A fully automated loading and unloading robot for cylindrical batteries

Abstract

This application relates to the field of battery manufacturing technology and discloses a fully automated loading and unloading robot for cylindrical batteries. The robot includes: a top plate; a sliding plate, vertically slidable and height-adjustable below the top plate, with multiple grippers on the sliding plate; and a centering and limiting component, vertically slidable below the sliding plate. The centering and limiting component includes a first limiting plate, a second limiting plate, and centering and limiting strips. Multiple first and second limiting plates are arranged alternately. Multiple centering and limiting strips are arranged at intervals on the first and second limiting plates, with a centering space formed between two adjacent centering and limiting strips on the first and second limiting plates and their corresponding two on the second limiting plate. The first and second limiting plates slide horizontally to expand or shrink the centering space, which is coaxial with the grippers. This centering and limiting component positions the cylindrical battery concentrically with the grippers, eliminating the need for machine stop adjustments and significantly improving transfer efficiency.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and in particular to a fully automated loading and unloading robot for cylindrical batteries. Background Technology

[0002] Cylindrical batteries are widely used in solar lamps, lawn lights, backup power sources, power tools, toy models, and other fields due to their many advantages, such as high capacity, high output voltage, good charge-discharge cycle performance, stable output voltage, high current discharge capability, electrochemical stability, safe use, wide operating temperature range, and environmental friendliness.

[0003] In the production process of cylindrical batteries, the efficiency of battery loading and unloading directly affects the overall production efficiency of the production line. Taking the battery drying section as an example: traditionally, there are two methods of loading and unloading: manual loading and unloading and robotic gripping mechanisms. Manual loading and unloading is slow and inefficient, and is not suitable for modern large-scale production. In current production processes, robotic gripping mechanisms are usually used to replace manual loading and unloading. The robotic arm picks up multiple cylindrical batteries from the feed tray and transfers them to the battery drying transfer tray. The cylindrical batteries need to be placed one by one with the battery placement holes on the battery drying transfer tray. Then, the battery drying transfer tray is sent into the drying chamber for drying.

[0004] In traditional robotic gripper mechanisms, multiple grippers are typically used to improve transfer efficiency, simultaneously grasping multiple cylindrical batteries. When grasping and transferring multiple batteries at the same time, the grippers may cause the cylindrical batteries to tilt, frequently resulting in misalignment of the batteries with the battery placement holes on the battery drying tray. This necessitates repeated machine stops for centering and adjustment, severely impacting transfer efficiency. Summary of the Invention

[0005] To improve the low efficiency caused by the need for repeated stops and adjustments when a robotic arm simultaneously transfers multiple batteries, this technology aims to address the issue of low efficiency in existing technologies.

[0006] The fully automated loading and unloading robot for cylindrical batteries provided in this application adopts the following solution:

[0007] A fully automated loading and unloading robot for cylindrical batteries includes:

[0008] roof;

[0009] A sliding plate, which can be raised and lowered vertically, is installed below the top plate, and the sliding plate is provided with multiple grippers;

[0010] A centering and limiting component is vertically and slidably installed below the sliding plate to position the cylindrical battery so that the grippers can hold the cylindrical battery.

[0011] The centering and limiting component includes a first limiting plate, a second limiting plate, and centering and limiting strips for abutting against and limiting the side wall of the cylindrical battery. Multiple first and second limiting plates are arranged alternately. Both the first and second limiting plates are horizontally slidable on the sliding plate. Multiple centering and limiting strips are arranged at intervals on the first and second limiting plates, corresponding to each other. A centering space is formed between two adjacent centering and limiting strips on the first and second limiting plates and two corresponding centering and limiting strips on the second limiting plate. The first and second limiting plates slide horizontally to expand or shrink the centering space. The centering space is coaxially arranged with the grippers, corresponding to each other.

