Six-degree-of-freedom mobile mechanisms and robots

Abstract

This invention relates to the field of machine automation technology, specifically to a six-degree-of-freedom (DOF) mobile mechanism and robot. The six-DOF mobile mechanism of this invention has a simple structure, satisfying multi-degree-of-freedom adjustment and being relatively easy to maintain. The robot used in conjunction with it has two gripping blocks that can be arranged facing each other or back to back, with a conveying mechanism on the sidewalls of the opposing gripping blocks. This enables the sorting of recyclable lithium batteries from waste lithium batteries, achieving efficient and accurate sorting. Through the cooperation of the six-DOF mobile mechanism and the robot, the robot, under the action of the mobile mechanism, can adjust its position in the height and horizontal directions to move from one workstation to the next, facilitating the sorting of waste lithium batteries.

Description

Technical Field

[0001] This invention relates to the field of machine automation technology, and more specifically, to a mobile mechanism and robot with six degrees of freedom. Background Technology

[0002] In factories, to meet the demand for high-quality and high-quantity workpieces, conveyor belts are typically installed to speed up the process. Currently, in the recycling of used lithium batteries, due to the varying degrees of damage, they can be broadly categorized into recyclable and non-recyclable lithium batteries. Generally, lithium batteries with higher shell hardness indicate that the internal materials have not been corroded and can therefore be recycled. Conversely, lithium batteries with softer shells may indicate that the internal materials have been corroded and cannot be recycled. Therefore, the distinction between the two categories can be made by sorting the used lithium batteries by testing the shell hardness.

[0003] The existing method of sorting lithium batteries involves factories arranging waste lithium batteries evenly on a conveyor belt and assigning workers to sort them on one side of the conveyor belt. This not only increases the workload of workers but also results in low efficiency and low sorting accuracy.

[0004] In response to this situation, a sorting robot is proposed to reduce the workload of staff and improve sorting efficiency.

[0005] In factories, robots typically need to move to the next workstation after completing their task at the current workstation in order to maximize their utilization. Most existing auxiliary robot movement mechanisms are single-directional back-and-forth movements. Although some movement mechanisms can be adjusted to multiple degrees of freedom, their structures are relatively complex and difficult to maintain. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution.

[0007] A six-degree-of-freedom moving mechanism includes a main body, which includes a base, a mounting column on the upper surface of the base, a stroke groove coaxially arranged along its height direction on the mounting column, and an opening groove on the side wall of the mounting column that communicates with the stroke groove. A stroke block that slides back and forth within the stroke groove is provided in the stroke groove. A rack extending out of the opening groove is provided on the side wall of the stroke block. The rack is horizontally arranged, and a mounting seat that slides back and forth along the horizontal direction of the rack is fitted on the rack. A mounting block perpendicular to the length direction of the rack is provided at the lower end of the mounting seat. A sliding part that can move back and forth along the length of the mounting block is provided on the lower side of the mounting block, and a mounting sleeve is provided below the sliding part.

[0008] In this invention, the above-mentioned arrangement allows the stroke block to slide back and forth within the stroke groove, thereby causing the rack to slide back and forth on one side of the mounting column, thus achieving height adjustment; subsequently, the mounting seat slides horizontally back and forth at the rack, and the sliding part at the mounting block, which is vertically connected to the mounting seat, slides back and forth along the length of the mounting block, thus achieving horizontal adjustment; thereby achieving six degrees of freedom movement adjustment of the main body of the moving mechanism.

[0009] Preferably, a first lead screw is coaxially arranged in the stroke groove and rotates within the stroke groove. The first lead screw is used to drive the stroke block to slide back and forth within the stroke groove. A first drive motor is provided at the upper end of the mounting column to drive the first lead screw to rotate.

[0010] In this invention, the first lead screw, the stroke block, and the first drive motor are configured such that the first drive motor drives the first lead screw to rotate in the stroke groove, which in turn drives the stroke block to slide up and down in the stroke groove, thereby realizing the adjustment of the height of the main body of the moving mechanism.

[0011] Preferably, the mounting base is provided with a gear that meshes with the rack, and a second drive motor for driving the gear to rotate is provided on the side wall of the mounting base.

[0012] In this invention, the rack, gear, and second drive motor are arranged so that the second drive motor drives the gear to rotate in the mounting base, and then rotates on the rack. Since one end of the rack is fixed to the stroke block, the mounting base moves relative to the gear, thereby realizing the mounting base sliding back and forth along the horizontal direction of the rack.

[0013] Preferably, the mounting block includes a horizontal plate connected to the mounting base and side plates respectively disposed on both sides below the horizontal plate. A rotatable second lead screw is provided between the two side plates. The second lead screw is used to drive the sliding part to slide back and forth along the length direction of the horizontal plate. A third drive motor is provided on the side wall of the side plate to drive the second lead screw to rotate.

