Rotary turnover mechanism provided with mobile manipulator
Technical Field
The utility model belongs to the technical field of lithium battery production equipment, and particularly relates to a rotary turnover mechanism provided with a mobile manipulator.
Background
A lithium battery is a battery using a nonaqueous electrolyte solution, which uses lithium metal or a lithium alloy as a negative electrode material; the lithium battery has the advantages of high storage energy, long service life, high rated voltage, light weight, environmental protection and the like, so that the lithium battery is widely applied, the lithium battery is produced through a plurality of working procedures, one working procedure is to detect the appearance of the lithium battery, the appearance of the lithium battery is mainly detected to detect whether leakage, flatulence and corrosion occur, and different detection devices are arranged according to different conditions.
In the prior art, in the lithium battery detection link, most procedures adopt manual detection, because the manual detection is subjective, individual difference, environmental difference and the like of detection personnel exist, larger uncertainty is often brought to battery appearance detection results, the yield of the battery cannot be effectively ensured, meanwhile, the production cost of enterprises is greatly increased by staff, in the manual taking and placing process, the battery is also easily damaged or polluted, and certain residual pollutants exist on the surface of certain battery production processes, if the battery is not cleaned, the deviation of the detection results can be caused.
Because in the surface detection process of the lithium battery, all the faces of the lithium battery need to be detected, and the conventional lithium battery is of a cuboid structure, the lithium battery needs to be turned over to accurately detect all the faces.
Disclosure of Invention
The utility model aims to provide a rotary turnover mechanism with a mobile manipulator, which is provided with a horizontally moving, horizontally rotating and lifting gripper, and is matched with a turnover gripper arranged on one side to realize turnover operation of a lithium battery, so that the surface of the lithium battery is conveniently and well detected, and the surface detection effect of the lithium battery is improved.
The manipulator assembly is arranged on the mounting frame in a transversely sliding way through the sliding assembly, and comprises a lifting assembly arranged at the sliding end of the sliding assembly, a rotating assembly arranged at the lifting end of the lifting assembly and a rotating gripper arranged at the rotating end of the rotating assembly.
Further, the mounting bracket upper end is fixed with vertical mounting panel, the slip subassembly is including setting up two sliding guide and the setting of mounting panel side length direction two drive belt between the sliding guide, the slip end of sliding guide and the fixed setting of lifting unit, drive belt with lifting unit fixed connection.
Further, the lifting assembly comprises a base plate fixedly arranged at the sliding ends of the sliding guide rails and a sliding frame arranged along the base plate in a lifting sliding manner, a vertical lifting air cylinder is arranged at the upper end or the lower end of the base plate, a telescopic rod of the lifting air cylinder is fixedly arranged with the sliding frame, and the rotary handle is arranged on the sliding frame.
Further, the base plate is provided with two vertical guide rails in the vertical direction, the sliding frame is fixedly connected with the sliding ends of the vertical guide rails, the base plate is provided with a lifting guide rod, and the telescopic ends of the lifting guide rod are fixedly connected with the sliding frame.
Further, the rotating assembly comprises a rotating head arranged on the sliding frame in a rotating mode and a rotating motor fixedly arranged at the upper end of the sliding frame, and the rotating end of the rotating motor is connected with the rotating head in a driving mode.
Further, the rotary gripper comprises a connecting base fixedly arranged at the lower end of the rotary head, a double-head cylinder fixedly arranged at the lower end of the connecting base, and clamping heads which are arranged on two telescopic shafts of the double-head cylinder in a distributed mode, wherein the two clamping heads are symmetrically arranged.
Further, the turnover mechanism is provided with a support frame for supporting the turnover tongs, the turnover tongs comprise a turnover motor transversely arranged at the upper end of the support frame and a clamping cylinder arranged on a rotating main shaft of the turnover motor, and a rotating plane of the turnover tongs and a sliding plane of the sliding assembly are arranged in parallel.
Further, the clamping cylinder is fixedly arranged on the rotating main shaft of the overturning motor through the connector, is a double-head cylinder and is provided with symmetrical clamping heads on the two telescopic shafts.
Further, a travel switch is arranged on the side face of the upper end or the lower end of the mounting plate, and the base plate is provided with a contact in sliding contact with the travel switch.
Further, the driving belt is provided with an upper layer belt and a lower layer belt, and the upper layer belt or the lower layer belt is fixedly arranged with the base plate.
