401) are used for driving tray assembly (402) extremely unloading station (W2) department, universal arm (20) still are used for driving displacement manipulator (10) extremely unloading station (W2) department, so that first pick up piece (2) with second pick up piece (3) respectively the piece (J1) and second treat stack piece (J2) extremely tray assembly (402) are gone down.

13. The cell stack pitch device of claim 12, wherein the tray assembly (402) comprises:

a bottom plate (4021);

final positioning assembly (4022), final positioning assembly (4022) set up in collet board (4021), final positioning assembly (4022) include backup pad (4022 a), backup pad (4022 a) are followed first direction (F1) array is provided with a plurality of division boards (4022 b), and a plurality of division boards (4022 b) divide into a plurality of constant head tanks (C) in backup pad (4022 a), universal arm (20) still are used for driving displacement manipulator (10) extremely unloading station (W2) department, so that first pick up piece (2) with second pick up piece (3) are respectively transferred first piece (J1) and second treat stack piece (J2) to adjacent two in constant head tank (C).

14. The cell stack pitch device of claim 13, wherein the final positioning assembly (4022) further comprises:

a blocking plate (4022 c), the blocking plate (4022 c) being provided at one end of the support plate (4022 a) in the extending direction of the partition plate (4022 b);

the clamping piece (4022 d), the clamping piece (4022 d) is arranged at the other end of the supporting plate (4022 a) along the extending direction of the partition plate (4022 b), and the clamping piece (4022 d) is used for pressing the first piece (J1) to be stacked and the second piece (J2) to be stacked in the blocking plate (4022C) along the extending direction of the partition plate (4022 b), so that the first piece (J1) to be stacked and the second piece (J2) to be stacked are both fixed in the positioning groove (C).

15. The cell stack pitch device of claim 13, wherein:

the final positioning assembly (4022) further comprises a positioning block (4022 e), the positioning block (4022 e) is arranged on the bottom supporting plate (4021), and a positioning hole (4022 e 1) is formed in the positioning block (4022 e);

the distance-changing manipulator (10) further comprises a positioning bolt (7), the positioning bolt (7) is arranged on the mounting piece (1), when the positioning bolt (7) is inserted into the positioning hole (4022 e 1), the first pick-up piece (2) and the second pick-up piece (3) are respectively aligned with the two adjacent positioning grooves (C).