[0014] In this invention, the second lead screw, the sliding part, and the third drive motor are configured such that the third drive motor drives the second lead screw to rotate at the mounting block, which in turn drives the sliding part to slide back and forth along the length of the horizontal plate, thereby enabling the sliding part to drive the mounting sleeve to slide back and forth along the length of the horizontal plate.

[0015] The six-degree-of-freedom moving mechanism provided by this invention has a simple structure, which not only satisfies the adjustment of multiple degrees of freedom, but is also relatively easy to maintain.

[0016] The present invention also provides a robot for use with the aforementioned six-degree-of-freedom mobile mechanism, which enables the robot to move from one workstation to the next workstation by adjusting its height and horizontal direction under the action of the main body of the mobile mechanism, which is quite convenient.

[0017] The robot includes a sorting device, which includes two parallel and spaced-apart first mounting plates and a second mounting plate. Two clamping blocks, which can slide towards or away from each other, are positioned between the second mounting plates and are used to clamp workpieces. Each clamping block contains a conveying mechanism, which includes multiple conveying rollers spaced along the length of the clamping block and are used to convey workpieces. The opposing surfaces of the first and second mounting plates are respectively provided with a first opening groove and a second opening groove. A pushing mechanism is located on the outer wall of the first mounting plate at the first opening groove. The pushing mechanism includes a push plate that can move towards or away from the second opening groove. When a workpiece moves between the first and second opening grooves under the action of the conveying mechanism, the push plate pushes the workpiece out of the second opening groove from its current position.

[0018] In this invention, through the above-described setup, firstly, two conveyor belts are installed at the workstation of the sorting device. Then, the sorting device is moved to this workstation using a six-degree-of-freedom moving mechanism. The conveyor belt located below the sorting device is used to transport the waste lithium batteries to be sorted, and the conveyor belt located at the second opening slot of the sorting device is used to transport the sorted waste lithium batteries. A collection box is installed at the end of both conveyor belts. This allows the harder waste lithium batteries to be transported by the sorting device from the conveyor belt below the sorting device to the conveyor belt located at the second opening slot, while the softer waste lithium batteries continue to be transported along the conveyor belt below the sorting device. This results in the efficient and accurate sorting of recyclable lithium batteries from the waste lithium batteries.

[0019] Preferably, the second mounting plate is provided with a sliding groove, and the upper ends of the two clamping blocks are provided with sliding blocks that extend into the sliding groove. The sliding groove is provided with a rotating rod that drives the two sliding blocks to slide towards each other or away from each other. The side wall of the second mounting plate is provided with a first mounting groove, and the first mounting groove is provided with a fourth drive motor for driving the rotating rod to rotate.

[0020] In this invention, the arrangement of the chute, sliding block, and rotating rod allows the rotating rod to rotate and drive the two sliding blocks to slide towards or away from each other within the chute, thereby driving the two clamping blocks to slide towards or away from each other, so as to achieve clamping detection or clamping transport of waste lithium batteries.

[0021] In this invention, the rotation of the rotating rod within the slide groove is preferably achieved by setting a fourth drive motor.

[0022] Preferably, the clamping block mainly consists of a clamping frame with multiple rotating cavities along its length and two clamping cover plates respectively disposed on both sides of the clamping frame. The conveying roller is disposed within the rotating cavities. The conveying mechanism includes a second mounting groove disposed at the upper end of the clamping frame, in which a fifth drive motor is disposed. A sprocket is coaxially disposed on the conveying roller. One of the clamping cover plates has a drive cavity on the side facing the sprocket for the sprocket to extend into. The output shaft of the fifth drive motor is connected to the sprockets of the multiple conveying rollers via a chain. The multiple conveying rollers rotate synchronously and in the same direction under the action of the fifth drive motor. Multiple abutment blocks are evenly disposed along the circumference of the conveying roller. Multiple spring mounting cavities are disposed within the conveying roller along its circumference. Multiple sets of spring mounting cavities are disposed along the axial direction of the conveying roller. A stop block is disposed within the spring mounting cavity. A connecting rod extending out of the spring mounting cavity is coaxially disposed on the stop block. The abutment block is connected to the connecting rod. A compression spring is disposed within the spring mounting cavity to keep the abutment block moving outward.

[0023] The assembly of the conveying roller within the clamping block is better achieved by the arrangement of the clamping frame, rotating cavity, clamping cover plate, and conveying roller in this invention.