The beneficial effects of the utility model are as follows:
1. according to the utility model, through arranging the mounting frame and arranging the corresponding manipulator assembly on the mounting frame, the clamping operation of moving, lifting and rotating the lithium battery on the horizontal plane is realized, so that the matching and clamping transmission of the azimuth of the lithium battery are realized under the matching of the turnover mechanism at one side, the turnover mechanism is turned by 180 degrees, the turnover mechanism is then transmitted to the rotating handle for stable clamping, the subsequent surface detection operation is further carried out on the lithium battery, the arrangement of the manipulator assembly realizes the good clamping and the position movement of the lithium battery needing to be subjected to the turnover operation, the multi-azimuth position adjustment is realized, the corresponding matching with the turnover mechanism is facilitated, the clamping after the transmission of the lithium battery on the manipulator assembly is realized, the stable turnover operation is carried out on the turnover handle, and the conveying transmission after the turnover lithium battery can be carried out again through the manipulator assembly.
2. According to the utility model, the vertical mounting plate is arranged at the upper end of the mounting frame, and the corresponding sliding guide rail and the driving belt are mounted through the mounting plate, so that the lifting assembly is controlled to horizontally slide along the length direction of the lifting assembly relative to the mounting plate, and more specifically, the two sliding guide rails are arranged to realize the sliding operation of the lifting assembly relative to the mounting plate and simultaneously enhance the stability of relative sliding; wherein, the drive belt that sets up on the mounting panel provides the power supply of slip operation to the slip of lifting unit on the mounting panel, drive belt in horizontal direction arbitrary one extreme point with carry out relative fixed connection between the lifting unit, and then, reciprocating motion's belt drives lifting unit and carries out the reciprocating operation on the horizontal plane.
3. According to the utility model, as the base plate is arranged in the lifting assembly, the fixed installation of corresponding components is provided, meanwhile, the sliding frame which can relatively lift and slide is arranged on the base plate, the sliding frame can support and install the rotating handle, so that the rotating handle can perform corresponding horizontal rotation operation on a horizontal plane, wherein the lifting cylinder can realize the power for lifting control of sliding operation of the sliding frame on the base plate, and the lifting adjustment of the rotating handle in the height direction is realized.
4. According to the utility model, the two vertical guide rails are arranged in the vertical direction of the base plate, and the sliding frame and the vertical guide rails are in relative sliding connection, so that the lifting sliding operation of the sliding frame on the base plate is realized, and meanwhile, the telescopic end of the lifting guide rod is fixedly connected with the sliding frame due to the fact that the lifting guide rod is arranged on the base plate, and the auxiliary guiding of the lifting sliding operation of the sliding frame on the base plate is realized.
5. In the utility model, the rotating head which rotates relative to the sliding frame is arranged in the rotating assembly, so that the rotating assembly is enabled to rotate in a degree of freedom relative to the sliding frame, and further, the rotating assembly is provided with rotation control on a horizontal plane under the drive of the rotating motor arranged at the upper end of the sliding frame.
6. According to the lithium battery clamping device, the connecting base is arranged in the rotating handle, the double-head air cylinder is arranged at the lower end of the connecting base, and the double-head air cylinder synchronously and oppositely operates the two symmetrical clamping heads, so that the double-head air cylinder has a clamping function for controlling the clamping heads, and stable clamping of the lithium battery on a horizontal plane is realized.
7. According to the utility model, the corresponding support frame is arranged in the turnover mechanism to support and mount the turnover grip, so that the turnover motor on the turnover grip is arranged in the transverse direction to realize the operation of reciprocating turnover of the clamping cylinder on the vertical surface, and further, the clamping cylinder drives the corresponding rotation grip to perform 180-degree turnover operation on the transferred lithium battery, and the parallel arrangement of the rotation plane of the rotation grip and the sliding plane of the sliding assembly is beneficial to the mutual matched transfer and receiving azimuth adjustment of the lithium battery controlled by the mechanical arm assembly, so that the turnover mechanism is convenient for turnover of the lithium battery after receiving.
8. In the utility model, the travel switch is arranged on the side surface of the upper end or the lower end of the mounting plate, and the contact which is in sliding contact with the travel switch is arranged on the base plate, so that the manipulator assembly can stop at a given position when the manipulator assembly transversely operates on the mounting plate, and the operation of sliding control at the given position is realized.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of the overall structure of a rotary turnover mechanism of the present utility model;
FIG. 2 is a schematic view of a manipulator assembly according to the present utility model;
fig. 3 is a schematic structural view of the turnover mechanism of the present utility model.