[0012] By adopting the above solution, a centering and limiting component is installed to position the cylindrical batteries, enabling the grippers to accurately hold them. In the battery drying process, the cylindrical batteries need to be transferred from the incoming tray to the battery drying transfer tray, which is then placed into the drying chamber for drying. In actual operation, to ensure the drying efficiency of the drying chamber, the density of cylindrical batteries on the incoming tray is usually less than that on the battery drying transfer tray. In traditional solutions, when multiple batteries are simultaneously gripped and transferred, the grippers may cause the cylindrical batteries to tilt, frequently resulting in misalignment of the batteries with the battery mounting holes on the battery drying transfer tray. This necessitates repeated machine stops for centering and adjustment, leading to low transfer efficiency. In this technical solution, the first and second limiting plates slide horizontally to clamp and confine the cylindrical battery within the centering space, thus performing initial centering. The grippers then clamp the cylindrical battery for further centering. Subsequently, the robotic arm moves upwards. Just as the battery detaches from the receiving tray, the battery centering and limiting component moves downwards to center and limit the battery's axial end, effectively preventing the cylindrical battery from tilting. This technical solution can quickly achieve centering between the cylindrical battery and the grippers, improving the clamping accuracy of the cylindrical battery, effectively reducing the need for machine stoppage for correction, and thus improving the efficiency of transfer and transportation.

[0013] Optionally, the centering and limiting component includes a lifting seat, which is vertically slidably installed on the bottom of the sliding plate; a first connecting seat and a second connecting seat are horizontally slidably installed on the lifting seat, the first limiting plate is evenly spaced on the first connecting seat, and the second limiting plate is evenly spaced on the second connecting seat.

[0014] By adopting the above solution, a first connecting seat and a second connecting seat are provided, and the first limiting plates are all installed on the first connecting seat, and the second limiting plates are all installed on the second connecting seat. In some technical solutions, each centering limiting bar moves independently. When it is necessary to adjust the centering space size according to different models of cylindrical batteries, the centering limiting bar must be controlled to move individually to achieve adjustment of each centering limiting bar, which is inconvenient. In the technical solution of this application, all the first limiting plates are installed on the first connecting seat and move synchronously, and all the second limiting plates are installed on the second connecting seat and move synchronously, thereby enabling simultaneous adjustment of the size of multiple centering spaces, which is more efficient.

[0015] Optionally, the lifting seat is provided with a first cylinder that is pulverizedly connected to the first connecting seat and a second cylinder that is pulverizedly connected to the second connecting seat. The first cylinder and the second cylinder move synchronously to expand or shrink the centering space.

[0016] By adopting the above scheme, the first and second cylinders work synchronously. In some technical solutions, when the centering space is scaled, the vertical central axis of the centering space inevitably shifts, causing the centering space to fail to align with the gripper, resulting in poor centering of the cylindrical battery held in the centering space. In traditional technical solutions, the gripper above the subsequent centering space, in conjunction with a synchronous camera, slides horizontally to adjust and align with the centering space for gripping the cylindrical battery; however, this technical solution requires adjusting the gripper position, which is inefficient. In the technical solution of this application, the gripper remains stationary. The first and second cylinders work synchronously, causing the first and second limiting plates to move closer or further apart synchronously, thereby ensuring that the central axis of the centering space remains unchanged and aligned with the gripper, thus eliminating the need for subsequent gripper adjustments and further improving efficiency.

[0017] Optionally, a slotted photoelectric sensor is provided on the side edge of the top plate, and a light-blocking plate is provided on the sliding plate facing the slotted photoelectric sensor. The slotted photoelectric sensor is used to prevent the sliding plate from rising when it detects the light-blocking plate.

[0018] By adopting the above scheme, a slotted photoelectric sensor is set on the top plate, and a light-blocking plate is set on the corresponding sliding plate to prevent the sliding plate from colliding with the top plate when it rises. When the slotted photoelectric sensor detects the light-blocking plate, it means that the distance between the sliding plate and the top plate is too close, so as to prevent the sliding plate from continuing to rise and achieve the effect of anti-collision.

[0019] Optionally, a sliding rod is vertically provided on the sliding plate, and a buffer spring is connected between the sliding rod and the top plate. The sliding plate descends to compress the buffer spring.

[0020] The above-described solution incorporates a sliding rod and a buffer spring. In some technical solutions, during the descent of the sliding plate to clamp the cylindrical battery, the battery may be crushed due to the descent exceeding the preset travel distance. In this application's technical solution, the buffer spring provides a cushioning effect, preventing the sliding plate from descending too far and causing the product to be crushed.