[0024] By configuring the fifth drive motor, conveying rollers, sprockets, and chain in this invention, when the output shaft of the fifth drive motor rotates, each conveying roller rotates synchronously and in the same direction within its corresponding rotating cavity. This allows the waste lithium batteries held between the two clamping blocks to move from below the sorting device to the first and second opening slots under the action of the multiple conveying rollers.

[0025] By incorporating the abutment block, compression spring, stop block, and connecting rod in this invention, when the two clamping blocks clamp the waste lithium battery, both ends of the waste lithium battery abut against the side wall of the abutment block, and the compression spring in the spring mounting cavity is squeezed, which means that the waste lithium battery can be clamped more stably under the action of the two clamping blocks.

[0026] Furthermore, when the harder waste lithium battery moves between the first and second opening slots, it is elastically clamped, which not only makes the waste lithium battery more stable in the axial direction, but also allows for a movable clamping stroke in the axial direction. This means that when the pusher pushes the waste lithium battery from between the first and second opening slots, it is pushed out of the second opening slot and falls into the conveyor belt located at the second opening slot.

[0027] Preferably, the sorting device includes a mounting frame disposed between the first mounting plate and the second mounting plate. The mounting frame includes a truss disposed at the upper end between the first mounting plate and the second mounting plate and side rods disposed on both sides between the first mounting plate and the second mounting plate. A micro switch is provided on the lower side of the truss. The micro switch is used to interrupt the operation of the fifth drive motor. The micro switch includes a micro button. The upper ends of the two clamping blocks are provided with wedge-shaped surfaces for cooperating with the micro button.

[0028] In this invention, by setting up the truss, side rods, and micro-motion buttons, when the two clamping blocks clamp a relatively soft waste lithium battery, the waste lithium battery may deform or has already deformed. Therefore, the distance between the two clamping blocks will be relatively close, exceeding the set threshold. Then, the wedge-shaped surfaces at the upper ends of the two clamping blocks will trigger the micro-motion buttons, causing the micro-motion buttons to interrupt the operation of the fifth drive motor. At this time, the clamping blocks will release the waste lithium battery, allowing the waste lithium battery to continue to be transported along the conveyor belt below the sorting device.

[0029] Preferably, the pushing mechanism includes a rectangular mounting frame disposed on the outer side wall of the first mounting plate and corresponding to the first opening slot, the outer side wall of the rectangular mounting frame is provided with an electric cylinder, and the push plate is connected to the output shaft of the electric cylinder.

[0030] In this invention, the rectangular mounting frame, electric cylinder, and push plate are arranged so that the waste lithium battery rises along the side wall of the two clamping blocks to the space between the first opening slot and the second opening slot. The electric cylinder drives the push plate to push the waste lithium battery out from between the first opening slot and the second opening slot and into the conveyor belt located at the second opening slot of the sorting device.

[0031] Preferably, the upper end face of the truss is provided with an installation rod that extends into the installation sleeve, the side wall of the installation sleeve is provided with a plurality of positioning holes evenly spaced in the vertical direction, and the outer wall of the installation sleeve is provided with a positioning part for positioning the installation rod inside the installation sleeve.

[0032] In this invention, by setting up a mounting rod, a mounting sleeve, a positioning hole, and a positioning part, and by sliding the mounting rod within the mounting sleeve and positioning the mounting rod within the mounting sleeve at the corresponding positioning hole, the cooperation between a six-degree-of-freedom mobile mechanism and a robot is achieved. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the main body of the six-degree-of-freedom moving mechanism in Example 1.

[0034] Figure 2 This is a schematic diagram of the six-degree-of-freedom moving mechanism in Example 1.

[0035] Figure 3 for Figure 2 An enlarged schematic diagram of part A in the diagram.

[0036] Figure 4 This is a schematic diagram of the mounting base and mounting block in Example 1.

[0037] Figure 5 This is a schematic diagram of the mounting sleeve in Example 1.

[0038] Figure 6This is a schematic diagram of the sorting device in Example 1.

[0039] Figure 7 This is a schematic diagram of the sorting device in Example 2.

[0040] Figure 8 This is a schematic diagram of the sorting device in Example 2 located at the work point.

[0041] Figure 9 This is a schematic diagram of the sorting device in Example 2 from another perspective.

[0042] Figure 10 This is an exploded view of the sorting device in Example 2.

[0043] Figure 11 This is an exploded view of the sorting device in Example 2 from another perspective.

[0044] Figure 12 This is a schematic diagram of the first mounting plate in Example 2.

[0045] Figure 13 This is a schematic diagram of the second mounting plate in Example 2.

[0046] Figure 14 This is a schematic diagram of the mounting bracket in Example 2.

[0047] Figure 15 This is a schematic diagram of the clamping block in Example 2.

