WO2018098667A1 - Robot based battery sorting system - Google Patents

Robot based battery sorting system Download PDF

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Publication number
WO2018098667A1
WO2018098667A1 PCT/CN2016/107935 CN2016107935W WO2018098667A1 WO 2018098667 A1 WO2018098667 A1 WO 2018098667A1 CN 2016107935 W CN2016107935 W CN 2016107935W WO 2018098667 A1 WO2018098667 A1 WO 2018098667A1
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WO
WIPO (PCT)
Prior art keywords
batteries
gripper
sorting
calibrating
battery
Prior art date
Application number
PCT/CN2016/107935
Other languages
French (fr)
Inventor
Yun XING
Lei Zhuang
Jianwei Liu
Cunwang GE
Dilong YU
Original Assignee
Abb Schweiz Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Schweiz Ag filed Critical Abb Schweiz Ag
Priority to CN201680089353.0A priority Critical patent/CN109789547B/en
Priority to PCT/CN2016/107935 priority patent/WO2018098667A1/en
Publication of WO2018098667A1 publication Critical patent/WO2018098667A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • This invention relates to the field of robotics, and more particularly to the technical field of robot based automatic sorting.
  • the present invention provides a robot based battery sorting system. It comprises an industrial robot, a sorting gripper, controlled by the industrial robot for crawling a plurality of batteries to the specified location; and a calibrating device , controlled by the industrial robot for calibrating the batteries’position;
  • Said sorting gripper comprises a plurality of grippers; said grippers are controlled by the industrial robot to grip the selected batteries; said calibrating device comprises a battery calibrating board; the battery calibrating board is provided with a plurality of cavities which is used for accommodate a plurality of batteries; the relative position of the plurality of cavities is using for calibrating the relative potion of the plurality of batteries.
  • each of the plurality of grippers comprises a gripper cylinder; the gripper cylinder drives the gripper to crawl batteries.
  • the sorting gripper further comprises a lifting cylinder to lift the crawled batteries.
  • the sorting gripper further comprises a floating device; the floating device provides grippers a floating space during crawling a plurality of batteries to enable the compensation and fixtures error of the battery position.
  • the sorting gripper further comprises a detecting sensor; the detecting sensor is used to detect whether there is already a battery at the place where the gripper plans to position a battery.
  • the sorting gripper further comprises a locating pins for marking the relative position of the sorting gripper and the calibrating device.
  • the calibrating device comprises a limit cylinder for driving a push board which is provided with a plurality of floating blocks to compact the plurality of batteries in the plurality of cavities.
  • the calibrating device comprises a push cylinder; the push cylinder drives the battery calibrating board to open and close the plurality of cavities to accommodate a plurality of batteries.
  • the calibrating device further comprises a switching cylinder to switch the limit cylinder’s route according to different type of batteries.
  • the calibrating device comprises a dowel hole for marking the relative position of the sorting gripper and the calibrating device.
  • the gripper cylinder is a kind of cutout clumping-holding cylinder.
  • the robot based battery sorting system of the present invention uses robots to replace human labor. It realized robotic automatic battery sorting. It saves time and greatly reduces the cost.
  • the system structure is simple, convenient for maintenance. It can quickly switches among different product models and has a strong market adaptability.
  • Fig. 1 is a schematic view of the robot based battery sorting system of the present invention
  • Fig. 2 is structural view of the sorting gripper of the robot based battery sorting system
  • Fig. 3A-3B shows the structural details of the sorting gripper; wherein Fig. 3A is the structure of the lifting cylinder; Fig. 3A is the structure of the gripper cylinder, the grippers and the floating device;
  • Fig. 4A-4B is structural view of the calibrating device of the robot based battery sorting system; Fig. 4A shows the push cylinder which drives the battery calibrating board, Fig. 4B shows the limit cylinder which drives a push board.
  • Fig. 5A-5C show the structure of the floating blocks; and Fig. 5A-5C shows the structure of the left, the middle and the right floating blocks respectively;
  • Fig. 6 is flat schematic working view of the robot based battery sorting system of the present invention.
  • Fig. 1 is a schematic view of the robot based battery sorting system of the present invention.
  • the robot based battery sorting system comprises an industrial robot 10, a sorting gripper 20, controlled by the industrial robot 10 for crawling a plurality of batteries 90 to the specified location; and a calibrating device 30, controlled by the industrial robot 10 for calibrating the batteries’position.
  • Fig. 2 is structural view of the sorting gripper of the robot based battery sorting system;
  • the sorting gripper 20 comprises a plurality of grippers 21; said grippers 21 are controlled by the industrial robot 10 to grip the selected batteries;
  • Fig. 3A-3B shows the structural details of the sorting gripper; wherein Fig. 3A is the structure of the lifting cylinder; Fig. 3A is the structure of the gripper cylinder, the grippers and the floating device.
