Automatic electrolyte bucket grasping device and electrolyte bucket grasping manipulator

Abstract

The present invention relates to an automatic grasping device for electrolyte barrels and a manipulator for grasping electrolyte barrels. The automatic grasping device for electrolyte barrels is provided with a mechanical claw driving mechanism corresponding to each mechanical claw. During use, the lifting seat is lowered until the mechanical claws extend into the upper port of the electrolyte barrel. The controller controls the mechanical claw driving mechanism to open the manipulator. After the hook part of the mechanical claw moves to the lower part of the inner turned edge at the top of the electrolyte barrel, it stops moving relative to the lifting seat. The opening degree of each mechanical claw can be inconsistent, ensuring that each mechanical claw can hook the inner turned edge. After the opening is completed, the lifting seat is raised to make the hook part of the mechanical claw hook and cooperate with the inner turned edge at the top of the electrolyte barrel. The automatic grasping device for electrolyte barrels of the present invention can adapt to electrolyte barrels in different positions, has little requirement for the position of the electrolyte barrel, and solves the problem of high transfer cost of electrolyte barrels caused by the current mechanical claws being unable to be applied to electrolyte barrels in different positions and having high requirements for the position accuracy of the electrolyte barrel.

Description

Technical Field

[0001] The present invention relates to an automatic grasping device for electrolyte barrels and a manipulator for grasping electrolyte barrels. Background Art

[0002] Lithium-ion battery electrolytes mainly consist of organic solvents, additives, and lithium salts. Currently, the storage and transportation of electrolytes are mainly completed through special electrolyte barrels. In an automatic electrolyte filling system, it is necessary to handle and stack electrolytes. Before filling, the electrolyte barrels are moved from the pallet to the filling line by a gantry robot, and after filling, the filled electrolyte barrels are moved from the filling line to the transfer pallet. The gantry robot includes a vision recognition system and an automatic grasping manipulator. The position of the electrolyte barrel is obtained through the vision recognition system, and the automatic grasping manipulator grabs the electrolyte barrel by hooking the inner turned edge at the top of the electrolyte barrel. The electrolyte barrel is hoisted to a specified position. During actual operation, due to different specifications of the electrolyte barrels, the size of the electrolyte barrels will change. However, the accuracy of the vision recognition system is limited, and the electrolyte barrels are relatively heavy. It is difficult for the automatic grasping manipulator to change the electrolyte barrel during the grasping process to adapt the electrolyte barrel to the manipulator. The automatic grasping manipulator often has difficulty adapting to different sizes and small position deviations of the electrolyte barrels, and has high requirements for the size and position accuracy of the electrolyte barrels. The automatic grasping device for electrolyte barrels needs to be additionally provided with high-precision detection components, resulting in a high operating cost of the entire automatic grasping device for electrolyte barrels. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic grasping device for electrolyte barrels to solve the problem of high cost of the current automatic grasping device for transporting electrolyte barrels. In addition, the purpose of the present invention is also to provide a manipulator for grasping electrolyte barrels to solve the problem of high cost caused by poor adaptability of the current manipulator for grasping electrolyte barrels to the size of the electrolyte barrels.

[0004] To achieve the above purpose, the technical solution of the automatic grasping device for electrolyte barrels of the present invention is as follows: The automatic grasping device for electrolyte barrels includes a mounting base, a lifting mechanism provided on the mounting base, and a manipulator driven by the lifting mechanism to lift. The manipulator includes:

[0005] A lifting seat for connecting with the lifting mechanism and being driven by the lifting mechanism to lift;

[0006] At least two mechanical claws are movably assembled on the lifting seat. The mechanical claws have a hooking portion for extending into the upper port of the electrolyte barrel to hook the inner turned edge at the top of the electrolyte barrel;

[0007] The manipulator has a retracted state in which the mechanical claws approach each other to separate from the electrolyte barrel and an open state in which the mechanical claws move away from each other to hook the inner turned edge at the top of the electrolyte barrel;

[0008] The mechanical claw driving mechanism is arranged on the lifting seat and drives the mechanical claw to move on the lifting seat, realizing the opening and retraction of the manipulator. The mechanical claw driving mechanisms correspond to the mechanical claws one by one and each mechanical claw driving mechanism is independent. When the manipulator opens, the hooking part of the mechanical claw moves to the lower part of the inner turned edge at the top of the electrolyte bucket and then stops moving relative to the lifting seat to adapt to electrolyte buckets at different positions.

[0009] The controller is connected to the mechanical claw driving mechanism and the lifting mechanism in a control manner, controlling the lifting, opening and retraction of the manipulator.

