New energy battery multifunctional gripping apparatus

Abstract

The new energy battery multifunctional gripping apparatus comprises a rack, an adjusting mechanism and a gripping mechanism, the adjusting mechanism comprises a ball screw, a moving frame, a ball spline pair and a separating frame, and the gripping mechanism comprises a first hinge block, a second hinge block, a vertical moving frame, a suction frame and a suction cup. The ball screw is arranged on the rack, so that the two symmetrically-arranged moving frames move in the X-axis direction and can clamp the battery diaphragm, the two separating frames move in the Y-axis direction and can be placed according to the needed interval after clamping the battery diaphragm, and finally the function of boxing without making contact with products is achieved; by means of the suction cups, the polystyrene board can be sucked and then placed in the storage box before and after the grabbing mechanism grabs the battery diaphragm; through the arrangement of the first belt transmission assembly, the second belt transmission assembly, the first guide rail, the first sliding block and the like, the advantages that all parts on the rack are compact in structure, the overall frame is small in size, and the grabbing device is easy to replace are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of battery grippers, in particular to a multifunctional gripper for new energy batteries. Background Art

[0002] New energy batteries are power batteries. Power batteries refer to batteries that provide power for transportation vehicles, generally compared to small batteries that provide energy for portable electronic devices. According to the different battery reaction principles, they can be divided into lead-acid power batteries, nickel-hydrogen power batteries, lithium-ion power batteries, etc. Today, as the world focuses on the development of new energy industries such as electric vehicles and energy storage batteries, lithium batteries, as recognized ideal energy storage components, have received higher attention.

[0003] In the prior art, the packing of new energy batteries after production is mostly done through manual packaging and stacking, which is prone to high labor intensity and low efficiency for workers, and sometimes phenomena such as missing or misplacing may occur.

[0004] It should be noted that the above contents belong to the technical knowledge of the inventor and do not necessarily constitute prior art. Summary of the invention

[0005] Based on this, it is necessary to provide a multifunctional gripper for new energy batteries to address the above technical problems.

[0006] In order to achieve the above object, the present invention provides a new energy battery multifunctional gripper, comprising: The frame includes a drive shaft, the drive shaft is mounted on the top of the frame, and the drive shaft is rotatably mounted on the mechanical arm; The adjusting mechanism comprises a first rotary drive device, a ball screw, a movable frame, a second rotary drive device, a ball spline pair, a gear, a separation frame and a rack, wherein the first rotary drive device is mounted on the frame, the ball screw is rotatably mounted on the frame, two ball screws are symmetrically arranged, the output end of the first rotary drive device is transmission-connected with one of the ball screws, the movable frame is slidably clamped on the frame, the movable frame is connected with the output end of the ball screw, the second rotary drive device is mounted on one of the movable frames, both output ends of the ball spline pair are rotationally mounted on the movable frame, the output end of the second rotary drive device is transmission-connected with the ball spline pair, both output ends of the ball spline pair are installed with gears, both separation frames are slidably clamped on the movable frame, racks are installed on the separation frame, and both racks are meshed with the gears; The gripping mechanism is used to clamp the battery diaphragm and the benzene board, and comprises a first linear actuator, an articulated block 1, an articulated block 2, a vertical movable frame, a second linear actuator, a suction frame, a suction cup and a third linear actuator. The first linear actuator is mounted on the separation frame, the output end of the first linear actuator is hinged with an articulated block 1, the separation frame is hinged with an articulated block 2, the articulated block 1 is hinged with the articulated block 2, the vertical movable frame is slidably connected to the movable frame, the second linear actuator is mounted on the movable frame, the output end of the second linear actuator is connected to the vertical movable frame, the suction frame is slidably connected to the separation frame, the suction frame is mounted with a suction cup, the third linear actuator is mounted on the separation frame, and the output end of the third linear actuator is connected to the suction frame.

