CN220313368U - Battery clamping manipulator and battery stacking fork - Google Patents

Abstract

The utility model discloses a battery clamping manipulator and a battery stacking fork, wherein the battery clamping manipulator comprises a first support piece, two clamping units and a first driving mechanism, wherein the first driving mechanism is arranged on the first support piece and controls the distance between the two clamping units so that the two clamping units can clamp or loosen a battery; at least one clamping unit is connected with the first supporting piece or the second supporting piece connected with the first supporting piece through a buffer structure, so that the clamping unit can elastically float in the arrangement direction of the two clamping units. According to the utility model, when the two clamping units perform clamping action, each battery can be effectively clamped by utilizing the elastic floating work of the two clamping units, so that the problem that the clamping units cannot clamp or clamp too tightly the battery due to machining errors and/or assembly errors, size errors of the battery and the like is solved.

Description

Battery clamping manipulator and battery stacking fork

Technical Field

The utility model relates to the technical field of battery processing, in particular to a battery clamping manipulator and a battery stacking fork.

Background

The lithium battery is produced through the production processes of formation, capacity division, standing and the like, so that the battery is required to be circulated in the production process. Conventionally, a plurality of batteries are placed in a tray jig, a pallet is lifted by a pallet fork of a stacker, the pallet and the batteries on the pallet are sent into a formation/capacity-dividing cabinet, after the formation/capacity division of the batteries is completed, the stacker removes the pallet and the batteries on the pallet from the formation/capacity-dividing cabinet, and finally the pallet and the batteries on the pallet are sent to a standing shelf for standing. In the process, a large number of trays are needed, and the defects of high cost, space occupation and the like of the trays exist. In order to solve the problem, the prior art presents a manipulator capable of clamping a battery, and the manipulator is used for replacing a tray to realize turnover of the battery. However, the battery gripping robot of the related art has the following problems: the battery is easily crushed due to the lack of clamping or excessive clamping of the battery due to the processing error and/or assembly error of the clamping part, the dimensional error of the battery itself, and the like.

Disclosure of Invention

Aiming at the technical problems existing in the prior art, the utility model provides a battery clamping manipulator and a battery stacking fork.

The technical scheme adopted for solving the technical problems is as follows: a battery clamping manipulator comprises a first supporting piece, two clamping units and a first driving mechanism, wherein the first driving mechanism is arranged on the first supporting piece and controls the distance between the two clamping units so that the two clamping units can clamp or loosen a battery; at least one clamping unit is connected with the first supporting piece or the second supporting piece connected with the first supporting piece through a buffer structure, so that the clamping unit can elastically float in the arrangement direction of the two clamping units.

Further, the two clamping units respectively comprise a plurality of clamping jaws which are arranged in parallel, so that the two clamping units can clamp a plurality of batteries at one time; each clamping jaw of the at least one clamping unit is connected with the first supporting piece or the second supporting piece connected with the first supporting piece through at least one buffer structure.

Further, the buffer structure includes an elastic member that is fitted between the corresponding jaw and the first support member or the second support member, and the elastic member is gradually compressed as the two clamping units are brought into contact with and clamped by the battery.

Further, the buffer structure further comprises a linear bearing and a guide rod, the linear bearing and the guide rod are in sliding fit in the arrangement direction of the two clamping units, one of the linear bearing and the guide rod is connected with a corresponding clamping jaw, the other of the linear bearing and the guide rod is connected with the first support piece or the second support piece, and the elastic piece is sleeved outside the guide rod; the elastic piece is a pressure spring or an elastic sleeve.

Further, the first support piece or the second support piece comprises a support main body and a plurality of connecting seats fixed on the support main body, the connecting seats are arranged in parallel and correspond to the clamping jaws of the corresponding clamping unit one by one, and each connecting seat is connected with the corresponding clamping jaw through at least one buffer structure; each clamping jaw of the clamping unit matched with the buffer structure comprises a clamping seat and a clamping plate fixed on the clamping seat.

Further, one of the clamping units is connected with the second supporting piece through the buffer structure, and the second supporting piece is connected with the first supporting piece in a sliding manner along the arrangement direction of the two clamping units and is driven by the first driving mechanism; the other clamping unit is fixedly connected to the first supporting piece.