[0010] The beneficial effects of the automatic electrolyte bucket grabbing device of the present invention: The controller is used to control the mechanical claw driving mechanism to open the manipulator to grab the electrolyte bucket when the mechanical claw reaches the set position before grabbing the electrolyte bucket, and to control the mechanical claw driving mechanism to retract the manipulator to release the electrolyte bucket when the mechanical claw reaches the set position after grabbing the electrolyte bucket. By setting mechanical claw driving mechanisms corresponding to the mechanical claws one by one, during use, the automatic electrolyte bucket grabbing device moves above the electrolyte bucket, then lowers the lifting seat until the mechanical claw extends into the upper port of the electrolyte bucket. The controller controls the mechanical claw driving mechanism to open the manipulator. Since each mechanical claw driving mechanism corresponds to the mechanical claw one by one, when the manipulator opens, the hooking part of the mechanical claw moves to the lower part of the inner turned edge at the top of the electrolyte bucket and then stops moving relative to the lifting seat. The opening degree of each mechanical claw can be inconsistent, ensuring that each mechanical claw can hook the inner turned edge. After the opening is completed, the lifting seat is raised to make the hooking part of the mechanical claw hook and cooperate with the inner turned edge at the top of the electrolyte bucket. Compared with the current manipulator, the automatic electrolyte bucket grabbing device of the present invention can adapt to electrolyte buckets at different positions, realizes the automatic alignment of the electrolyte bucket, has low requirements for the position of the electrolyte bucket, and solves the problem of high transfer cost of the electrolyte bucket caused by the inability of the current mechanical claw to be applicable to electrolyte buckets at different positions and the high requirement for the position accuracy of the electrolyte bucket.

[0011] Further, in order to improve the adaptability of the manipulator for grabbing the electrolyte bucket to the height of the electrolyte bucket, the manipulator for grabbing the electrolyte bucket further includes a proximity switch arranged on the lifting seat and signal-connected to the controller. The proximity switch is used to detect the vertical distance between the hooking part and the inner turned edge at the top of the electrolyte bucket, and send a trigger signal to the controller when the vertical distance between the hooking part of the mechanical claw and the inner turned edge at the top of the electrolyte bucket reaches the set value; the controller controls the mechanical claw driving mechanism to open the manipulator when receiving the trigger signal before grabbing the electrolyte bucket, and controls the mechanical claw driving mechanism to retract the manipulator when receiving the trigger signal after grabbing the electrolyte bucket. By setting the proximity switch, it is ensured that the hooking part of the mechanical claw can accurately hook the inner turned edge of the electrolyte bucket at different heights of the electrolyte bucket.

[0012] Further, a touch plate for contacting the top end face of the electrolyte bucket is movably assembled on the lifting seat. The touch plate can move relative to the lifting seat when it contacts the electrolyte bucket during the lifting process of the lifting seat. An induction part adapted to the proximity switch is connected to the touch plate. During the moving stroke of the touch plate relative to the lifting seat, there is a trigger position that can trigger the proximity switch by the induction part when the vertical distance between the hooking part of the mechanical claw and the inner turned edge at the top of the electrolyte bucket reaches a set value. After being triggered, the proximity switch sends a trigger signal to the controller. By directly contacting the electrolyte bucket with the touch plate, interference can be reduced and the detection result is more stable.

[0013] Further, the mechanical claw driving mechanism is a driving cylinder or a driving hydraulic cylinder. When the mechanical hand opens, the hooking part of the mechanical claw moves below the upper inner turned edge and stops moving relative to the lifting seat after contacting the inner wall of the electrolyte bucket. Compared with setting a motor drive, the motor drive is prone to damage after overload. When the motor drive is used, a sensor needs to be set to detect the relative position between the mechanical claw and the electrolyte bucket. The driving cylinder or the driving hydraulic cylinder can stop extending after pushing the mechanical claw to contact the electrolyte bucket, simplifying the structure.

[0014] Further, the mechanical claw is slidably assembled on the lifting seat along the direction perpendicular to the lifting direction of the lifting seat, with a simple structure and convenient installation.

[0015] Further, a guide rod is provided on the upper side of the lifting seat. The upper end of the mechanical claw passes through the lifting seat and is slidably assembled on the guide rod. The mechanical claw driving mechanism is arranged on the lower side of the lifting seat. The space on both the upper and lower sides of the lifting seat is fully utilized, and the structure is compact.

[0016] Further, the lifting seat is in vertical guiding and sliding fit with the mounting seat. After grasping the electrolyte bucket, the stability of the lifting seat can be ensured.