[0021] Optionally, the gripper includes a finger cylinder fixedly installed at the bottom of the sliding plate and two side plates that are throttle-connected to the finger cylinder. The two side plates are arranged opposite to each other, and the finger cylinder operates to drive the two side plates to move closer to each other or further apart. A pneumatic control assembly is provided on the sliding plate, and an airflow pipe is connected between the pneumatic control assembly and the finger cylinder. Multiple through holes are provided on the sliding plate, and the airflow pipe passes through the through holes from the top of the sliding plate and is connected to the finger cylinder.

[0022] By adopting the above-described solution, multiple connecting holes are made through the sliding plate, and the grippers are installed at the bottom of the sliding plate. The airflow pipe passes through the connecting holes from above to below and connects to the finger cylinders of the grippers. In some technical solutions, due to the dense distribution of the grippers, the air path needs to wind around multiple finger cylinders, making wiring difficult and messy. In the technical solution of this application, the airflow pipe passes directly through the top of the sliding plate and connects to the corresponding finger cylinder, thereby effectively improving the convenience of wiring.

[0023] Optionally, the inner side of the side plate is provided with a clamping piece for clamping the cylindrical battery. The bottom of the clamping piece has a guide portion, which is gradually tilted downward away from the central axis of the clamping claw.

[0024] By adopting the above solution, a clamping plate for holding cylindrical batteries is provided on the inner side of the side plate, and a guide part is provided at the bottom of the clamping plate. The guide part is arranged at an angle to facilitate the cylindrical battery to be guided and inserted into the clamping claw, thereby further improving the convenience of clamping.

[0025] Optionally, a baffle is also provided on the inner side of the side plate, and the baffle is horizontally arranged above the clamping piece.

[0026] By adopting the above solution, a baffle is provided above the side plate. In some technical solutions, after the cylindrical batteries are inserted into the grippers, the multiple cylindrical batteries are of uneven height, which is inconvenient for subsequent transportation and transfer. The technical solution of this application, by providing a baffle on the side plate, can restrain and limit the top of the cylindrical batteries, ensuring the uniformity of height when multiple cylindrical batteries are clamped.

[0027] Optionally, the centering limiting strip is detachably connected to the first limiting plate by bolts, and the centering limiting strip is detachably connected to the second limiting plate by bolts.

[0028] By adopting the above solution, the centering limiting strip is detachably connected to the first limiting plate via bolts, facilitating disassembly and replacement. In some technical solutions, the centering limiting strip is fixedly installed on the first and second limiting plates, and for cylindrical batteries with different signals, clamping of the cylindrical battery is achieved by scaling. However, in actual working conditions, simply scaling the centering space is difficult to adapt to cylindrical batteries of different diameters. In the technical solution of this application, the centering limiting strip is detachably installed via bolts, allowing for the removal and replacement of centering limiting strips of different shapes to further adapt to various cylindrical batteries of different sizes and models, thus exhibiting strong adaptability.

[0029] Optionally, the sliding plate is provided with a guide hole, and the top plate is provided with a guide post adapted to the shape of the guide hole, the guide post being slidably inserted into the guide hole.

[0030] By adopting the above scheme, guide holes are opened in the sliding plate and guide columns are vertically installed on the top plate, which effectively guides the movement of the sliding plate and ensures the stability of the movement.

[0031] In summary, this application includes at least the following beneficial technical effects:

[0032] 1. A centering and limiting component is installed to position the cylindrical batteries, enabling the grippers to accurately hold them. In the battery drying process, the cylindrical batteries need to be transferred from the incoming tray to the battery drying transfer tray, which is then placed into the drying chamber for drying. In actual operation, to ensure the drying efficiency of the drying chamber, the density of cylindrical batteries on the incoming tray is usually less than that on the battery drying transfer tray. In traditional solutions, when multiple batteries are simultaneously gripped and transferred, the grippers may cause the cylindrical batteries to tilt, frequently resulting in misalignment of the batteries with the battery mounting holes on the battery drying transfer tray. This necessitates repeated machine stops for centering and adjustment, leading to low transfer efficiency. In this technical solution, the first and second limiting plates slide horizontally to clamp and confine the cylindrical battery within the centering space, thus performing initial centering. The grippers then clamp the cylindrical battery for further centering. Subsequently, the robotic arm moves upwards. Just as the battery detaches from the feed tray, the battery centering and limiting component moves downwards to center and limit the battery's shaft end, effectively preventing the cylindrical battery from tilting. This technical solution can quickly achieve centering between the cylindrical battery and the grippers, improving the clamping accuracy of the cylindrical battery, effectively reducing the need for machine stoppage for correction, and thus improving the efficiency of transfer and transportation.