[0048] Figure 16 This is an exploded view of the clamping block in Example 2.

[0049] Figure 17 This is an exploded view of the clamping block in Example 2 from another perspective.

[0050] Figure 18 This is a schematic diagram of the conveyor roller in Example 2.

[0051] Figure 19 This is an exploded view of the conveyor roller in Example 2.

[0052] Figure 20 This is a schematic diagram of the system block diagram of the sorting device in Example 2. Detailed Implementation

[0053] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0054] Example 1

[0055] like Figure 1-6As shown, this embodiment provides a six-degree-of-freedom moving mechanism, which includes a main body. The main body includes a base 2110, a mounting post 2120 at the upper end surface of the base 2110, a travel groove 2121 coaxially arranged along its height direction on the mounting post 2120, and an opening groove arranged on the side wall of the mounting post 2120 and communicating with the travel groove 2121. A travel block 2140 is provided in the travel groove 2121 and slides back and forth within the travel groove 2121. The side wall of the stroke block 2140 is provided with a rack 2160 extending out of the opening groove. The rack 2160 is horizontally arranged. A mounting seat 2170 is sleeved on the rack 2160 and slides back and forth along the horizontal direction of the rack 2160. The lower end of the mounting seat 2170 is provided with a mounting block 2190 perpendicular to the length direction of the rack 2160. A sliding part 2220 that can move back and forth along the length of the mounting block 2190 is provided on the lower side of the mounting block 2190. A mounting sleeve 2230 is provided below the sliding part 2220.

[0056] In this embodiment, the above-mentioned arrangement allows the stroke block 2140 to slide back and forth within the stroke groove 2121, thereby causing the rack 2160 to slide back and forth on one side of the mounting post 2120, thus achieving height adjustment. Subsequently, the mounting base 2170 slides horizontally back and forth at the rack 2160, and the sliding part 2220 at the mounting block 2190, which is vertically connected to the mounting base 2170, slides back and forth along the length of the mounting block 2190, thus achieving horizontal adjustment. This achieves six degrees of freedom movement adjustment of the main body of the moving mechanism, thereby enabling the main body of the moving mechanism to adjust the position of the sorting device 1000 (described below) from one workstation to the next workstation.

[0057] In this embodiment, a first lead screw 2130 is coaxially arranged in the stroke groove 2121 and rotates within the stroke groove 2121. The first lead screw 2130 is used to drive the stroke block 2140 to slide back and forth within the stroke groove 2121. A first drive motor 2150 is provided at the upper end of the mounting column 2120 to drive the first lead screw 2130 to rotate.

[0058] With the arrangement of the first lead screw 2130, the stroke block 2140 and the first drive motor 2150 in this embodiment, the first drive motor 2150 drives the first lead screw 2130 to rotate in the stroke groove 2121, which in turn drives the stroke block 2140 to slide up and down in the stroke groove 2121, thereby realizing the adjustment of the height direction of the main body of the moving mechanism.

[0059] In this embodiment, the mounting base 2170 is provided with a gear 2310 that meshes with the rack 2160, and the side wall of the mounting base 2170 is provided with a second drive motor 2180 for driving the gear 2310 to rotate.

[0060] With the arrangement of rack 2160, gear 2310 and second drive motor 2180 in this embodiment, the second drive motor 2180 drives gear 2310 to rotate in mounting base 2170, and then rotates on rack 2160. Since one end of rack 2160 is fixed at stroke block 2140, mounting base 2170 moves relative to rack 2160 under the action of gear 2310, thereby realizing that mounting base 2170 slides back and forth along rack 2160 in the horizontal direction.

[0061] In this embodiment, the mounting block 2190 includes a horizontal plate 2410 connected to the mounting base 2170 and side plates 2420 respectively disposed on both sides below the horizontal plate 2410. A rotatable second lead screw 2200 is provided between the two side plates 2420. The second lead screw 2200 is used to drive the sliding part 2220 to slide back and forth along the length direction of the horizontal plate 2410. A third drive motor 2210 is provided on the side wall of the side plate 2420 for driving the second lead screw 2200 to rotate.

[0062] In this embodiment, the second lead screw 2200, the sliding part 2220, and the third drive motor 2210 drive the second lead screw to rotate at the mounting block 2190, thereby causing the sliding part 2220 to slide back and forth along the length of the horizontal plate 2410, thus enabling the sliding part 2220 to drive the mounting sleeve 2230 to slide back and forth along the length of the horizontal plate 2410.

[0063] The six-degree-of-freedom moving mechanism provided in this embodiment has a simple structure, which not only satisfies the adjustment of multiple degrees of freedom, but is also relatively easy to maintain.