  • the calibrating device 30 comprises a battery calibrating board 31; the battery calibrating board 31 is provided with a plurality of cavities 311 which is used for accommodate a plurality of batteries 90; the relative position of the plurality of cavities 311 is using for calibrating the relative potion of the plurality of batteries 90.
  • each of the plurality of grippers 21 comprises a gripper cylinder 22; the gripper cylinder 22 drives the gripper 21 to crawl batteries 90.
  • the gripper cylinder 22 is a kind of cutout clumping-holding cylinder. This kind of cylinder enables its clumping of batteries even the cylinder is cutout.
  • the sorting gripper 20 further comprises a lifting cylinder 23 to lift the crawled batteries. As shown in Fig. 3A.
  • the sorting gripper 20 further comprises a floating device 24; the floating device 24 provides grippers 21 a floating space during crawling a plurality of batteries 90 to enable the compensation and fixtures error of the battery position.
  • the floating space is at the surface where the batteries are positioned.
  • the sorting gripper 20 further comprises a detecting sensor 25; the detecting sensor 25 is used to detect whether there is already a battery at the place where the gripper 21 plans to position a battery.
  • the sorting gripper 20 further comprises a locating pins 26 for marking the relative position of the sorting gripper 20 and the calibrating device 30.
  • Fig. 4A-4B is structural view of the calibrating device of the robot based battery sorting system; Fig. 4A shows the push cylinder which drives the battery calibrating board, Fig. 4B shows the limit cylinder which drives a push board.
  • the calibrating device 30 comprises a limit cylinder 32 for driving a push board 34 which is provided with a plurality of floating blocks 341 to compact the plurality of batteries 90 in the plurality of cavities 311.
  • Fig. 5A-5C shows the structure of the left, the middle and the right floating blocks respectively.
  • the left, the middle and the right floating blocks have similar structure and they enable the batteries being calibrated to a precise position.
  • the calibrating device 30 comprises a push cylinder 33; the push cylinder 33 drives the battery calibrating board 31 to open and close a plurality of cavities 311 to accommodate a plurality of batteries 90.
  • the calibrating device 30 further comprises a switching cylinder 35 to switch the limit cylinder’s route according to different type of batteries.
  • the system Before crawling the batteries, the system will adjust the plurality of cavities 311 by the switching cylinder 35 to enable them big enough to accommodate to be sorted batteries.
  • the calibrating device 30 comprises a dowel hole 36 for marking the relative position of the sorting gripper 20 and the calibrating device 30.
  • Fig. 6 is flat schematic working view of the robot based battery sorting system of the present invention.
  • the system working flow will be illustrated in reference to Fig. 6.
  • the sorting gripper 20 will take the batteries into calibrating device 30 according to the level of batteries sorting trays 83, 84, 85, 86, 87 and 88. Controlled by industrial robot, the sorting gripper 20 decides using which gripper to catch which battery.
  • the batteries information of infeeders 81, 82 are pre-input to the robot based battery sorting system.
  • the push cylinder 33 drives the battery calibrating board 31 to open and close the cavities 311 to accommodate the batteries 90.
  • the limit cylinder 32 drives the push board 34 which is provided with floating blocks 341 to compact the batteries 90 in cavities 311. Thus it makes the batteries’position more precise.
  • batteries will be placed in the corresponding sorting trays by grippers. If there are no enough batteries in the infeeders, the sorting gripper 20 will take all batteries into the buffer station 89 to improve efficiency. If there are enough batteries in buffer station 89, the sorting gripper 20 will take the batteries in to the sorting tray according to the level of batteries sorting tray.
  • the robot based battery sorting system of the present invention achieves a variety of batteries accurate positioning.
  • the robot based system realizes automatic sorting and all batteries are crawled to the specified corresponding location by grippers.
  • the robot based battery sorting system can achieve a large number of battery sorting and positioning. It saves battery sorting time, compared with manual, and greatly improve efficiency and reduces the cost.
  • the system structure is simple, convenient for maintenance. It can quickly switches among different product models and has a strong market adaptability.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Primary Cells (AREA)
  • Secondary Cells (AREA)
  • Sorting Of Articles (AREA)

Abstract

A robot based on battery sorting system comprises: an industrial robot (10), a sorting gripper (20) controlled by the industrial robot (10) for crawling a plurality of batteries (90) to the specified location; and a calibrating device (30) controlled by the industrial robot (10) for calibrating the position of the batteries. The sorting gripper (20) comprises a plurality of grippers (21) which are controlled by the industrial robot (10) to grip the selected batteries. The calibrating device (30) comprises a battery calibrating board (31). The battery calibrating board (31) is provided with a plurality of cavities (311) which are used for accommodating a plurality of batteries (90). The relative position of the plurality of cavities (311) is used for calibrating the relative position of the plurality of batteries (90).