[0033] 2. The first and second cylinders operate synchronously. In some technical solutions, when the centering space is scaled, the vertical central axis of the centering space inevitably shifts, causing the centering space to fail to align with the grippers, resulting in poor centering of the cylindrical battery held in the centering space. Traditional solutions typically use a gripper above the centering space in conjunction with a synchronous camera, with the gripper sliding horizontally to adjust and align with the centering space for gripping the cylindrical battery; however, this method requires adjusting the gripper position, resulting in low efficiency. In this application's technical solution, the grippers remain stationary. The first and second cylinders operate synchronously, causing the first and second limiting plates to move closer or further apart synchronously, ensuring that the central axis of the centering space remains constant and aligned with the grippers. This eliminates the need for subsequent gripper adjustments, further improving efficiency.

[0034] 3. The centering limiting strip is detachably connected to the first limiting plate via bolts for easy disassembly and replacement. In some technical solutions, the centering limiting strip is fixedly installed on the first and second limiting plates, and the cylindrical battery is clamped by scaling up or down for different signals. However, in actual working conditions, simply scaling up the centering space is insufficient to accommodate cylindrical batteries of different diameters. In the technical solution of this application, the centering limiting strip is detachably installed via bolts, allowing for the removal and replacement of centering limiting strips of different shapes to further adapt to various cylindrical batteries of different sizes and models, thus exhibiting strong adaptability. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the centering and limiting component according to an embodiment of this application;

[0037] Figure 3 This is another schematic diagram of the overall structure of the embodiment of this application.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. Top plate; 11. Guide column; 12. Slotted photoelectric sensor; 13. Buffer spring;

[0040] 2. Sliding plate; 21. Lifting cylinder; 22. Sliding hole; 23. Light blocking plate; 24. Sliding rod; 25. Support seat; 26. Abutment seat; 27. Pneumatic control assembly; 28. Connecting hole;

[0041] 3. Gripper; 31. Finger cylinder; 311. Cylinder barrel; 312. Sliding gripper; 32. Side plate; 33. Clamping piece; 331. Guide part; 34. Baffle;

[0042] 4. Centering and limiting component; 41. First limiting plate; 42. Second limiting plate; 43. Centering and limiting strip; 431. Centering space; 432. Abutting surface; 44. Lifting seat; 45. First connecting seat; 46. Second connecting seat; 47. First cylinder; 48. Second cylinder. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0044] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0047] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0049] The present application will be further described in detail below with reference to the accompanying drawings.

[0050] This application discloses a fully automated loading and unloading robot for cylindrical batteries.

[0051] Reference Figure 1 and Figure 2 A fully automated loading and unloading robot for cylindrical batteries includes: a top plate 1; a sliding plate 2 vertically slidably mounted below the top plate 1, with multiple grippers 3 on the sliding plate 2; and a centering limiting component 4 for positioning the cylindrical batteries vertically slidably mounted below the sliding plate 2. The centering limiting component 4 includes a first limiting plate 41, a second limiting plate 42, and a centering limiting strip 43 for abutting against and limiting the side wall of the cylindrical battery. Multiple first limiting plates 41 and second limiting plates 42 are arranged alternately, and both the first limiting plates 41 and second limiting plates 42 are horizontally slidably mounted on the sliding plate 2. Multiple centering limiting strips 43 are arranged at intervals on the first limiting plate 41 and the second limiting plate 42 in a one-to-one correspondence. A centering space 431 is formed between two adjacent centering limiting strips 43 on the first limiting plate 41 and two corresponding centering limiting strips 43 on the second limiting plate 42. The first limiting plate 41 and the second limiting plate 42 slide horizontally to expand or shrink the centering space 431. The centering space 431 and the gripper 3 are always arranged coaxially and facing each other in a one-to-one correspondence.