In the drawings, a 1-mounting frame, a 2-manipulator assembly, a 3-turnover mechanism, a 4-sliding assembly, a 5-lifting assembly, a 6-rotating assembly, a 7-rotating handle, an 8-turnover handle, a 9-mounting plate, a 10-sliding guide rail, an 11-driving belt, a 12-base plate, a 13-sliding frame, a 14-lifting cylinder, a 15-telescopic rod, a 16-vertical guide rail, a 17-lifting guide rod, a 18-rotating head, a 19-rotating motor, a 20-connecting base, a 21-double-head cylinder, a 22-clamping head, a 23-supporting frame, a 24-turnover motor, a 25-clamping cylinder, a 26-connecting head, a 27-clamping head, a 28-travel switch, a 29-contact, a 30-upper belt and a 31-lower belt.
Detailed Description
Embodiments of the technical scheme of the present utility model will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and thus are merely examples, and are not intended to limit the scope of the present utility model.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.
The utility model provides a be provided with rotatory tilting mechanism of mobile robot, includes mounting bracket 1, sets up manipulator subassembly 2 on mounting bracket 1 and sets up tilting mechanism 3 in mounting bracket 1 one side, manipulator subassembly 2 passes through slip subassembly 4 and transversely slides the setting on mounting bracket 1, manipulator subassembly 2 is including setting up at the lift subassembly 5 of slip subassembly 4 slip end, setting up at the rotatory subassembly 6 of lift subassembly 5 lift end and setting up the rotation tongs 7 at the rotatory end of rotatory subassembly 6, and tilting mechanism 3 is provided with the upset tongs 8 in tongs one side.
Through setting up mounting bracket 1 to set up corresponding manipulator subassembly 2 on mounting bracket 1, realize carrying out the removal on the horizontal plane, lift and rotatory centre gripping operation to the lithium cell, thereby realize the cooperation and the centre gripping transmission in the position of lithium cell under the cooperation of the tilting mechanism 3 of one side, and then carry out 180 upset in tilting mechanism 3, transmit again and carry out stable centre gripping in rotating tongs 7, and then carry out follow-up surface detection's operation to the lithium cell, the setting of manipulator subassembly 2 realizes carrying out fine centre gripping and the removal of position to the lithium cell that needs to carry out the tilting operation, realize the position adjustment on the diversified, and then be favorable to carrying out corresponding cooperation with tilting mechanism 3, realize carrying out the centre gripping after passing to the lithium cell on the manipulator subassembly 2, and carry out stable tilting operation on the tilting tongs 8, carry out the transmission after the centre gripping once more to the lithium cell after the upset, can carry out.
As a preferred mode of this embodiment, the rotating assembly 6 may perform 360 ° horizontal rotation on a horizontal plane, so as to adjust the position of the lithium battery that needs to perform the overturning operation, so that the overturning mechanism 3 on one side performs the clamping on the predetermined position of the lithium battery on the rotating handle 7, thereby realizing the accurate overturning operation.
As a preferred mode of this embodiment, the sliding assembly 4 drives the manipulator assembly 2 to perform a reciprocating operation on a horizontal plane.
Preferably, the upper end of the mounting frame 1 is fixed with a vertical mounting plate 9, the sliding assembly 4 comprises two sliding guide rails 10 arranged on the side surface of the mounting plate 9 in the length direction and a driving belt 11 arranged between the two sliding guide rails 10, the sliding end of the sliding guide rail 10 is fixedly arranged with the lifting assembly 5, and the driving belt 11 is fixedly connected with the lifting assembly 5.
It can be understood that by providing the vertical mounting plate 9 at the upper end of the mounting frame 1, the corresponding sliding guide rail 10 and the driving belt 11 are mounted through the mounting plate 9, so that the control of the horizontal sliding operation of the lifting assembly 5 in the length direction relative to the mounting plate 9 is performed; more specifically, the arrangement of the two sliding guide rails 10 realizes the sliding operation on the lifting assembly 5 relative to the mounting plate 9 and simultaneously enhances the stability of relative sliding; wherein, a driving belt 11 arranged on the mounting plate 9 provides a power source for sliding operation for the lifting assembly 5 to slide on the mounting plate 9, and any one end point of the driving belt 11 in the horizontal direction is fixedly connected with the lifting assembly 5 relatively; further, the belt reciprocally moves the lifting assembly 5 to perform a reciprocal operation on a horizontal plane.