Description

ROBOT BASED BATTERY SORTING SYSTEM FIELD OF THE INVENTION
This invention relates to the field of robotics, and more particularly to the technical field of robot based automatic sorting.
BACKGROUND OF THE INVENTION
With labor costs increasing, industrial robots, by contrast, has a huge advantage. Using automated equipment or the use of industrial robots replace human will become the trend of the future, especially the battery sorting system demand will be increasing dramatically.
Now almost all battery factories manually sort battery from infeeders to sorting tray. It wastes time and costs a lot. Baes on precious situation, a battery sorting system is in an urgent need.
SUMMARY OF THE INVENTION
The present invention provides a robot based battery sorting system. It comprises an industrial robot, a sorting gripper, controlled by the industrial robot for crawling a plurality of batteries to the specified location； and a calibrating device , controlled by the industrial robot for calibrating the batteries’position；
Said sorting gripper comprises a plurality of grippers； said grippers are controlled by the industrial robot to grip the selected batteries； said calibrating device comprises a battery calibrating board； the battery calibrating board is provided with a plurality of cavities which is used for accommodate a plurality of batteries； the relative position of the plurality of cavities is using for calibrating the relative potion of the plurality of batteries.
According to a preferred embodiment of the present invention, each of the plurality of grippers comprises a gripper cylinder； the gripper cylinder drives the gripper to crawl batteries.
According to a preferred embodiment of the present invention, the sorting gripper further comprises a lifting cylinder to lift the crawled batteries.
According to a preferred embodiment of the present invention, the sorting gripper further comprises a floating device； the floating device provides grippers a floating space during crawling a plurality of batteries to enable the compensation and fixtures error of the battery position.
According to a preferred embodiment of the present invention, the sorting gripper further comprises a detecting sensor； the detecting sensor is used to detect whether there is already a battery at the place where the gripper plans to position a battery.
According to a preferred embodiment of the present invention, the sorting gripper further comprises a locating pins for marking the relative position of the sorting gripper and the calibrating device.
According to a preferred embodiment of the present invention, the calibrating device comprises a limit cylinder for driving a push board which is provided with a plurality of floating blocks to compact the plurality of batteries in the plurality of cavities.
According to a preferred embodiment of the present invention, the calibrating device comprises a push cylinder； the push cylinder drives the battery calibrating board to open and close the plurality of cavities to accommodate a plurality of batteries.
According to a preferred embodiment of the present invention, the calibrating device further comprises a switching cylinder to switch the limit cylinder’s route according to different type of batteries.
According to a preferred embodiment of the present invention, the calibrating device comprises a dowel hole for marking the relative position of the sorting gripper and the calibrating device.
According to a preferred embodiment of the present invention, the gripper cylinder is a kind of cutout clumping-holding cylinder.
The robot based battery sorting system of the present invention uses robots to replace  human labor. It realized robotic automatic battery sorting. It saves time and greatly reduces the cost.
The system structure is simple, convenient for maintenance. It can quickly switches among different product models and has a strong market adaptability.
BRIEF DESCRIPTION OF THE DRAWINGS
The subject matter of the invention will be explained in more details in the following description with reference to preferred exemplary embodiments which are illustrated in the drawings, in which:
Fig. 1 is a schematic view of the robot based battery sorting system of the present invention；
Fig. 2 is structural view of the sorting gripper of the robot based battery sorting system；
Fig. 3A-3B shows the structural details of the sorting gripper； wherein Fig. 3A is the structure of the lifting cylinder； Fig. 3A is the structure of the gripper cylinder, the grippers and the floating device；
Fig. 4A-4B is structural view of the calibrating device of the robot based battery sorting system； Fig. 4A shows the push cylinder which drives the battery calibrating board, Fig. 4B shows the limit cylinder which drives a push board.
Fig. 5A-5C show the structure of the floating blocks； and Fig. 5A-5C shows the structure of the left, the middle and the right floating blocks respectively；
Fig. 6 is flat schematic working view of the robot based battery sorting system of the present invention.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
With reference to the above-mentioned figures, a preferred embodiment of the present invention is provided.
Fig. 1 is a schematic view of the robot based battery sorting system of the present  invention. The robot based battery sorting system comprises an industrial robot 10, a sorting gripper 20, controlled by the industrial robot 10 for crawling a plurality of batteries 90 to the specified location； and a calibrating device 30, controlled by the industrial robot 10 for calibrating the batteries’position.
Fig. 2 is structural view of the sorting gripper of the robot based battery sorting system； The sorting gripper 20 comprises a plurality of grippers 21； said grippers 21 are controlled by the industrial robot 10 to grip the selected batteries；