[0017] To achieve the above object, the technical solution of the mechanical hand for grasping the electrolyte bucket of the present invention is as follows: The mechanical hand for grasping the electrolyte bucket includes:

[0018] A lifting seat for connecting with a lifting mechanism and being driven by the lifting mechanism to lift and lower;

[0019] At least two mechanical claws are arranged and movably assembled on the lifting seat. The mechanical claws have hooking parts for extending into the upper port of the electrolyte bucket to hook the inner turned edge at the top of the electrolyte bucket;

[0020] The mechanical hand has a retracted state in which each mechanical claw moves closer to each other to separate from the electrolyte bucket and an opened state in which each mechanical claw moves away from each other to hook the inner turned edge at the top of the electrolyte bucket;

[0021] The mechanical claw driving mechanism is arranged on the lifting seat and drives the mechanical claw to move on the lifting seat to realize the opening and retraction of the manipulator. The mechanical claw driving mechanisms correspond to the mechanical claws one by one and each mechanical claw driving mechanism is independent. When the manipulator is opened, the hooked part of the mechanical claw moves to the lower part of the inner turning edge at the top of the electrolyte bucket and then stops moving relative to the lifting seat to adapt to electrolyte buckets at different positions.

[0022] The beneficial effects of the automatic grasping device for the electrolyte bucket of the present invention: By providing mechanical claw driving mechanisms corresponding to the mechanical claws one by one, when in use, the automatic grasping device for the electrolyte bucket moves above the electrolyte bucket, and then the lifting seat descends until the mechanical claw extends into the upper port of the electrolyte bucket. The mechanical claw driving mechanism opens the manipulator. Since each mechanical claw driving mechanism corresponds to the mechanical claw one by one, when the manipulator is opened, the hooked part of the mechanical claw moves to the lower part of the inner turning edge at the top of the electrolyte bucket and then stops moving relative to the lifting seat. The opening degree of each mechanical claw can be inconsistent, ensuring that each mechanical claw can hook the inner turning edge. After the opening is completed, the lifting seat is raised so that the hooked part of the mechanical claw is hooked and matched with the inner turning edge at the top of the electrolyte bucket. Compared with the current manipulator, the manipulator for grasping the electrolyte bucket of the present invention can adapt to electrolyte buckets at different positions, realize the automatic alignment of the electrolyte bucket, has little requirement for the position of the electrolyte bucket, and solves the problem of high transfer cost of the electrolyte bucket caused by the current mechanical claw being unable to be applicable to electrolyte buckets at different positions and having high requirement for the position accuracy of the electrolyte bucket.

[0023] Further, the manipulator for grasping the electrolyte bucket further includes a proximity switch arranged on the lifting seat and signal-connected to the controller. The proximity switch is used to detect the vertical distance between the hooked part and the inner turning edge at the top of the electrolyte bucket, and sends a trigger signal to the controller to make the manipulator retract or open when the vertical distance between the hooked part of the mechanical claw and the inner turning edge at the top of the electrolyte bucket reaches a set value. By providing the proximity switch, it is ensured that the hooked part of the mechanical claw can accurately hook the inner turning edge of the electrolyte bucket at different heights of the electrolyte bucket.

[0024] Further, a touch plate for abutting against the end face at the top of the electrolyte bucket is movably assembled on the lifting seat. The touch plate can move relative to the lifting seat when abutting against the electrolyte bucket during the lifting and lowering process of the lifting seat. An induction part adapted to the proximity switch is connected to the touch plate. There is a trigger position in the moving stroke of the touch plate relative to the lifting seat that makes the induction part trigger the proximity switch when the vertical distance between the hooked part of the mechanical claw and the inner turning edge at the top of the electrolyte bucket reaches a set value. The proximity switch sends a trigger signal to the controller after being triggered. By directly contacting the electrolyte bucket with the touch plate, interference can be reduced and the detection result is more stable.

[0025] As an optimization of the mechanical claw driving mechanism, the mechanical claw driving mechanism is a driving cylinder or a driving hydraulic cylinder. When the mechanical hand opens, the hooking part of the mechanical claw moves to below the upper inner turning edge and stops moving relative to the lifting seat after contacting the inner wall of the electrolyte bucket. Compared with setting a motor drive, the motor drive is prone to damage after overload, and a sensor needs to be set to detect the relative position of the mechanical claw and the electrolyte bucket during motor drive. The driving cylinder or the driving hydraulic cylinder can stop extending after pushing the mechanical claw to contact the electrolyte bucket, simplifying the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic structural diagram of the electrolyte bucket automatic grasping device in a specific embodiment of the electrolyte bucket automatic grasping device of the present invention;

[0027] Figure 2 is a schematic structural diagram of the electrolyte bucket automatic grasping device from another perspective in a specific embodiment of the electrolyte bucket automatic grasping device of the present invention;

[0028] Figure 3 is Figure 1 the schematic assembly structure diagram of the mechanical hand and the guide sleeve in

[0029] Figure 4 is Figure 1 the schematic structural diagram of the mechanical claw in

[0030] Figure 5 is Figure 1 the schematic assembly structure diagram of four mechanical claws and the driving cylinder in

[0031] Figure 6 is the schematic structural diagram of the electrolyte bucket in the prior art;