[0064] Example 2

[0065] like Figure 7-20 As shown, this embodiment provides a robot that works in conjunction with the six-degree-of-freedom mobile mechanism provided in Embodiment 1. Under the action of the main body of the mobile mechanism, the robot can easily move from one workstation to the next workstation by adjusting its height and horizontal direction.

[0066] The robot includes a sorting device 1000, which includes two parallel and spaced-apart first mounting plates 1110 and second mounting plates 1120. Two clamping blocks 1140, which can slide towards or away from each other, are provided between the second mounting plates 1120. The two clamping blocks 1140 are used to clamp workpieces. Each clamping block 1140 is equipped with a conveying mechanism, which includes multiple conveying rollers 1150 spaced along the length of the clamping blocks 1140. The conveying rollers 1150 at the two clamping blocks 1140 are used for... The first mounting plate 1110 and the second mounting plate 1120 are respectively provided with a first opening groove 1410 and a second opening groove 1310 on their opposite surfaces. The outer wall of the first mounting plate 1110 and located at the first opening groove 1410 are provided with a pushing mechanism, which includes a push plate 1530 that can move toward or away from the second opening groove 1310. When the workpiece moves to the space between the first opening groove 1410 and the second opening groove 1310 under the action of the conveying mechanism, the push plate 1530 is used to push the workpiece out of the current position from the second opening groove 1310.

[0067] In this embodiment, with the above setup, firstly, the staff sets up two conveyor belts 1210 at the workstation of the sorting device 1000, and then moves the sorting device 1000 to the workstation using a six-degree-of-freedom moving mechanism. The conveyor belt located below the sorting device 1000 is used to transport the waste lithium batteries to be sorted, and the conveyor belt located at the second opening slot 1310 of the sorting device 1000 is used to transport the sorted waste lithium batteries. A storage box 1220 is set at the end of the conveying of both conveyor belts.

[0068] Based on this, in this embodiment, waste lithium batteries are conveyed to the sorting device 1000 at even intervals along the conveyor belt below the sorting device 1000. Whenever a waste lithium battery is conveyed between the two support blocks 1140, the conveyor belt below the sorting device 1000 stops running. At this time, the two clamping blocks 1140 perform clamping detection on the waste lithium battery located between them. The detection principle is as follows: waste lithium batteries with higher hardness are less prone to deformation when clamped by the two clamping blocks 1140. When softer spent lithium batteries are clamped by two clamping blocks 1140, they may deform or have already deformed due to potential internal corrosion. Therefore, it is only necessary to set the spacing between the two clamping blocks 1140. If the spacing remains within the set threshold, it indicates that the clamped spent lithium battery is a harder spent lithium battery. If the spacing exceeds the set threshold, it indicates that the clamped spent lithium battery is a softer spent lithium battery. If the detected spent lithium battery is harder, it indicates that the detected spent lithium battery can be recycled. Next, the conveying mechanism drives the conveying rollers 1150 inside the two clamping blocks 1140 to rotate, thereby causing the harder waste lithium batteries to rise along the side walls of the two clamping blocks 1140 to the space between the first opening slot 1410 and the second opening slot 1310. Then, the pushing mechanism drives the push plate 1530 to push the harder waste lithium batteries out from between the first opening slot 1410 and the second opening slot 1310 and into the conveyor belt located at the second opening slot 1310 of the sorting device 1000. Finally, the conveyor belt transports the harder waste lithium batteries to the collection box 1220 at the end of the conveyor belt for subsequent processing by staff. If the tested waste lithium battery is soft, it means that the tested waste lithium battery cannot be recycled. Therefore, the two clamping blocks 1140 release the clamping of the softer waste lithium battery, allowing it to continue to be transported by the conveyor belt located below the sorting device 1000 until it is transported to the collection box 1220 at the end of the conveyor belt for subsequent processing by staff.

[0069] In summary, by setting the sorting device 1000 in this embodiment at the two conveyor belts, the harder waste lithium batteries can be transported by the sorting device 1000 from the conveyor belt below the sorting device 1000 to the conveyor belt located at the second opening slot 1310, and the softer waste lithium batteries can continue to be transported along the conveyor belt below the sorting device 1000, thereby sorting out the recyclable lithium batteries from the waste lithium batteries more efficiently and accurately.

[0070] In this embodiment, a sliding groove 1510 is provided at the second mounting plate 1120, and a sliding block 1550 extending into the sliding groove 1510 is provided at the upper end of each of the two clamping blocks 1140. A rotating rod 1560 is provided in the sliding groove 1510 to drive the two sliding blocks 1550 to slide towards each other or away from each other. A first mounting groove 1520 is provided on the side wall of the second mounting plate 1120, and a fourth drive motor 1320 for driving the rotating rod 1560 to rotate is provided in the first mounting groove 1520.