Fig. 3A-3B shows the structural details of the sorting gripper； wherein Fig. 3A is the structure of the lifting cylinder； Fig. 3A is the structure of the gripper cylinder, the grippers and the floating device. The calibrating device 30 comprises a battery calibrating board 31； the battery calibrating board 31 is provided with a plurality of cavities 311 which is used for accommodate a plurality of batteries 90； the relative position of the plurality of cavities 311 is using for calibrating the relative potion of the plurality of batteries 90.
According to a preferred embodiment of the present invention, each of the plurality of grippers 21 comprises a gripper cylinder 22； the gripper cylinder 22 drives the gripper 21 to crawl batteries 90.
As shown in Fig. 2 and Fig. 3B, According to a preferred embodiment of the present invention, the gripper cylinder 22 is a kind of cutout clumping-holding cylinder. This kind of cylinder enables its clumping of batteries even the cylinder is cutout.
According to a preferred embodiment of the present invention, the sorting gripper 20 further comprises a lifting cylinder 23 to lift the crawled batteries. As shown in Fig. 3A.
According to a preferred embodiment of the present invention, the sorting gripper 20 further comprises a floating device 24； the floating device 24 provides grippers 21 a floating space during crawling a plurality of batteries 90 to enable the compensation and fixtures error of the battery position. The floating space is at the surface where the batteries are positioned.
According to a preferred embodiment of the present invention, the sorting gripper 20 further comprises a detecting sensor 25； the detecting sensor 25 is used to detect whether  there is already a battery at the place where the gripper 21 plans to position a battery.
According to a preferred embodiment of the present invention, the sorting gripper 20 further comprises a locating pins 26 for marking the relative position of the sorting gripper 20 and the calibrating device 30.
Fig. 4A-4B is structural view of the calibrating device of the robot based battery sorting system； Fig. 4A shows the push cylinder which drives the battery calibrating board, Fig. 4B shows the limit cylinder which drives a push board. According to a preferred embodiment of the present invention, the calibrating device 30 comprises a limit cylinder 32 for driving a push board 34 which is provided with a plurality of floating blocks 341 to compact the plurality of batteries 90 in the plurality of cavities 311.
Fig. 5A-5C shows the structure of the left, the middle and the right floating blocks respectively. The left, the middle and the right floating blocks have similar structure and they enable the batteries being calibrated to a precise position.
According to a preferred embodiment of the present invention, the calibrating device 30 comprises a push cylinder 33； the push cylinder 33 drives the battery calibrating board 31 to open and close a plurality of cavities 311 to accommodate a plurality of batteries 90.
According to a preferred embodiment of the present invention, the calibrating device 30 further comprises a switching cylinder 35 to switch the limit cylinder’s route according to different type of batteries.
Before crawling the batteries, the system will adjust the plurality of cavities 311 by the switching cylinder 35 to enable them big enough to accommodate to be sorted batteries.
According to a preferred embodiment of the present invention, the calibrating device 30 comprises a dowel hole 36 for marking the relative position of the sorting gripper 20 and the calibrating device 30.
Fig. 6 is flat schematic working view of the robot based battery sorting system of the present invention. The system working flow will be illustrated in reference to Fig. 6. As shown in the figure, there are infeeders 81, 82 and different grades of  battery sorting trays  83, 84, 85, 86, 87 and 88. There is also a buffer station 89.
The sorting gripper 20 will take the batteries into calibrating device 30 according to the level of  batteries sorting trays  83, 84, 85, 86, 87 and 88. Controlled by industrial robot, the sorting gripper 20 decides using which gripper to catch which battery. The batteries information of  infeeders  81, 82 are pre-input to the robot based battery sorting system.
The push cylinder 33 drives the battery calibrating board 31 to open and close the cavities 311 to accommodate the batteries 90. The limit cylinder 32 drives the push board 34 which is provided with floating blocks 341 to compact the batteries 90 in cavities 311. Thus it makes the batteries’position more precise.
After calibrating completed, batteries will be placed in the corresponding sorting trays by grippers. If there are no enough batteries in the infeeders, the sorting gripper 20 will take all batteries into the buffer station 89 to improve efficiency. If there are enough batteries in buffer station 89, the sorting gripper 20 will take the batteries in to the sorting tray according to the level of batteries sorting tray.
The above mentioned working flow is a very simple one. It is just taken as an example for illustration. The user can make more complexed sorting strategies.
The robot based battery sorting system of the present invention achieves a variety of batteries accurate positioning. The robot based system realizes automatic sorting and all batteries are crawled to the specified corresponding location by grippers. The robot based battery sorting system can achieve a large number of battery sorting and positioning. It saves battery sorting time, compared with manual, and greatly improve efficiency and reduces the cost.
The system structure is simple, convenient for maintenance. It can quickly switches among different product models and has a strong market adaptability.
Though the present invention has been described on the basis of some preferred embodiments, those skilled in the art should appreciate that those embodiments should by no means limit the scope of the present invention. Without departing from the spirit and concept of the present invention, any variations and modifications to the embodiments should be within the apprehension of those with ordinary knowledge and skills in the art, and therefore fall in the scope of the present invention which is defined by the accompanied  claims.