It will be appreciated that the purpose of the driving belt 11 is to provide the lifting assembly 5 with a horizontal sliding function with corresponding power on a given motion track, and the motion principle is to set a position of the belt surface of the driving belt 11 and the lifting assembly 5 in a fixed connection manner, so that the driving belt 11 with reciprocating motion can realize the control of the horizontal reciprocating motion of the lifting assembly 5 on the horizontal plane.
Preferably, the lifting assembly 5 comprises a base plate 12 fixedly arranged at the sliding ends of the two sliding guide rails 10, and a sliding frame 13 arranged along the base plate 12 in a lifting sliding manner, a vertical lifting air cylinder 14 is arranged at the upper end or the lower end of the base plate 12, a telescopic rod 15 of the lifting air cylinder 14 is fixedly arranged with the sliding frame 13, and the rotary handle 7 is arranged on the sliding frame 13.
Since the base plate 12 is arranged in the lifting assembly 5 to provide fixed installation of corresponding components, meanwhile, the sliding frame 13 which can relatively lift and slide is arranged on the base plate 12, and the sliding frame 13 realizes the arrangement of supporting and installing the rotary handle 7, so that the rotary handle 7 can perform corresponding horizontal rotation operation on a horizontal plane; wherein the lifting cylinder 14 realizes the power of lifting control for sliding operation of the sliding frame 13 on the base plate 12, and realizes the lifting adjustment of the rotary grip 7 in the height direction.
Preferably, the base plate 12 is provided with two vertical guide rails 16 in the vertical direction, the sliding frame 13 is fixedly connected with the sliding ends of the vertical guide rails 16, the base plate 12 is provided with a lifting guide rod 17, and the telescopic ends of the lifting guide rod 17 are fixedly connected with the sliding frame 13.
By arranging two vertical guide rails 16 in the vertical direction of the base plate 12 and carrying out relative sliding connection between the sliding frame 13 and the vertical guide rails 16, lifting sliding operation of the sliding frame 13 on the base plate 12 is further realized, and meanwhile, due to the fact that the lifting guide rods 17 are arranged on the base plate 12, telescopic ends of the lifting guide rods 17 are fixedly connected with the sliding frame 13, and further auxiliary guiding of lifting sliding operation of the sliding frame 13 on the base plate 12 is realized.
As a preferred mode of this embodiment, two vertical guide rails 16 are disposed on both sides of the lifting cylinder 14 and symmetrically disposed on both sides thereof, so as to ensure stability of the relative lifting control of the carriage 13 on the base plate 12.
Preferably, the rotating assembly 6 comprises a rotating head 18 rotatably arranged on the sliding frame 13, and a rotating motor 19 fixedly arranged at the upper end of the sliding frame 13, wherein the rotating end of the rotating motor 19 is in driving connection with the rotating head 18.
The rotating head 18 which rotates relative to the carriage 13 is provided in the rotating unit 6, so that the rotating unit 6 as a whole has a degree of freedom of rotation relative to the carriage 13, and further, the rotating unit is provided with a rotation control on a horizontal plane by a rotation motor 19 provided at the upper end of the carriage 13.
As a preferred mode of this embodiment, the sliding frame 13 is a right-angle triangle-shaped mounting frame, so that the stability of the installation of the rotating assembly 6 on the end portion of the sliding frame 13 can be enhanced, and meanwhile, the rotating assembly 6 can clamp and bear force on the lithium battery to be conveyed, and the triangle-shaped mounting frame also enables the stress of the end point of the sliding frame 13 to be more stable.
Preferably, the rotary gripper 7 includes a connection base 20 fixedly disposed at the lower end of the rotary head 18, a double-head cylinder 21 fixedly disposed at the lower end of the connection base 20, and clamping heads 22 disposed on two telescopic shafts of the double-head cylinder 21, where the two clamping heads 22 are symmetrically disposed.
Because the connecting base 20 is arranged in the rotary gripper 7, and the double-head air cylinder 21 is arranged at the lower end of the connecting base 20, the double-head air cylinder 21 performs synchronous opposite and opposite operations on the two symmetrical clamping heads 22, so that the double-head air cylinder 21 has a clamping function on the control of the clamping heads 22, and stable clamping of the lithium battery on a horizontal plane is realized.