[0007] By adopting the above technical solution, the robot arm can drive the frame to move to a suitable position and rotate through the driving shaft. The first rotation driving device in the adjustment mechanism drives the ball screw to rotate, so that the two mobile frames installed at the output ends of the two symmetrically arranged ball screws can move in opposite directions in the X-axis direction, so that the grasping mechanism can clamp and grasp the battery diaphragm from both sides. The second rotation driving device installed on one of the mobile frames can drive the ball spline pair to rotate. The ball spline pair enables the two mobile frames to drive the gears even if they are separated. The gears at both ends of the rotating ball spline pair can drive the racks on the two separation frames to move, so that the same mobile frame The two separation racks on the rack can move in opposite directions in the Y-axis direction, which is convenient for the clamping mechanism to clamp battery separators of different specifications, and to control the different spacing between the suction cups to absorb benzene boards of different lengths; when packing, the mechanical arm controls the rack to move to the appropriate position. After the adjustment mechanism adjusts the appropriate spacing, negative pressure is generated at the suction cups in the grasping mechanism to absorb the benzene board. After absorbing one side, the mechanical arm controls the rotation axis to rotate 180°, and then the two suction cups on the other side of the mobile rack absorb the benzene board. When absorbing, the suction rack limits the benzene board. After the two benzene boards are absorbed, the benzene boards are moved to both sides of the storage box for placement, and then the rack is controlled to move to the battery separator At the film placement place, after the adjustment mechanism adjusts the appropriate interval, the first linear actuator in the grabbing mechanism controls the output end to move downward, so that the hinge block 1 and the hinge block 2 are transformed from the original approximately straight shape to a V shape. The approximately straight shape avoids the V-shaped protrusion turning to the other end, so that the V-shaped protrusion can carry and lift the openings at both ends of the battery diaphragm, and then the control frame adjusts the distance between the two battery diaphragms from the conveyor to the appropriate distance suitable for the benzene board in the storage box, and then places the two battery diaphragms into the storage box. After placement, the battery diaphragms are load-limited by the benzene boards on both sides, and then the third linear controller controls the suction cup on the suction frame to move to the appropriate position, and then continues to absorb the upper benzene board and transport it The batteries are then transported to the storage box, thereby completing the transportation and packing of the batteries. The above packing method is suitable for storage boxes with an even number of batteries loaded in each row. When the number of batteries loaded in each row is odd, the first several even arrays are still loaded in the above method. When the last one is loaded, the second linear actuator controls the vertical movable frame to move downward. After the vertical movable frame moves downward, it cooperates with the first rotary drive device to control the two movable frames to adjust the distance between the two movable frames in the X-axis direction, so that the bottom ends of the two symmetrical vertical movable frames can also be inserted into the openings at both ends of the battery diaphragm for load-bearing and lifting, so that the last odd number of battery diaphragms can be transported to the storage box without the other parts of the grabbing mechanism colliding with the storage box.

[0008] Optionally, the first rotation drive device is connected to one end of one of the ball screws through a belt drive component 1, and the second rotation drive device is connected to one end of the ball spline pair through a belt drive component 2. The first rotation drive device and the second rotation drive device are both located between the two movable frames.

[0009] By adopting the above technical solution, the first rotation driving device and the second rotation driving device can be installed between the two movable frames, thereby reducing the volume of the entire frame and making the structure more compact.

[0010] Optionally, guide rail one is installed on the vertical movable frame, slider one is installed on the movable frame, guide rail one and slider one are slidably engaged with each other, and the second linear actuator is located on the side of the vertical movable frame away from guide rail one; slider two is installed on the separation frame, guide rail two is installed on the suction frame, slider two and guide rail two are slidably engaged with each other, and the third linear actuator is located on the side of the suction frame away from guide rail two.

[0011] By adopting the above technical scheme, the sliding connection between guide rail one and slider one, and slider two and guide rail two realizes that the vertical movable frame can be slidably connected to the movable frame, and the suction frame can be slidably connected to the separation frame, and only the connection between the second linear actuator and the vertical movable frame and the connection between the third linear actuator and the suction frame need to be disconnected, so as to facilitate the replacement of the vertical movable frame and the suction frame; at the same time, guide rail one and the second linear actuator are arranged on both sides of the vertical movable frame, and guide rail two and the third linear actuator are arranged on both sides of the suction frame, so as to further improve the compactness of the entire device and reduce the volume.