[0071] With the arrangement of the chute 1510, sliding block 1550 and rotating rod 1560 in this embodiment, the rotating rod 1560 rotates to drive the two sliding blocks 1550 to slide towards or away from each other in the chute 1510, which in turn drives the two clamping blocks 1140 to slide towards or away from each other, so as to realize the clamping detection or clamping transport of waste lithium batteries.

[0072] By using the fourth drive motor 1320 in this embodiment, the rotation of the rotating rod 1560 within the slide groove 1510 is preferably achieved.

[0073] In this embodiment, the clamping block 1140 mainly consists of a clamping frame 1540 with multiple rotating cavities 11110 arranged along its length and two clamping cover plates 1570 respectively arranged on both sides of the clamping frame 1540. The conveying roller 1150 is disposed in the rotating cavity 11110. The conveying mechanism includes a second mounting groove 11120 disposed at the upper end of the clamping frame 1540. A fifth drive motor 11130 is disposed in the second mounting groove 11120. A sprocket 11220 is coaxially disposed on the conveying roller 1150. One of the clamping cover plates 1570 has a drive cavity 1610 on the side facing the sprocket 11220 for the sprocket 11220 to extend into. The output shaft of the fifth drive motor 11130 communicates with the sprockets 11220 of the multiple conveying rollers 1150. Connected by chain 11140, multiple conveyor rollers 1150 rotate synchronously and in the same direction under the action of the fifth drive motor 11130; multiple abutment blocks 11230 are evenly arranged around the conveyor rollers 1150, and multiple spring mounting cavities 11310 are arranged around the conveyor rollers 1150. Multiple sets of spring mounting cavities 11310 are arranged along the axial direction of the conveyor rollers 1150. A stop block 11330 is provided in the spring mounting cavity 11310, and a connecting rod 11340 extending out of the spring mounting cavity 11310 is coaxially provided in the stop block 11330. The abutment block 11230 is connected to the connecting rod 11340; a compression spring 11320 is provided in the spring mounting cavity 11310 to keep the abutment block 11230 moving outward.

[0074] Through the arrangement of the clamping frame 1540, the rotating cavity 11110, the clamping cover plate 1570 and the conveying roller 1150 in this embodiment, the assembly of the conveying roller 1150 in the clamping block 1140 is preferably achieved.

[0075] With the arrangement of the fifth drive motor 11130, conveying roller 1150, sprocket 11220 and chain 11140 in this embodiment, when the output shaft of the fifth drive motor 11130 rotates, each conveying roller 1150 rotates synchronously and in the same direction in the corresponding rotating cavity 11110. Thus, under the action of the multiple conveying rollers 1150 holding the waste lithium battery between the two clamping blocks 1140, the battery moves from below the sorting device 1000 to the first opening slot 1410 and the second opening slot 1310.

[0076] With the arrangement of the abutment block 11230, compression spring 11320, stop block 11330 and connecting rod 11340 in this embodiment, when the two clamping blocks 1140 clamp the waste lithium battery, the two ends of the waste lithium battery abut against the side wall of the abutment block 11230 respectively, and the compression spring 11320 in its spring mounting cavity 11310 is squeezed, which means that the waste lithium battery can be clamped more stably under the action of the two clamping blocks 1140.

[0077] Furthermore, when the harder waste lithium battery moves between the first opening slot 1410 and the second opening slot 1310, the waste lithium battery is elastically clamped, which not only makes the waste lithium battery more stable in the axial direction, but also allows the waste lithium battery to have a movable clamping stroke in the axial direction. That is, when the push plate 1530 pushes the waste lithium battery from between the first opening slot 1410 and the second opening slot 1310, it is pushed out from the second opening slot 1310 and falls into the conveyor belt located at the second opening slot 1310.

[0078] In this embodiment, the sorting device 1000 includes a mounting frame 1130 disposed between the first mounting plate 1110 and the second mounting plate 1120. The mounting frame 1130 includes a truss 11010 disposed at the upper end between the first mounting plate 1110 and the second mounting plate 1120 and side rods 11020 respectively disposed on both sides between the first mounting plate 1110 and the second mounting plate 1120. A micro switch is provided on the lower side of the truss 11010. The micro switch is used to interrupt the operation of the fifth drive motor 11130. The micro switch includes a micro button 11030. The upper ends of the two clamping blocks 1140 are provided with wedge-shaped surfaces for cooperating with the micro button 11030.