Further, the first driving mechanism comprises a first motor, a first screw rod and a first sliding block, the first motor is installed on the first supporting piece, and the first screw rod is rotationally connected to the first supporting piece and is driven to rotate by the first motor; the first screw rod is positioned in the arrangement direction of the two clamping units, and the first sliding block is in threaded connection with the first screw rod and is fixedly connected with the second supporting piece.

Further, the two clamping units are arranged up and down, and the upper clamping unit is driven by the first driving mechanism to move upwards or downwards; the clamping jaws of the two clamping units are staggered up and down respectively; the clamping surfaces of the clamping jaws of the upper clamping unit and/or the clamping jaws of the lower clamping unit are respectively provided with a pressing adhesive tape.

The utility model further provides a battery stacking fork which comprises a second driving mechanism and the battery clamping manipulator disclosed by the utility model, wherein the second driving mechanism is connected with the first supporting piece so as to drive the battery clamping manipulator to move along the direction approaching to or separating from a stacking point.

Further, the second driving mechanism comprises a second motor, a second screw rod and a second sliding block, wherein the second screw rod is rotationally arranged and is driven to rotate by the second motor; the second sliding block is in threaded connection with the second screw rod and is connected with the first supporting piece; the first support is connected with a guide rail mechanism to guide the movement thereof.

Compared with the prior art, the utility model has the following beneficial effects:

1. because at least one clamping unit of the utility model is connected with the first supporting piece or the second supporting piece connected with the first supporting piece through the buffer structure, so that the clamping unit can elastically float in the arrangement direction of the two clamping units, when the two clamping units perform clamping action, each battery can be effectively clamped by utilizing the elastic floating function of the two clamping units, and the problem that the clamping unit cannot clamp or clamps too tightly the battery due to processing errors and/or assembly errors, dimensional errors of the battery and the like is solved.

2. The two clamping units respectively comprise a plurality of clamping jaws which are arranged in parallel, so that the two clamping units can clamp a plurality of batteries at one time, and each clamping jaw of at least one clamping unit is respectively connected with a first supporting piece or a second supporting piece connected with the first supporting piece through at least one buffer structure, so that when the clamping faces of each clamping jaw of the clamping unit are uneven due to machining errors and/or assembly errors, the batteries can be effectively clamped, the condition that the batteries are not clamped tightly is avoided, and the batteries are excessively clamped tightly is avoided.

3. The buffer structure preferably comprises the elastic piece, and is simple in structure and convenient to assemble. Particularly, the buffer structure further comprises the linear bearing and the guide rod, so that the clamping jaw moves more smoothly without jamming.

The utility model is described in further detail below with reference to the drawings and examples; the battery gripping robot and the battery stacking fork of the present utility model are not limited to the embodiments.

Drawings

FIG. 1 is a schematic perspective view of a battery gripping robot of the present utility model;

FIG. 2 is a schematic perspective view of a single jaw and connecting base of the present utility model in a combined state;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is an exploded schematic view of FIG. 2;

fig. 5 is a schematic view of a battery clamping state of the present utility model;

FIG. 6 is a schematic perspective view of a battery stack pallet fork of the present utility model;

FIG. 7 is a schematic perspective view of a second drive mechanism of the present utility model; wherein 1, a first supporting piece, 2/3, clamping jaws, 21, a clamping seat, 22, clamping plates, 23, a compression adhesive tape, 4, a buffer structure, 41, a compression spring, 42, a linear bearing, 43, a guide rod, 44, a gasket, 45, an upper end cover, 46, a lower end cover, 47, a lower screw, 5, a second supporting piece, 51, a supporting main body, 52 and a connecting seat, 6, a first driving mechanism, 61, a first motor, 62, a first screw rod, 63, a first sliding block, 7, a second driving mechanism, 71, a second motor, 72, a second screw rod, 73, a second sliding block, 74, a synchronous belt transmission mechanism, 75, a support, 76, a connecting plate, 8, a guide rail, 9, a sliding rail groove, 10 and a battery.

Detailed Description

In the present disclosure, the terms "first," "second," and the like are used merely to distinguish between similar objects, and are not used to describe a particular sequence or order, nor are they to be construed as indicating or implying a relative importance. In the description, the orientation or positional relationship indicated by "upper", "lower", etc. are used based on the orientation or positional relationship shown in the drawings, only for convenience of describing the present utility model, and are not intended to indicate or imply that the apparatus referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of protection of the present utility model. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, in the description of the present utility model, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. In the description of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "configured," "connected," and the like are to be construed broadly, and thus, for example, "connected" may be either fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, or communicating between the interiors of two elements, and the specific meaning of the terms in the present utility model will be understood to those skilled in the art in particular.