[0012] Optionally, guide rail three and guide rail four are installed on the movable rack, and slider three and slider four are installed on the two separation racks respectively, slider three is slidably engaged with guide rail three, and guide rail four is slidably engaged with slider four.

[0013] By adopting the above technical solution, through the sliding engagement between the slider three and the guide rail three, and the sliding engagement between the guide rail four and the slider four, it is achieved that when the racks on the two separation frames are driven by the gears, they can be slidably engaged in opposite directions.

[0014] Optionally, the first linear actuator is equipped with a push rod, the push rod is slidably connected to the separation frame, and the output end of the push rod is hinged to the hinge block.

[0015] By adopting the above technical solution, the output end of the first linear actuator is protected to avoid damage to the output end of the first linear actuator when the hinge block 1 and the hinge block 2 are bent from a nearly straight shape to a V shape, and the volume of the first linear actuator is reduced.

[0016] Optionally, a hook is installed on the vertical movable frame.

[0017] By adopting the above technical solution, the vertical movable frame can be hung and lifted from the openings at both ends of the battery separator through hooks at both ends of the battery separator.

[0018] Optionally, a triangular fixed frame is installed on the movable frame, and the slider 1 and the second linear actuator are both installed on the triangular fixed frame.

[0019] By adopting the above technical solution, the vertical movable frame and the separation frame are placed on the same plane, thereby preventing the vertical movable frame from colliding with the battery separator when the separator clamps the battery separator.

[0020] Optionally, a suction nozzle is installed on the suction frame, and the suction nozzle is connected to the suction cup.

[0021] By adopting the above technical solution, the suction nozzle is connected to an external vacuum pump or a negative pressure pump, so that negative pressure can be generated when the suction cup sucks the benzene board.

[0022] Optionally, a guide rail five is installed on the frame, and a slider five is installed on the movable frame, and the slider five is slidably engaged with the guide rail five.

[0023] By adopting the above technical solution, the sliding engagement between the slider 5 and the guide rail 5 makes the movement of the movable frame on the frame more stable, and the weight of the movable frame is no longer borne by the ball screw.

[0024] Optionally, the number of the slider three and the slider four are both two, and the two racks are respectively mounted on the slider three and the slider four.

[0025] By adopting the above technical solution, the slider three and the slider four are reduced in size, while the rack is installed on the slider three or the slider four and is driven to move stably.