[0079] With the arrangement of the truss 11010, side bar 11020, and micro switch 11030 in this embodiment, when the two clamping blocks 1140 clamp a softer waste lithium battery, the softer waste lithium battery may deform or has already deformed. Therefore, the distance between the two clamping blocks 1140 will be relatively close, exceeding the set threshold. Then, the wedge-shaped surface at the upper end of the two clamping blocks 1140 will trigger the micro switch 11030, causing the micro switch 11030 to interrupt the operation of the fifth drive motor 11130. At this time, the clamping blocks 1140 release the waste lithium battery, allowing the waste lithium battery to continue to be transported along the conveyor belt below the sorting device 1000.

[0080] The micro switch used is a limit switch V-15-1C25.

[0081] In this embodiment, the pushing mechanism includes a rectangular mounting frame 1160 disposed on the outer side wall of the first mounting plate 1110 and corresponding to the first opening slot 1410. An electric cylinder 1170 is provided on the outer side wall of the rectangular mounting frame 1160, and a push plate 1530 is connected to the output shaft of the electric cylinder 1170.

[0082] With the arrangement of the rectangular mounting frame 1160, electric cylinder 1170, and push plate 1530 in this embodiment, the waste lithium battery rises along the side wall of the two clamping blocks 1140 to the space between the first opening slot 1410 and the second opening slot 1310. The electric cylinder 1170 drives the push plate 1530 to push the waste lithium battery out from between the first opening slot 1410 and the second opening slot 1310 and into the conveyor belt located at the second opening slot 1310 of the sorting device 1000.

[0083] In this embodiment, the upper end face of the truss 11010 is provided with an installation rod 2610 that extends into the installation sleeve 2230. The side wall of the installation sleeve 2230 is provided with a plurality of positioning holes 2320 evenly spaced in the vertical direction. The outer wall of the installation sleeve 2230 is provided with a positioning part 2240 for positioning the installation rod 2610 in the installation sleeve 2230.

[0084] Through the arrangement of the mounting rod 2610, mounting sleeve 2230, positioning hole 2320, and positioning part 2240 in this embodiment, the mounting rod 2610 slides within the mounting sleeve 2230 and the positioning part 2240 positions the mounting rod 2610 within the mounting sleeve 2230 at the corresponding positioning hole 2320, thereby achieving the cooperation between the six-degree-of-freedom mobile mechanism and the robot.

[0085] Combination Figure 20 As shown, in this embodiment, the sorting device 1000 includes a processor, which is electrically connected to a micro switch, a fourth drive motor 1320, a fifth drive motor 11130, and an electric cylinder 1170.

[0086] It is worth noting that the internal program settings of the processor and the actions of the processor in controlling the fourth drive motor 1320, the fifth drive motor 11130 and the electric cylinder 1170 in this embodiment are all existing conventional technologies, and therefore will not be described in detail.

[0087] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A robot, characterized in that, The system includes a six-degree-of-freedom (DOF) mobile mechanism. The mobile mechanism body includes a base (2110), a mounting post (2120) on the upper surface of the base (2110), a travel groove (2121) coaxially arranged along its height direction on the mounting post (2120), and an opening groove on the side wall of the mounting post (2120) communicating with the travel groove (2121). A travel block (2140) is provided within the travel groove (2121) and slides back and forth within it. The side wall of the block (2140) is provided with a rack (2160) with an extended opening groove. The rack (2160) is horizontally set. A mounting seat (2170) is sleeved on the rack (2160) and slides back and forth along the horizontal direction of the rack (2160). The lower end of the mounting seat (2170) is provided with a mounting block (2190) perpendicular to the length direction of the rack (2160). A sliding part (2220) that can move back and forth along the length of the mounting block (2190) is provided on the lower side of the mounting block (2190). A mounting sleeve (2230) is provided below the sliding part (2220). The robot includes a sorting device, which comprises two parallel and spaced-apart first mounting plates (1110) and second mounting plates (1120). Two clamping blocks (1140) are provided between the first mounting plates (1110) and the second mounting plates (1120), which can slide towards or away from each other. The two clamping blocks (1140) are used to clamp workpieces. Each clamping block (1140) is equipped with a conveying mechanism, which includes multiple conveying rollers (1150) spaced apart along the length of the clamping block (1140). The conveying rollers (1150) at the two clamping blocks (1140) are used to convey workpieces. The first mounting plate (1110) and the second mounting plate (1120) are respectively provided with a first opening groove (1410) and a second opening groove (1310) on their opposite surfaces. The outer wall of the first mounting plate (1110) and located at the first opening groove (1410) are provided with a pushing mechanism, which includes a push plate (1530) that can move toward or away from the second opening groove (1310). When the workpiece moves between the first opening groove (1410) and the second opening groove (1310) under the action of the conveying mechanism, the push plate (1530) is used to push the workpiece out of the current position from the second opening groove (1310). Multiple abutment blocks (11230) are evenly arranged along the circumference of the conveyor roller (1150). Multiple spring mounting cavities (11310) are arranged along the circumference of the conveyor roller (1150). Multiple sets of spring mounting cavities (11310) are arranged along the axial direction of the conveyor roller (1150). A stop block (11330) is provided in the spring mounting cavity (11310). A connecting rod (11340) extending out of the spring mounting cavity (11340) is coaxially provided in the stop block (11330). The abutment block (11230) is connected to the connecting rod (11340). A compression spring (11320) is provided in the spring mounting cavity (11310) to keep the abutment block (11230) moving outward.