[0052] Reference Figure 1 and Figure 2The top plate 1 is connected to an external robot drive device, which operates to move the robotic arm between the material receiving tray and the battery drying turnover tray via the top plate 1. The top plate 1 and the sliding plate 2 are connected via a cylinder (not shown in the figure), which operates to drive the sliding plate 2 to rise and fall. The sliding plate 2 is also equipped with a lifting cylinder 21 for driving the centering limit member 4. The lifting cylinder 21 is connected to the centering limit member 4, and operates to drive the centering limit member 4 to rise and fall. In the battery drying process, the robotic arm moves to above the receiving tray. The lifting cylinder 21 operates, causing the centering limiter 4 to descend to the receiving tray. The centering limiter 4 then reduces the centering space 431 and initially clamps the cylindrical battery. Subsequently, the gripper 3 above the centering space 431 clamps the cylindrical battery for further centering. The robotic arm then moves upwards until the cylindrical battery detaches from the receiving tray. At this point, the centering limiter 4 moves downwards to center and limit the cylindrical battery's shaft end. Finally, the entire robotic arm mechanism is quickly moved to above a higher-density battery drying transfer tray via an external robot drive device. When the robotic arm reaches the bottom of the cylindrical battery and places it into the battery placement hole on the battery drying transfer tray, the centering limiter 4 opens the centering space 431 and moves upwards, allowing the gripper 3 to pass through the centering space 431 and continue downwards until the bottom of the cylindrical battery enters the battery placement hole. The gripper 3 then releases, completing the transfer of the cylindrical battery.

[0053] A guide hole is provided on the sliding plate 2, and a guide post 11 adapted to the shape of the guide hole is vertically provided on the top plate 1. The guide post 11 is slidably inserted into the guide hole. A slotted photoelectric sensor 12 is provided on the side edge of the top plate 1, and a light-blocking plate 23 is provided on the sliding plate 2 facing the slotted photoelectric sensor 12. The slotted photoelectric sensor 12 is used to prevent the sliding plate 2 from rising when it detects the light-blocking plate 23. In this embodiment, a controller (not shown in the figure) electrically connected to the slotted photoelectric sensor 12 is also provided. When the sliding plate 2 rises to the point where the light-blocking plate 23 inserts into the slotted photoelectric sensor 12, the slotted photoelectric sensor 12 sends an alarm signal to the controller. The controller receives the alarm signal and prevents the sliding plate 2 from rising further to prevent collision.

[0054] Reference Figure 1 and Figure 2A sliding rod 24 is vertically mounted on the sliding plate 2, and the bottom of the sliding rod 24 is fixed to the sliding plate 2 by bolts. The sliding rod 24 is connected to the top plate 1 by a buffer spring 13. When the sliding plate 2 descends, the buffer spring 13 is compressed. Specifically, a sliding hole 22 is provided through the top plate 1, and the sliding rod 24 passes through the sliding hole 22 to the top of the top plate 1. A support seat 25 is fixedly provided at the bottom of the sliding plate 2. The support seat 25 covers the bottom of the sliding hole 22 and is arranged around the sliding rod 24. An abutment seat 26 is provided at the top of the sliding rod 24. One end of the buffer spring 13 abuts against the support seat 25, and the other end abuts against the abutment seat 26. When the sliding plate 2 descends, the abutment seat 26 presses down on the buffer spring 13 and compresses the buffer spring 13, thereby achieving a buffering effect and preventing the sliding plate 2 from causing the gripper 3 to descend too much and hardly impact and damage the cylindrical battery.