Claims (11)

  1. A robot based battery sorting system, comprising an industrial robot (10) , wherein it further comprises
    a sorting gripper (20) , controlled by the industrial robot (10) for crawling a plurality of batteries (90) to the specified location； and
    a calibrating device (30) , controlled by the industrial robot (10) for calibrating the batteries’ position；
    said sorting gripper (20) comprises a plurality of grippers (21) ； said grippers (21) are controlled by the industrial robot (10) to grip the selected batteries；
    said calibrating device (30) comprises a battery calibrating board (31) ； the battery calibrating board (31) is provided with a plurality of cavities (311) which is used for accommodate a plurality of batteries (90) ； the relative position of the plurality of cavities (311) is using for calibrating the relative potion of the plurality of batteries (90) .
  2. A robot based battery sorting system according to claim 1, wherein each of the plurality of grippers (21) comprises a gripper cylinder (22) ； the gripper cylinder (22) drives the gripper (21) to crawl batteries (90) .
  3. A robot based battery sorting system according to claim 2, wherein the sorting gripper (20) further comprises a lifting cylinder (23) to lift the crawled batteries.
  4. A robot based battery sorting system according to claim 3, wherein the sorting gripper (20) further comprises a floating device (24) ； the floating device (24) provides grippers (21) a floating space during crawling a plurality of batteries (90) to enable the compensation and fixtures error of the battery position.
  5. A robot based battery sorting system according to claim 1, wherein the sorting gripper (20) further comprises a detecting sensor (25) ； the detecting sensor (25) is used to detect whether there is already a battery at the place where the gripper (21) plans to position a battery.
  6. A robot based battery sorting system according to any one of claims 1-5, wherein the sorting gripper (20) further comprises a locating pins (26) for marking the relative position of the sorting gripper (20) and the calibrating device (30) .
  7. A robot based battery sorting system according to claim 6, wherein the calibrating device (30) comprises a limit cylinder (32) for driving a push board (34) which is provided with a plurality of floating blocks (341) to compact the plurality of batteries (90) in the plurality of cavities (311) .
  8. A robot based battery sorting system according to claim 7, wherein the calibrating device (30) comprises a push cylinder (33) ； the push cylinder (33) drives the battery calibrating board (31) to open and close the a plurality of cavities (311) to accommodate a plurality of batteries (90) .
  9. A robot based battery sorting system according to claim 7, wherein the calibrating device (30) further comprises a switching cylinder (35) to switch the limit cylinder’s route according to different type of batteries.
  10. A robot based battery sorting system according to claim 6, wherein the calibrating device (30) comprises a dowel hole (36) for marking the relative position of the sorting gripper (20) and the calibrating device (30) .
  11. A robot based battery sorting system according to claim 2, wherein the gripper cylinder (22) is a kind of cutout clumping-holding cylinder.
PCT/CN2016/107935 2016-11-30 2016-11-30 Robot based battery sorting system WO2018098667A1 (en)

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CN113442123A (en) * 2021-06-24 2021-09-28 广东利元亨智能装备股份有限公司 Manipulator, transfer device and formation equipment

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