Referring to fig. 1-5, a battery clamping manipulator of the present utility model includes a first support member 1, two clamping units, and a first driving mechanism 6, wherein the first driving mechanism 6 is disposed on the first support member 1 and controls the distance between the two clamping units so that the two clamping units can clamp or unclamp a battery; at least one clamping unit is connected with the first support 1 or the second support 5 connected with the first support 1 through a buffer structure 4 so that the clamping unit can elastically float in the arrangement direction of the two clamping units. Specifically, one of the clamping units is connected with a second support member 5 through a buffer structure 4, and the second support member 5 is slidably connected to the first support member 1 along the arrangement direction of the two clamping units and is driven by a first driving mechanism 6; the other clamping unit is fixedly connected to the first support 1. And, two clamping units are arranged up and down, and the upper clamping unit forms one of the clamping units to be driven by the first driving mechanism 6 to move upwards or downwards.

In this embodiment, the two clamping units respectively include a plurality of clamping jaws 2/3 arranged in parallel, so that the two clamping units can clamp a plurality of batteries at a time. Each clamping jaw 2 of the upper clamping unit is staggered with each clamping jaw 3 of the lower clamping unit in the up-down direction, so that each clamping jaw 2 of the upper clamping unit (except for the two clamping jaws at the edge positions) can be simultaneously clamped and matched with two batteries adjacent to the left and the right, the number of the clamping jaws is reduced, the cost is reduced, and the placement accuracy of the batteries can be ensured. Each jaw 2 of one of the clamping units (i.e. the upper clamping unit) is connected to a second support 5 via at least one buffer structure 4. In other embodiments, each jaw 3 of the other clamping unit (i.e. the lower clamping unit) is connected to the first support 1 by at least one buffer structure 4, respectively, or each jaw 2 of one clamping unit is connected to the second support 5 by at least one buffer structure 4, respectively, and each jaw 3 of the other clamping unit is connected to the first support 1 by at least one buffer structure 4, respectively. The first support 1 is a bracket structure.

As a preferred way, the buffer structure 4 comprises an elastic element which fits between the corresponding jaw and the second support 5 and which is progressively compressed as the two clamping units come into contact with the battery and clamp.

As a preferred manner, the buffer structure 4 further includes a linear bearing 42 and a guide rod 43, the linear bearing 42 and the guide rod 43 are slidably fitted in the arrangement direction (i.e., up-down direction) of the two clamping units, and one of the linear bearing 42 and the guide rod 43 is connected to the corresponding jaw 2, and the other of the linear bearing 42 and the guide rod 43 is connected to the second support 5. Specifically, the upper end of the guide rod 43 is installed in the linear bearing 42, the lower end of the guide rod 43 is connected with the corresponding clamping jaw 2, and the upper end of the linear bearing 42 is connected with the second supporting piece 5. The elastic member is sleeved outside the guide rod 43, and in the present embodiment, the elastic member is a compression spring 41, but is not limited thereto, and in other embodiments, the elastic member is an elastic sleeve or the like.

The second supporting member 5 specifically includes a supporting body 51 and a plurality of connecting seats 52 fixed to the supporting body 51, where the plurality of connecting seats 52 are arranged in parallel and correspond to the plurality of clamping jaws 2 of the corresponding clamping unit (i.e. the upper clamping unit), and each connecting seat 52 is connected to the corresponding clamping jaw 2 through at least one buffer structure 4, and specifically, each connecting seat 52 is connected to the corresponding clamping jaw 2 through two buffer structures 4, but not limited thereto. The clamping surfaces of the clamping jaws 2 of the upper clamping unit and/or the clamping jaws 3 of the lower clamping unit are respectively provided with a pressing adhesive tape 23 so as to prevent clamping injury and clamping damage to the battery and play a role in buffering protection. Specifically, each clamping jaw 2 of the clamping unit (i.e. the upper clamping unit) matched with the buffer structure 4 comprises a clamping seat 21 and a clamping plate 22 fixed on the clamping seat 21, and two pressing adhesive tapes 23 arranged in parallel are arranged on the clamping plate 22. The supporting body 51 is a vertical plate body, the connecting seat 52 is in an inverted L shape, the clamping seat 21 is approximately in a zigzag shape, a vertical portion of the connecting seat 52 is fixed on one side of the supporting body 51, a horizontal portion of the connecting seat 52 is matched with an upper end cover 45 by adopting an upper screw (not shown in the figure) to be connected with the upper end of the linear bearing 42, a lower horizontal portion of the clamping seat 21 is positioned below the horizontal portion of the connecting seat 52, a lower end cover 46 and a gasket 44 are matched with the lower end of the guide rod 43 by adopting a lower screw 47 to be connected with the lower end of the gasket 44, and the pressure spring 41 is propped between the lower end of the linear bearing 42 and the gasket 44.