[0032] Figure 7 is the state diagram of the electrolyte bucket automatic grasping device grasping the electrolyte bucket in a specific embodiment of the electrolyte bucket automatic grasping device of the present invention;

[0033] Figure 8 is Figure 7 the cross-sectional view of

[0034] In the figure: 1. Mounting base; 11. Base body; 12. Lifting mechanism housing; 13. Guide sleeve; 14. Lifting cylinder; 141. Piston rod; 2. Manipulator; 21. Lifting seat; 211. Long hole; 212. Guide rod; 213. Fixed seat; 22. Guide bar; 23. Mechanical claw; 231. Support rod; 232. Bushing; 2321. Fixed flange; 233. Hook; 2331. Fixed bump; 24. Driving cylinder; 241. Cylinder block; 242. Piston rod; 25. Distance sensing mechanism; 251. Touch plate; 252. Proximity switch; 253. Inductive element; 254. Proximity switch mounting base; 255. Touch plate guide rod; 3. Electrolyte bucket; 31. Bucket body; 32. Bucket cover; 33. Protrusion; 34. Inverted flange. Detailed implementation mode

[0035] The following further describes the implementation mode of the present invention with reference to the accompanying drawings.

[0036] A specific embodiment of the automatic grasping device for the electrolyte bucket of the present invention is as Figure 1 and Figure 2 shown. The automatic electrolyte grasping device includes a mounting base 1, a lifting mechanism arranged on the mounting base 1, and a manipulator 2 driven by the lifting mechanism to lift. As Figure 7 and Figure 8 shown, the lifting mechanism is a lifting cylinder 14. The mounting base 1 includes a base body 11 and a lifting mechanism housing 12 fixed on the base body 11. The lifting cylinder 14 is arranged in the lifting mechanism housing 12. The cylinder block of the lifting cylinder 14 is arranged on the lifting mechanism housing 12. The piston rod 141 of the lifting cylinder 14 is connected to the manipulator 2 to drive the manipulator 2 to lift. The base body 11 is a quadrilateral plate, and the lifting mechanism is arranged at the center of the base body 11. In other embodiments, the lifting mechanism can also adopt a driving form of a motor driving a lead screw nut mechanism.

[0037] For easy understanding, the structure of the electrolyte bucket is introduced below. As Figure 6 shown, the electrolyte bucket 3 includes a bucket body 31 and a bucket cover 32. The bucket cover 32 is set in a sunken manner. A convex protrusion 33 is provided at the center of the bucket cover 32. An inverted flange 34 is formed at the upper port of the bucket body for a lifting member to hook. During the transfer process, the electrolyte buckets are usually grouped in threes or fours and placed on a transfer tray.

[0038] The manipulator 2 includes a lifting seat 21 connected to the piston rod 141 of the lifting cylinder 14. A guide rod 22 is provided on the upper side of the lifting seat 21, and a guide sleeve 13 that is in guiding and sliding fit with the guide rod 22 is provided on the seat body 11. In this embodiment, the guide sleeves 13 are arranged at the four corners of the seat body 11, and the guide sleeves 13 are fixed to the upper side surface of the seat body 11 through connecting flanges. The guide rods 22 correspond to the guide sleeves 13 one by one. When the central axis of the electrolyte barrel does not coincide with the axis of the lifting mechanism, the guide rods 22 and the guide sleeves 13 can ensure that the electrolyte barrel does not deflect. Of course, in other embodiments, the electrolyte barrel can also be ensured not to deflect by the action of the lifting mechanism itself, such as arranging a plurality of cylinders extending up and down to drive the lifting of the lifting seat. In other embodiments, a guide sleeve can also be provided on the lifting seat and a guide rod can be provided on the seat body, but in this case, the guide rod may need to pass through the lifting seat. Of course, in other embodiments, the lifting seat can also be in other guiding forms, such as providing vertically extending guide grooves on the seat body and providing guide blocks on the lifting seat.

[0039] A mechanical claw 23 is assembled on the lifting seat 21 in a guiding and sliding manner along a direction perpendicular to the lifting direction of the lifting seat 21, that is, the mechanical claw 23 is assembled on the lifting seat 21 in a guiding and sliding manner along the horizontal direction. The mechanical claw 23 extends vertically and its upper end passes through the lifting seat 21. A long hole 211 for the mechanical claw 23 to pass through is provided on the lifting seat 21. A guide rod 212 that is in guiding and sliding fit with the mechanical claw 23 is provided on the upper side of the lifting seat 21. Fixed seats 213 for fixing the guide rod 212 are provided at both ends of the long hole 211, and both ends of the guide rod 212 are fixed to the fixed seats 213. In other embodiments, the top of the mechanical claw can also be assembled in a guiding and sliding manner on the lower side of the lifting seat. In this embodiment, the guide rod 212 and the long hole 211 are arranged at positions between adjacent guide rods 22, making the layout on the lifting seat 21 more compact and reducing the volume.