[0055] Reference Figure 2 and Figure 3 The centering and limiting component 4 includes a lifting seat 44, which is connected to the piston rod of the lifting cylinder 21 on the sliding plate 2, so that the lifting seat 44 is vertically slidably installed at the bottom of the sliding plate 2. The lifting cylinder 21 works to drive the lifting seat 44 to rise and fall. In this embodiment, there are two lifting cylinders 21 and two lifting seats 44, which are arranged in a one-to-one correspondence in the vertical direction. The two lifting cylinders 21 are respectively set on opposite side edges of the sliding plate 2. Each lifting seat 44 has a first connecting seat 45 and a second connecting seat 46 horizontally slidably installed, and the sliding directions of the first sliding seat and the second sliding seat are parallel. The first limiting plates 41 are evenly spaced on the two first connecting seats 45, and the second limiting plates 42 are evenly spaced on the two second connecting seats 46. Each lifting seat 44 is equipped with a first cylinder 47 that is pulverizedly connected to a first connecting seat 45 and a second cylinder 48 that is pulverizedly connected to a second connecting seat 46. A first connecting plate connects the first cylinder 47 to the first connecting seat 45, and a second connecting plate is fixedly connected between the second cylinder 48 and the second connecting seat 46. The first cylinder 47 and the second cylinder 48 are arranged opposite to each other and move synchronously to drive the first sliding seat and the second sliding seat to move closer or further apart, thereby expanding or shrinking the centering space 431. It is worth noting that the vertical central axis of the centering space 431 is always aligned with the gripper 3 to ensure that the cylindrical battery is aligned with the gripper 3.

[0056] Reference Figure 2 and Figure 3Specifically, multiple centering limiting strips 43 are evenly spaced along the length of the first limiting plate 41, and are detachably mounted on the first limiting plate 41 by bolts; multiple centering limiting strips 43 are evenly spaced along the length of the second limiting plate 42, and are detachably mounted on the second limiting plate 42 by bolts. Each centering limiting strip 43 has two abutment surfaces 432 facing the center of the centering space 431, so that each centering space 431 has four abutment surfaces 432 surrounding it horizontally in the circumferential direction. The four abutment surfaces 432 can simultaneously abut against the circumference of the cylindrical battery, thereby achieving initial centering of the cylindrical battery.

[0057] Reference Figure 2 and Figure 3 The gripper 3 includes a finger cylinder 31 fixedly mounted on the bottom of the sliding plate 2. The finger cylinder 31 includes a cylinder 311 and two sliding claws 312 symmetrically arranged on the bottom of the cylinder 311 along its central axis. The two sliding claws 312 are slidably mounted on the bottom of the cylinder 311, and the cylinder 311 operates to drive the two sliding claws 312 to move closer to each other or away from each other. The gripper 3 also includes two side plates 32 that are pulsatorically connected to the finger cylinder 31. Each side plate 32 is vertically fixedly mounted on one sliding claw 312, and the finger cylinder 31 operates to drive the two side plates 32 to move closer to each other or away from each other. A clamping piece 33 for clamping a cylindrical battery is fixedly mounted on the inner side of the side plate 32. The bottom of the clamping piece 33 has a guide portion 331 that gradually slopes downward away from the central axis of the gripper 3, so that the cylindrical battery can be inserted between the two side plates 32 and clamped. A baffle 34 is also provided on the inner side of the side plate 32, and the baffle 34 is horizontally arranged above the clamping piece 33. It is worth mentioning that, in this embodiment of the application, two clamping pieces 33 are provided on the inner side of each side plate 32.

[0058] Reference Figure 1 and Figure 2 A pneumatic control assembly 27 is provided on the sliding plate 2. An airflow pipe (not shown in the figure) connects the pneumatic control assembly 27 and the finger cylinder 31. Multiple connecting holes 28 are provided through the sliding plate 2. The airflow pipe passes through the connecting holes 28 from the top of the sliding plate 2 and connects to the finger cylinder 31. In this embodiment, the air hole assembly includes a solenoid valve and an air distribution block, the structure of which will not be described in detail here.

[0059] The implementation principle of a fully automatic loading and unloading robot for cylindrical batteries according to an embodiment of this application is as follows: the first limiting plate 41 and the second limiting plate 42 slide horizontally to clamp and abut the cylindrical battery within the centering space 431, thereby performing initial centering between the gripper 3 and the cylindrical battery. The gripper 3 clamps the cylindrical battery for secondary centering. Then, the robot moves upward as a whole. When the battery just leaves the feeding tray, the battery centering limiting member 4 moves downward to center and limit the axial end of the battery, thereby effectively preventing the cylindrical battery from tilting. The centering between the cylindrical battery and the gripper 3 is quickly achieved, improving the clamping accuracy of the cylindrical battery.