2. The robot according to claim 1, characterized in that: A first lead screw (2130) is coaxially arranged in the stroke groove (2121) and rotates in the stroke groove (2121). The first lead screw (2130) is used to drive the stroke block (2140) to slide back and forth in the stroke groove (2121). A first drive motor (2150) is provided at the upper end of the mounting column (2120) to drive the first lead screw (2130) to rotate.

3. The robot according to claim 1, characterized in that: The mounting base (2170) is provided with a gear (2310) that meshes with the rack (2160), and a second drive motor (2180) is provided on the side wall of the mounting base (2170) for driving the gear (2310) to rotate.

4. The robot according to claim 1, characterized in that: The mounting block (2190) includes a horizontal plate (2410) connected to the mounting base (2170) and side plates (2420) respectively disposed on both sides below the horizontal plate (2410). A rotatable second lead screw (2200) is provided between the two side plates (2420). The second lead screw (2200) is used to drive the sliding part (2220) to slide back and forth along the length direction of the horizontal plate (2410). A third drive motor (2210) is provided on the side wall of the side plate (2420) for driving the second lead screw (2200) to rotate.

5. The robot according to claim 1, characterized in that: The second mounting plate (1120) is provided with a sliding groove (1510), and the upper ends of the two clamping blocks (1140) are provided with sliding blocks (1550) that extend into the sliding groove (1510). The sliding groove (1510) is provided with a rotating rod (1560) that drives the two sliding blocks (1550) to slide towards each other or away from each other. The side wall of the second mounting plate (1120) is provided with a first mounting groove (1520), and the first mounting groove (1520) is provided with a fourth drive motor (1320) for driving the rotating rod (1560) to rotate.

6. The robot according to claim 1, characterized in that: The clamping block (1140) mainly consists of a clamping frame (1540) with multiple rotating cavities (11110) along its length and two clamping cover plates (1570) respectively disposed on both sides of the clamping frame (1540). The conveying roller (1150) is disposed in the rotating cavity (11110). The conveying mechanism includes a second mounting groove (11120) disposed at the upper end of the clamping frame (1540), and a fifth drive motor (11130) is disposed in the second mounting groove (11120). The conveying roller (1150) is coaxially provided with a sprocket (11220). One of the clamping cover plates (1570) has a drive cavity (1610) on the side facing the sprocket (11220) for the sprocket (11220) to extend into. The output shaft of the fifth drive motor (11130) is connected to the sprockets (11220) of multiple conveying rollers (1150) through a chain (11140). Multiple conveying rollers (1150) rotate synchronously and in the same direction under the action of the fifth drive motor (11130).

7. The robot according to claim 6, characterized in that: The sorting device (1000) includes a mounting frame (1130) located between the first mounting plate (1110) and the second mounting plate (1120). The mounting frame (1130) includes a truss (11010) located at the upper end between the first mounting plate (1110) and the second mounting plate (1120) and side rods (11020) located on both sides between the first mounting plate (1110) and the second mounting plate (1120). A micro switch is provided on the lower side of the truss (11010). The micro switch is used to interrupt the operation of the fifth drive motor (11130). The micro switch includes a micro button (11030). The upper ends of the two clamping blocks (1140) are provided with wedge-shaped surfaces for cooperating with the micro button (11030).

8. The robot according to claim 1, characterized in that: The pushing mechanism includes a rectangular mounting frame (1160) disposed on the outer side wall of the first mounting plate (1110) and corresponding to the first opening slot (1410). An electric cylinder (1170) is provided on the outer side wall of the rectangular mounting frame (1160), and a push plate (1530) is connected to the output shaft of the electric cylinder (1170).

9. The robot according to claim 7, characterized in that: The upper end face of the truss (11010) is provided with an installation rod (2610) that extends into the installation sleeve (2230). The side wall of the installation sleeve (2230) is provided with a plurality of positioning holes (2320) evenly spaced in the vertical direction. The outer wall of the installation sleeve (2230) is provided with a positioning part (2240) for positioning the installation rod (2610) in the installation sleeve (2230).

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