The first driving mechanism 6 comprises a first motor 61, a first screw rod 62 and a first sliding block 63, the first motor 61 is mounted on the first supporting piece 1, the first screw rod 62 is rotatably connected to the first supporting piece 1, and the first motor 61 drives the first supporting piece to rotate; the first screw 62 is located in the arrangement direction of the two clamping units, and the first slider 63 is in threaded connection with the first screw 62 and is fixedly connected with the second supporting member 5. Specifically, the first slider 63 is fixedly connected to the support main 51 of the second support 5. The first motor 61 may be in driving connection with the first screw 62 using a gear transmission. In other embodiments, the first drive mechanism comprises a cylinder or an electric push rod, or the like.

In operation, the first motor 61 is started to drive the first screw 62 to rotate, so that the first slider 63 moves upwards or downwards, and the second supporting member 5 moves upwards or downwards, and the upper clamping unit moves upwards or downwards, so that the battery can be clamped or unclamped by being matched with the lower clamping unit. In the process of clamping the battery, when each clamping jaw 2 of the upper clamping unit moves downwards and contacts the battery 10, as the second supporting member 5 continues to move downwards, each clamping jaw 2 of the upper clamping unit moves relative to the connecting seat 52 under the action of the linear bearing 42 and the guide rod 43 respectively, so that the vertical distance between the clamping seat 21 and the connecting seat 52 is gradually reduced, and the elastic member (i.e. the pressure spring 41) is compressed, when the pressure spring 41 is compressed in place, each clamping jaw 2 of the upper clamping unit moves relative to the connecting seat 52 respectively, and is matched with the corresponding clamping jaw 3 of the lower clamping unit to effectively clamp the battery 10, as shown in fig. 5. In this way, it is ensured that each cell is clamped effectively.

The buffer structure 4 is arranged, so that when the clamping surfaces of the two clamping units are uneven due to clamping jaw machining errors and/or assembly errors, battery size errors and the like, the battery can be effectively clamped, and the situation that the battery is not clamped by the existing clamping jaws and is excessively clamped by the existing clamping jaws is avoided.

Referring to fig. 1-7, a battery stacking fork according to the present utility model includes a second driving mechanism 7, and further includes a battery clamping manipulator according to the present utility model as described above, where the second driving mechanism 7 is connected to the first supporting member 1 to drive the battery clamping manipulator to move in a direction approaching or separating from a stacking point.

In the present embodiment, the second driving mechanism 7 includes a second motor 71, a second screw 72, and a second slider 73, and the second screw 72 is rotatably provided and is driven to rotate by the second motor 71; the second slider 73 is screwed with the second screw 72 and is connected to the first support 1. Specifically, two ends of the second screw rod 72 are respectively connected to a support 75 in a rotating manner, the second motor 71 is a servo motor, an output shaft of the second motor is in transmission connection with the second screw rod 72 through a synchronous belt transmission mechanism 74, and the second slider 73 is fixedly connected with the second supporting member 5 through a connecting plate 76. A guide rail mechanism is connected to the first support 1 to guide the movement thereof. The guide rail mechanism specifically comprises a guide rail 8 and a slide rail groove 9 in sliding fit with the guide rail 8, the guide rail 8 is arranged on the first support piece 1 along the moving direction of the first support piece 1, and the slide rail groove 9 is fixed on the corresponding part of the battery stacker. The number of the guide rail mechanisms is two, and the two guide rail mechanisms are arranged in parallel. In other embodiments, the second drive mechanism comprises a cylinder or an electric push rod, or the like.

When the battery stacking device works, the second motor 71 is started, the second screw rod 72 is driven to rotate through the synchronous belt transmission mechanism 74, the second sliding block 73 drives the second supporting piece 5 to move along the direction close to or far away from the stacking point through the connecting plate 76, and the battery stacking device is matched with the battery clamping manipulator to realize the battery clamping and stacking function. Regarding the construction and working principle of the battery clamping manipulator, please refer to the description of the foregoing, and the description is omitted herein.