As a preferable mode of this embodiment, the clamping head 2 may be an "L" shaped clamping plate, and a contact surface with a large friction force may be disposed on the stressed plate surface, so as to strengthen stable stress operation of the clamping head 2 on the lithium battery after folding.
Preferably, the turnover mechanism 3 is provided with a supporting frame 23 for supporting the turnover gripper 8, the turnover gripper 8 comprises a turnover motor 24 transversely arranged at the upper end of the supporting frame 23, and a clamping cylinder 25 arranged on a rotating main shaft of the turnover motor 24, and a rotating plane of the turnover gripper 8 is parallel to a sliding plane of the sliding assembly 4.
Corresponding support frame 23 is arranged in tilting mechanism 3 to support and install tilting gripper 8 for tilting motor 24 on tilting gripper 8 sets up in the transverse direction, realizes the operation to pressing from both sides the reciprocal upset of tight cylinder 25 on the vertical face, and then makes pressing from both sides tight cylinder 25 drive corresponding rotation gripper 7 and carry out 180 tilting operations to the lithium cell that gets over, and the rotation plane of rotation gripper 7 and the sliding plane parallel arrangement of sliding component 4 are favorable to carrying out the azimuthal adjustment of mutually supporting type transfer and receipt to the lithium cell that manipulator subassembly 2 controlled, are convenient for tilting mechanism 3 to the upset after the receipt of lithium cell.
Preferably, the clamping cylinder 25 is fixedly arranged on the rotating main shaft of the turnover motor 24 through a connector 26, and the clamping cylinder 25 is a double-head cylinder and is provided with symmetrical clamping heads 27 on two telescopic shafts.
Preferably, a travel switch 28 is provided on the upper or lower end side of the mounting plate 9, and the base plate 12 is provided with a contact 29 in sliding contact with the travel switch 28.
A travel switch 28 is provided on the upper or lower end side surface of the mounting plate 9, and a contact 29 in sliding contact with the travel switch 28 is provided on the base plate 12, so that the manipulator assembly 2 can be stopped at a predetermined position when laterally operating on the mounting plate 9, and the operation of sliding control at the predetermined position is realized.
It can be appreciated that the travel switch 28 can be arranged on both ends of the mounting plate 9 to prevent the problem of sliding detachment of the base plate 12 on the mounting plate 9, and meanwhile, the corresponding travel switch 28 can be arranged on the mounting plate 9 at a position right above the overturning grip, so that the base plate 12 slides on the mounting plate 9, and an accessory positioned on the overturning grip can automatically pause sliding to carry out the transfer clamping and the subsequent overturning operation of the lithium battery.
Preferably, the driving belt 11 is provided with an upper belt 30 and a lower belt 31, and the upper belt 30 or the lower belt 31 is fixedly disposed on the base plate 12.
It will be appreciated that the base plate 12 may be fixedly connected to any portion of the drive belt 11, and further fixedly connected to the upper belt 30 or the lower belt 31, so that the horizontal reciprocating operation of the base plate 12 may be achieved during the reciprocating operation of the drive belt 11.
The working principle and the working process of the utility model are as follows:
when the rotary turnover mechanism of the mobile manipulator is used, the manipulator assembly 2 is used for carrying out azimuth adjustment after clamping on the lithium battery needing surface detection, the azimuth adjustment comprises horizontal sliding operation under the control of the sliding assembly 4, lifting adjustment in the vertical direction under the control of the lifting assembly 5 and rotary control adjustment on the rotary handle 7 part of the rotary assembly 6, so that the lithium battery grabbed on the rotary handle 7 can carry out certain azimuth adjustment, and the turnover operation after transfer clamping on the lithium battery on the rotary handle 7 by the turnover handle 8 on one side is realized, wherein the turnover angle is 180 degrees.
Further, the setting of manipulator subassembly 2 realizes carrying out fine centre gripping and the removal of position to the lithium cell that needs to carry out the upset operation, realizes the position adjustment on the diversified, and then is favorable to carrying out corresponding cooperation with between the tilting mechanism 3, realizes carrying out the centre gripping after the transmission to the lithium cell on the manipulator subassembly 2 to carry out stable upset operation on upset tongs 8, can carry out the transport transmission after the centre gripping once more through manipulator subassembly 2 to the lithium cell after the upset.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model 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 utility model, and are intended to be included within the scope of the appended claims and description.