[0060] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A full-automatic loading and unloading manipulator for cylindrical batteries, characterized in that, Include: The top plate (1); Slip plate (2), vertically slidable installation below the top plate (1), a plurality of clamping jaws (3) are arranged on the slip plate (2); centering limiting piece (4), vertically slidable installation below the slip plate (2), for positioning cylindrical battery to facilitate the clamping jaw (3) clamping cylindrical battery; The centering limiting piece (4) includes first limiting plate (41), second limiting plate (42) and centering limiting strip (43) for resisting and limiting cylindrical battery side wall, the number of the first limiting plate (41) and the second limiting plate (42) is multiple and staggered, the first limiting plate (41) and the second limiting plate (42) are horizontally slidable installed on the slip plate (2); a plurality of centering limiting strips (43) are arranged on the first limiting plate (41) and the second limiting plate (42) one by one, the centering space (431) is formed between the adjacent two centering limiting strips (43) on the first limiting plate (41) and the corresponding two centering limiting strips (43) on the second limiting plate (42), the first limiting plate (41) and the second limiting plate (42) horizontally slide to expand or reduce the centering space (431), the centering space (431) and the clamping jaw (3) are coaxially arranged one by one; The centering limiting piece (4) includes lifting seat (44), the lifting seat (44) is vertically slidable installed on the bottom of the slip plate (2); the first connecting seat (45) and the second connecting seat (46) are horizontally slidable installed on the lifting seat (44), the first limiting plate (41) is uniformly arranged on the first connecting seat (45), and the second limiting plate (42) is uniformly arranged on the second connecting seat (46); The lifting seat (44) is provided with first cylinder (47) and second cylinder (48) which are in driving connection with the first connecting seat (45) and the second connecting seat (46), respectively, the first cylinder (47) and the second cylinder (48) move synchronously to expand or reduce the centering space (431).

2. The full-automatic loading and unloading manipulator for cylindrical batteries according to claim 1, characterized in that, The side edge of the top plate (1) is provided with a slot type photoelectric sensor (12), and the slip plate (2) is provided with a light blocking plate (23) opposite to the slot type photoelectric sensor (12), the slot type photoelectric sensor (12) is used to prevent the slip plate (2) from rising when the light blocking plate (23) is detected.

3. The full-automatic loading and unloading manipulator for cylindrical batteries according to claim 1, characterized in that, The slip plate (2) is vertically provided with a sliding rod (24), and the sliding rod (24) is connected with the top plate (1) through a buffer spring (13), and the slip plate (2) is lowered to compress the buffer spring (13).

4. The full-automatic loading and unloading manipulator for cylindrical batteries according to claim 1, characterized in that, The clamping jaw (3) comprises a finger cylinder (31) fixedly installed at the bottom of the sliding plate (2) and two side plates (32) in transmission connection with the finger cylinder (31), the two side plates (32) are oppositely arranged, and the finger cylinder (31) works to drive the two side plates (32) to approach or move away from each other; the sliding plate (2) is provided with an air control assembly (27), an airflow pipeline is connected between the air control assembly (27) and the finger cylinder (31), and a plurality of communication holes (28) are formed through the sliding plate (2), the airflow pipeline passes through the communication holes (28) on the sliding plate (2) and is in communication with the finger cylinder (31).

5. The full-automatic loading and unloading manipulator for cylindrical batteries according to claim 4, characterized in that, The inner side of the side plate (32) is provided with a clamping piece (33) for clamping the cylindrical battery, the clamping piece (33) is provided with a guide portion (331) at the bottom, and the guide portion (331) is gradually inclined downward away from the central axis of the clamping jaw (3).

6. The full-automatic loading and unloading manipulator for cylindrical batteries according to claim 5, characterized in that, The inner side of the side plate (32) is further provided with a baffle (34), and the baffle (34) is horizontally arranged above the clamping piece (33).

7. The full-automatic loading and unloading manipulator for cylindrical batteries according to claim 1, characterized in that, The centering limiting strip (43) is detachably connected with the first limiting plate (41) through bolts, and the centering limiting strip (43) is detachably connected with the second limiting plate (42) through bolts.

8. The full-automatic loading and unloading manipulator for cylindrical batteries according to claim 1, characterized in that, The sliding plate (2) is provided with a guide hole, the top plate (1) is vertically provided with a guide column (11) matched with the shape of the guide hole, and the guide column (11) is slidably inserted into the guide hole.

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