[0040] Such as Figure 3 And Figure 4As shown in the figure, the upper end of the mechanical claw 23 is guidingly and slidably assembled on the guide rod 212. The mechanical claw 23 includes a support rod 231 extending vertically, a bushing 232 fixed to the upper end of the support rod 231, and a hook 233 fixed to the lower end of the support rod 231. The upper end of the support rod 231 is provided with a bushing 232 mounting hole for inserting the bushing 232. One end of the bushing 232 is provided with a fixed flange 2321, and the bushing 232 is fixed to the upper end of the support rod 231 through the fixed flange 2321. The bushing 232 is sleeved on the guide rod 212 for guiding and sliding cooperation with the guide rod 212. The lower end of the support rod 231 is provided with a fixing groove, and the hook 233 is provided with a fixing protrusion 2331 adapted to the fixing groove. The bottom of the fixing groove is provided with a fixing hole for fixing the hook 233, and the hook 233 is bolted to the support rod 231. The hook 233 constitutes the hooking part of the mechanical claw 23 for extending into the upper port of the electrolyte bucket to hook the inwardly turned edge at the top of the electrolyte bucket. In this embodiment, the hook and the support rod are separately arranged, which is convenient for processing. In other embodiments, the hook can be integrally arranged with the support rod.

[0041] As Figure 3 and Figure 5 shown in the figure, there are four mechanical claws 23 in this embodiment, and the four mechanical claws 23 are circumferentially and evenly arranged around the center of the lifting seat 21. The lifting seat 21 in this embodiment is quadrilateral, and the diagonal of the lifting seat 21 is perpendicular to the opposite sides of the base. The mechanical claws 23 are guidingly and slidably extended along the diagonal direction of the lifting seat 21. Among the four mechanical claws 23, the hooks 233 of the two mechanical claws 23 arranged along the diagonal of the lifting seat 21 are arranged back to back to ensure hooking the inwardly turned edge at the top of the electrolyte bucket. In other embodiments, the number of mechanical claws can be adjusted according to needs, such as any number more than two.

[0042] The manipulator 2 has a retracted state in which the mechanical claws 23 approach each other to separate from the electrolyte bucket and an open state in which the mechanical claws 23 move away from each other to hook the inwardly turned edge at the top of the electrolyte bucket.

[0043] In this embodiment, a driving cylinder 24 for guiding and sliding the mechanical claw 23 is provided on the lower side of the lifting seat 21. The driving cylinder 24 includes a cylinder body 241 hoisted and fixed on the lower side of the lifting seat 21 and a piston rod 242 fixed to the middle of the support rod 231 of the mechanical claw 23. There are four driving cylinders 24, which correspond to the mechanical claws 23 one by one, and each driving cylinder 24 is independent. The driving cylinders 24 are arranged in pairs, and the axes of the two driving cylinders 24 in a pair coincide.

[0044] When the manipulator 2 is opened, the hook 233 of the mechanical claw 23 moves to the lower part of the inner turning edge at the top of the electrolyte bucket and then stops moving relative to the lifting seat to adapt to electrolyte buckets at different positions; each mechanical claw 23 is driven by a driving cylinder 24. When in use, the moving distances of the mechanical claws 23 can be different, and the extending distances of the piston rods 242 of the driving cylinders 24 can be different. After the driving cylinder 24 drives the mechanical claw 23 to contact the inner wall of the electrolyte bucket, the driving force of the driving cylinder 24 is not sufficient to push the electrolyte bucket, and the piston rod 242 no longer extends. Each mechanical claw 23 no longer moves relative to the lifting seat 21 after contacting the electrolyte bucket. The driving cylinder 24 forms a mechanical claw driving mechanism arranged on the lifting seat 21. In other embodiments, the mechanical claw driving mechanism can also use a hydraulic cylinder or a lead screw nut mechanism. When using the lead screw nut mechanism, it is driven by a motor. In order to prevent the motor from being damaged due to overload, a detector should be set on the hook at this time. When the hook is triggered after contacting the electrolyte bucket in the horizontal direction, the motor stops, and at this time the mechanical claw moves in place. In other embodiments, the mechanical claw can also be swing-mounted on the lifting seat, and the principle is similar to the above translational method. At this time, one end of the driving cylinder driving the mechanical claw is hinged to the lifting seat, and the other end is hinged to the mechanical claw.