The battery clamping manipulator and the battery stacking fork are the same as or can be realized by adopting the prior art.

The above embodiment is only used for further illustrating a battery clamping manipulator and a battery stacking fork according to the present utility model, but the present utility model is not limited to the embodiment, and any simple modification, equivalent variation and modification made to the above embodiment according to the technical substance of the present utility model falls within the protection scope of the technical solution of the present utility model.

Claims (10)

1. A battery clamping manipulator comprises a first supporting piece, two clamping units and a first driving mechanism, wherein the first driving mechanism is arranged on the first supporting piece and controls the distance between the two clamping units so that the two clamping units can clamp or loosen a battery; the method is characterized in that: at least one clamping unit is connected with the first supporting piece or the second supporting piece connected with the first supporting piece through a buffer structure, so that the clamping unit can elastically float in the arrangement direction of the two clamping units.

2. The battery gripping robot of claim 1, wherein: the two clamping units respectively comprise a plurality of clamping jaws which are arranged in parallel, so that the two clamping units can clamp a plurality of batteries at one time; each clamping jaw of the at least one clamping unit is connected with the first supporting piece or the second supporting piece connected with the first supporting piece through at least one buffer structure.

3. The battery gripping robot of claim 2, wherein: the buffer structure comprises an elastic piece, wherein the elastic piece is matched between the corresponding clamping jaw and the first support piece or the second support piece, and the elastic piece is gradually compressed along with the contact and clamping of the two clamping units and the battery.

4. The battery gripping robot of claim 2, wherein: the buffer structure further comprises a linear bearing and a guide rod, the linear bearing and the guide rod are in sliding fit in the arrangement direction of the two clamping units, one of the linear bearing and the guide rod is connected with a corresponding clamping jaw, the other of the linear bearing and the guide rod is connected with the first support piece or the second support piece, and the elastic piece is sleeved outside the guide rod; the elastic piece is a pressure spring or an elastic sleeve.

5. The battery gripping robot of claim 2, wherein: the first supporting piece or the second supporting piece comprises a supporting main body and a plurality of connecting seats fixed on the supporting main body, the connecting seats are arranged in parallel and correspond to the clamping jaws of the corresponding clamping unit one by one, and each connecting seat is connected with the corresponding clamping jaw through at least one buffer structure; each clamping jaw of the clamping unit matched with the buffer structure comprises a clamping seat and a clamping plate fixed on the clamping seat.

6. The battery gripping robot of any one of claims 1-5, wherein: one clamping unit is connected with the second supporting piece through the buffer structure, and the second supporting piece is connected with the first supporting piece in a sliding manner along the arrangement direction of the two clamping units and is driven by the first driving mechanism; the other clamping unit is fixedly connected to the first supporting piece.

7. The battery clamping manipulator of claim 6, wherein: the first driving mechanism comprises a first motor, a first screw rod and a first sliding block, the first motor is installed on the first supporting piece, and the first screw rod is rotationally connected with the first supporting piece and is driven to rotate by the first motor; the first screw rod is positioned in the arrangement direction of the two clamping units, and the first sliding block is in threaded connection with the first screw rod and is fixedly connected with the second supporting piece.

8. The battery gripping robot of any one of claims 2-5, wherein: the two clamping units are arranged up and down, and the upper clamping unit is driven by the first driving mechanism to move upwards or downwards; the clamping jaws of the two clamping units are staggered up and down respectively; the clamping surfaces of the clamping jaws of the upper clamping unit and/or the clamping jaws of the lower clamping unit are respectively provided with a pressing adhesive tape.

9. The utility model provides a battery stack fork, includes second actuating mechanism, its characterized in that: the battery clamping manipulator according to any one of claims 1-8, wherein the second driving mechanism is connected with the first supporting piece to drive the battery clamping manipulator to move in a direction approaching or separating from a stacking point.

10. The battery gripping robot of claim 1, wherein: the second driving mechanism comprises a second motor, a second screw rod and a second sliding block, wherein the second screw rod is rotationally arranged and is driven to rotate by the second motor; the second sliding block is in threaded connection with the second screw rod and is connected with the first supporting piece; the first support is connected with a guide rail mechanism to guide the movement thereof.