[0045] The driving cylinder 24 is controlled by a controller. In this embodiment, the controller is a PLC controller. The controller is connected to the driving cylinder 24 and the lifting mechanism for control, controls the lifting of the manipulator 2, and simultaneously controls the opening and retraction of the manipulator 2. Among them, the actions of the driving cylinder 24 and the lifting cylinder 14 of the lifting mechanism are both realized by controlling solenoid valves. A distance sensing mechanism 25 signal-connected to the controller is provided on the lifting seat 21. By using the vertical height difference between the distance sensing mechanism 25 and the hook 233, the distance between the hook 233 and the inner turning edge at the top of the electrolyte bucket is detected. In this embodiment, the distance sensing mechanism 25 includes a touch plate 251 for contacting the end face at the top of the electrolyte bucket and a sensing member 253 connected to the touch plate 251. The touch plate 251 can slide up and down relative to the lifting seat 21 when contacting the electrolyte bucket during the lifting process of the lifting seat 21.

[0046] As Figure 7 shown, the distance sensing mechanism 25 further includes a proximity switch mounting seat 254 fixed on the lifting seat 21 and a proximity switch 252 arranged on the proximity switch mounting seat 254 and signal-connected to the controller. The proximity switch 252 is adapted to the sensing member 253, and the proximity switch 252 is triggered when the distance between the proximity switch 252 and the sensing member 253 reaches a set value. Specifically, the proximity switch 252 in this embodiment is a eddy current proximity switch. The touch plate 251 is slidably assembled on the proximity switch mounting seat 254 through a touch plate guide rod 255 up and down, and the sensing member 253 is a conductive block adapted to the eddy current proximity switch.

[0047] During the moving stroke of the touch plate 251 relative to the lifting seat 21, there is a triggering position where the sensing member 253 triggers the proximity switch 252 when the vertical distance between the hooking portion of the mechanical claw 23 and the inwardly turned edge at the top of the electrolyte bucket reaches a set value. In this embodiment, when the sensing member 253 moves upward to the same height as the proximity switch 252, the proximity switch 252 is triggered to generate a trigger signal. The proximity switch 252 is signal-connected to the controller and sends the generated trigger signal to the controller. In other embodiments, the proximity switch can be other types of proximity switches, such as photoelectric proximity switches, capacitive proximity switches, etc. When set as a photoelectric proximity switch, the sensing member may not be required. For example, it can directly sense the top end face of the electrolyte bucket. In other embodiments, the touch plate can be swingably assembled on the lifting seat. As the lifting seat descends, the swing angle of the touch plate becomes larger until the sensing member on the touch plate approaches the proximity switch and triggers the proximity switch.

[0048] To ensure the stability of the contact between the touch plate 251 and the electrolyte bucket, in this embodiment, a spring (not shown in the figure) for applying an elastic force to the touch plate 251 to press the touch plate 251 against the electrolyte bucket is provided on the lifting seat 21. After the touch plate 251 is separated from the electrolyte bucket, the touch plate 251 moves downward to reset under the action of the spring. In other embodiments, the touch plate can also be kept in contact with the electrolyte bucket under the action of gravity and reset under the action of gravity after being separated from the electrolyte bucket.

[0049] When the distance sensing mechanism 25 contacts the top end face of the electrolyte bucket, the vertical distance between the hook 233 and the inwardly turned edge at the top of the electrolyte bucket is the optimal distance for the hook 233 to hook the inwardly turned edge, and the proximity switch 252 sends a trigger signal; when the controller receives the trigger signal before grasping the electrolyte bucket, it controls the driving cylinder 24 to open the mechanical hand 2, and when it receives the trigger signal after grasping the electrolyte bucket, it controls the driving cylinder 24 to retract the mechanical hand 2. In this embodiment, after the piston rod of the driving cylinder 24 retracts to the in-place position, the mechanical hand 2 is in the retracted state. In other embodiments, the touch plate can also be in other structural forms. For example, it can be a square plate or a cross bar that cooperates with the protrusion in the middle of the electrolyte bucket.

[0050] For the convenience of setting the electrolyte bucket, in other embodiments, the automatic grasping device for the electrolyte bucket can also be provided with a vision recognition system for recognizing the position of the electrolyte bucket. Of course, in other embodiments, the vision recognition system can also be set on the tray and the conveyor line for carrying the electrolyte bucket. In other embodiments, sensors can also be set to sense the position of the electrolyte bucket; when the position change of the electrolyte bucket is small, such as when transferring the electrolyte bucket between two points, at this time, the electrolyte bucket can be pre-placed at a set point, and at this time, there is no need to set a vision recognition system. After the automatic grasping device for the electrolyte bucket reaches above the set point through the track, it descends through the lifting mechanism. At this time, the automatic grasping can be completed through the distance sensing mechanism; when the specifications of the electrolyte bucket are unified and there is no deformation, the distance sensing mechanism can also be omitted. At this time, the lifting distance of the lifting mechanism can be preset in advance. According to the set program, when the vertical distance between the hook and the inner turned edge at the top of the electrolyte bucket is the optimal distance for the hook to hook the inner turned edge when the lifting mechanism descends, the controller controls the driving cylinder 24 to open the manipulator 2 when receiving the trigger signal before grasping the electrolyte bucket, and controls the driving cylinder 24 to retract the manipulator when receiving the trigger signal after grasping the electrolyte bucket. That is to say, the stroke of the automatic grasping device is set in advance. At this time, the controller controls the action sequence of components such as the driving cylinder 24 and the lifting mechanism, without the need for a distance sensing mechanism and a vision recognition system. At this time, it is applicable to the situation where the specifications of the electrolyte buckets are the same.

[0051] To adapt to a larger range, in this embodiment, the touch plate 251 is a horizontal plate suspended below the lifting seat 21. The two ends of the horizontal plate are suspended on the opposite sides of the lifting seat 21 in the horizontal direction. The length of the horizontal plate is greater than the width of the lifting seat 21. In this embodiment, the lifting seat 21 is square.

[0052] When in use, the automatic grasping device for the electrolyte bucket is installed on the gantry robot, and the controller controls the gantry robot to drive the electrolyte bucket to move to the set position.

[0053] The operation process of the automatic electrolyte bucket grasping device in this embodiment: Move the automatic electrolyte bucket grasping device above the electrolyte bucket to be grasped. The lifting mechanism drives the lifting seat 21 to descend until the touch plate 251 on the lower side of the lifting seat 21 contacts the top end face of the electrolyte bucket. At this time, the proximity switch 252 is triggered, and the lifting mechanism stops descending. The proximity switch 252 sends a trigger signal to the controller, and the controller starts the driving cylinder 24 according to the state of the manipulator 2 to open the manipulator 2. It should be noted that in the initial state, to avoid interference between the manipulator 2 and the inward flange of the upper port of the electrolyte bucket, the manipulator 2 is in a retracted state. The mechanical claw 23 is pushed by the driving cylinder 24 to contact the inner side wall of the electrolyte bucket and remains in contact with the inner wall of the electrolyte bucket under the action of the driving cylinder 24. Since the power of the driving cylinder 24 is small and insufficient to push the electrolyte bucket, the first contacted driving cylinder 24 will not push the electrolyte bucket to move. After the thrust of the first contacted driving cylinder 24 reaches the rated value, it will no longer increase. After the remaining electrolyte cylinders contact the inner wall of the electrolyte bucket, the acting forces of the electrolyte cylinders on the electrolyte bucket are balanced. Start the lifting mechanism to hook the hook of the mechanical claw 23 with the inward flange of the electrolyte bucket. Then, the lifting mechanism drives the lifting seat 21 to continue rising, and the electrolyte bucket is lifted. Move the automatic electrolyte bucket grasping device to the set position.

[0054] The principle of putting down the electrolyte bucket is the same as that of grasping. After moving the automatic electrolyte bucket grasping device to the set position, lower the lifting seat 21 until the bottom of the electrolyte bucket contacts the placement position. Continue to lower the lifting seat 21 to disengage the hook 233 of the mechanical claw 23 from the top inward flange of the electrolyte bucket until the touch plate 251 contacts the top end face of the electrolyte bucket again, and the proximity switch 252 is triggered again. The controller starts the driving cylinder 24 according to the state of the manipulator 2 to drive the driving cylinder 24 to drive the manipulator 2 to retract, and the manipulator 2 returns to the initial state. The lifting mechanism drives the lifting seat 21 to rise to complete the putting down of the electrolyte bucket.

[0055] For the specific embodiment of the manipulator for grasping the electrolyte bucket of the present invention, the structure of the manipulator for grasping the electrolyte bucket in this embodiment is the same as that of the manipulator in the specific embodiment of the above-mentioned automatic electrolyte bucket grasping device, and will not be elaborated here.

Claims

1. Automatic grasping device for electrolyte barrel, characterized in that, It includes a mounting base, a lifting mechanism arranged on the mounting base, and a manipulator driven by the lifting mechanism to lift. The manipulator includes: A lifting seat, which is used to connect with the lifting mechanism and is driven by the lifting mechanism to lift; Mechanical claws, at least two are provided, and are guided and slidably assembled on the lifting seat along the direction perpendicular to the lifting direction of the lifting seat. The mechanical claws have hooking parts for deeply reaching into the upper port of the electrolyte barrel to hook the inner turned edge at the top of the electrolyte barrel; The manipulator has a retracted state in which the mechanical claws approach each other to separate from the electrolyte barrel and an open state in which the mechanical claws move away from each other to hook the inner turned edge at the top of the electrolyte barrel; A mechanical claw driving mechanism is arranged on the lifting seat to drive the mechanical claws to move on the lifting seat, realizing the opening and retraction of the manipulator. The mechanical claw driving mechanisms correspond to the mechanical claws one by one and each mechanical claw driving mechanism is independent. When the manipulator is opened, the hooking part of the mechanical claw moves below the inner turned edge at the top of the electrolyte barrel and then stops moving relative to the lifting seat to adapt to electrolyte barrels at different positions; A controller is connected to the mechanical claw driving mechanism and the lifting mechanism for control, controlling the lifting, opening and retraction of the manipulator; A touch plate is movably assembled on the lifting seat and is used to abut against the end face at the top of the electrolyte barrel. The touch plate can move relative to the lifting seat when it abuts against the electrolyte barrel during the lifting process of the lifting seat. An induction part adapted to a proximity switch is connected to the touch plate. During the moving stroke of the touch plate relative to the lifting seat, there is a trigger position that enables the induction part to trigger the proximity switch when the vertical distance between the hooking part of the mechanical claw and the inner turned edge at the top of the electrolyte barrel reaches a set value. The proximity switch sends a trigger signal to the controller after being triggered.

2. The automatic grasping device for the electrolyte barrel according to claim 1, wherein The manipulator for grasping the electrolyte barrel further includes a proximity switch arranged on the lifting seat and signal-connected to the controller. The proximity switch is used to detect the vertical distance between the hooking part and the inner turned edge at the top of the electrolyte barrel, and sends a trigger signal to the controller when the vertical distance between the hooking part of the mechanical claw and the inner turned edge at the top of the electrolyte barrel reaches a set value. When receiving the trigger signal before grasping the electrolyte barrel, the controller controls the mechanical claw driving mechanism to open the manipulator, and when receiving the trigger signal after grasping the electrolyte barrel, the controller controls the mechanical claw driving mechanism to retract the manipulator.

3. The automatic gripping device for an electrolyte barrel according to any one of claims 1-2, characterized in that, The mechanical claw driving mechanism is a driving cylinder or a driving hydraulic cylinder. When the manipulator is opened, the hooking part of the mechanical claw moves below the upper turned edge and abuts against the inner wall of the electrolyte barrel and then stops moving relative to the lifting seat.

4. The automatic gripping device for an electrolyte barrel according to any one of claims 1-2, characterized in that The mechanical claws are guided and slidably assembled on the lifting seat along the direction perpendicular to the lifting direction of the lifting seat.

5. The automatic gripping device for the electrolyte bucket according to any one of claims 1-2, characterized in that, The lifting seat is in up-and-down guiding and sliding fit with the mounting base.

6. The electrolyte barrel grabbing manipulator is characterized in that, It includes: A lifting seat, which is used to connect with the lifting mechanism and is driven by the lifting mechanism to lift; Mechanical claws, at least two are provided, and are guided and slidably assembled on the lifting seat along the direction perpendicular to the lifting direction of the lifting seat. The mechanical claws have hooking parts for deeply reaching into the upper port of the electrolyte barrel to hook the inner turned edge at the top of the electrolyte barrel; The manipulator has a retracted state in which the mechanical claws approach each other to separate from the electrolyte barrel and an open state in which the mechanical claws move away from each other to hook the inner turned edge at the top of the electrolyte barrel; The mechanical claw driving mechanism is arranged on the lifting seat and drives the mechanical claw to move on the lifting seat to realize the opening and retraction of the manipulator. The mechanical claw driving mechanisms correspond to the mechanical claws one by one and each mechanical claw driving mechanism is independent. When the manipulator opens, the hook part of the mechanical claw moves to the lower part of the inner turning edge at the top of the electrolyte bucket and then stops moving relative to the lifting seat to adapt to electrolyte buckets at different positions. The touch plate is movably assembled on the lifting seat and is used to contact the end face at the top of the electrolyte bucket. The touch plate can move relative to the lifting seat when it contacts the electrolyte bucket during the lifting process of the lifting seat. An induction part adapted to the proximity switch is connected to the touch plate. There is a trigger position in the moving stroke of the touch plate relative to the lifting seat where the induction part triggers the proximity switch when the vertical distance between the hook part of the mechanical claw and the inner turning edge at the top of the electrolyte bucket reaches a set value. The proximity switch sends a trigger signal to the controller after being triggered.

7. The manipulator for grasping the electrolyte bucket according to claim 6, wherein The manipulator for grasping the electrolyte bucket further includes a proximity switch arranged on the lifting seat and signal-connected to the controller. The proximity switch is used to detect the vertical distance between the hook part and the inner turning edge at the top of the electrolyte bucket, and sends a trigger signal to the controller to make the manipulator retract or open when the vertical distance between the hook part of the mechanical claw and the inner turning edge at the top of the electrolyte bucket reaches a set value.

8. The manipulator for grasping an electrolyte bucket according to any one of claims 6-7, characterized in that, The mechanical claw driving mechanism is a driving cylinder or a driving hydraulic cylinder. When the manipulator opens, the hook part of the mechanical claw moves to the lower part of the upper inner turning edge and stops moving relative to the lifting seat after contacting the inner wall of the electrolyte bucket.

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