[0026] This technical solution has at least the following beneficial effects: 1. By arranging a ball screw on the frame, the first rotary drive device can drive two symmetrically arranged mobile frames to move in the X-axis direction, so that the two ends of the battery separator can be clamped and fixed, and can adapt to battery separators of different lengths. The second rotary drive device installed on one of the mobile frames drives the two separation frames on the mobile frame to move in the Y-axis direction, so that after clamping the battery separator, it can be placed according to the actual required battery separator spacing requirements, and can clamp battery separators of different diameters, and finally realize the function of packing without contacting the product itself, filling the gap in domestic battery separator packing; 2. By setting the suction rack and the suction cup, the benzene board can be sucked and placed in the storage box before or after the grabbing mechanism grabs the battery separator. Similarly, under the movement and adjustment of the separation rack, the two suction cups on the same mobile rack can be spaced at different intervals, so that benzene boards of different lengths can be sucked and placed in the storage box under the limit of the suction rack; 3. The first rotary drive device and the second rotary drive device are installed on the frame through the belt drive assembly 1 and the belt drive assembly 2, and the arrangement of the guide rail 1 and the slider 1 achieves the advantages of compact structure of each part on the frame, small overall frame volume and easy replacement of the grabbing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of an embodiment of the present invention; Figure 2 A second perspective view of an embodiment of the present invention; Figure 3 A front view of an embodiment of the present invention; Figure 4 A three-dimensional diagram of a grabbing mechanism according to an embodiment of the present invention; Figure 5 A three-dimensional diagram of a vertical movable frame according to an embodiment of the present invention; Figure 6 It is a three-dimensional view of a vertical movable frame in another direction according to an embodiment of the present invention; Figure 7 A three-dimensional diagram of a grabbing mechanism according to an embodiment of the present invention from another direction; Figure 8 For an embodiment of the present invention Figure 7 Enlarged view of point A in the middle; Fig. 9 A three-dimensional diagram of a battery separator according to an embodiment of the present invention; Fig.10 A three-dimensional diagram of a polystyrene board according to an embodiment of the present invention; Fig.11 A partial top view of a frame according to an embodiment of the present invention; In the figure, 1, frame; 11, driving shaft; 2, adjusting mechanism; 21, first rotary driving device; 22, ball screw; 23, moving frame; 24, second rotary driving device; 25, ball spline pair; 26, gear; 27, separation frame; 28, rack; 3, grasping mechanism; 31, first linear actuator; 32, hinge block 1; 33, hinge block 2; 34, vertical moving frame; 35, second linear actuator; 36, suction frame; 37, suction cup; 38 , the third linear actuator; 4, battery diaphragm; 5, benzene board; 601, belt drive component one; 602, belt drive component two; 603, guide rail one; 604, slider one; 605, slider two; 606, guide rail two; 607, guide rail three; 608, guide rail four; 609, slider three; 610, slider four; 611, lower pressure rod; 612, hook; 613, triangular fixing frame; 614, suction nozzle; 615, guide rail five; 616, slider five. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0029] See also Figures 1 to 11 , the embodiment of the present application provides a new energy battery multifunctional gripper, comprising: The frame 1 includes a drive shaft 11, which is mounted on the top of the frame 1 and rotatably mounted on the mechanical arm; The adjusting mechanism 2 includes a first rotary drive device 21, a ball screw 22, a movable frame 23, a second rotary drive device 24, a ball spline pair 25, a gear 26, a separation frame 27 and a rack 28. The first rotary drive device 21 and the second rotary drive device 24 can be servo motors. The first rotary drive device 21 is mounted on the frame 1, and the ball screw 22 is rotatably mounted on the frame 1. There are two ball screws 22 symmetrically arranged. The output end of the first rotary drive device 21 is transmission-connected to one of the ball screws 22. The movable frame 23 is slidably connected to the frame 1, the mobile frame 23 is connected to the output end of the ball screw 22, the second rotation drive device 24 is installed on one of the mobile frames 23, the two output ends of the ball spline pair 25 are rotatably installed on the mobile frame 23, the output end of the second rotation drive device 24 is transmission-connected to the ball spline pair 25, the two output ends of the ball spline pair 25 are installed with gears 26, the two separation frames 27 are slidably connected to the mobile frame 23, the separation frames 27 are installed with racks 28, and the two racks 28 are meshed with the gear 26; The gripping mechanism 3 is used to clamp the battery separator 4 and the benzene board 5. The battery separator 4 is a protective film covering the battery, and includes a first linear actuator 31, a hinge block 1 32, a hinge block 2 33, a vertical moving frame 34, a second linear actuator 35, a suction frame 36, a suction cup 37 and a third linear actuator 38. The first linear actuator 31, the second linear actuator 35 and the third linear actuator 38 can all be electric cylinders, and are connected to the first rotary drive device 21 and the second rotary drive device 24 through a signal processor. The first linear actuator 31 is installed on the separation frame 27. The first linear actuator 31 The output end of the hinge block 32 is hingedly connected to the hinge block 1, the separation frame 27 is hingedly connected to the hinge block 23, the hinge block 1 32 is hinged to the hinge block 2 33, the vertical movable frame 34 is slidably connected to the movable frame 23, the second linear actuator 35 is installed on the movable frame 23, the output end of the second linear actuator 35 is connected to the vertical movable frame 34, the suction frame 36 is slidably connected to the separation frame 27, the suction frame 36 is installed with a suction cup 37, the input end of the suction cup 37 is connected to a vacuum pump or a negative pressure pump, etc., the third linear actuator 38 is installed on the separation frame 27, and the output end of the third linear actuator 38 is connected to the suction frame 36.

[0030] The robot arm can drive the frame 1 to move to a suitable position and rotate through the driving shaft 11. The first rotation driving device 21 in the adjustment mechanism 2 drives the ball screw 22 to rotate, so that the two moving frames 23 installed at the output ends of the two symmetrically arranged ball screws 22 can move in opposite directions in the X-axis direction, so that the grasping mechanism 3 can clamp and grasp the battery diaphragm 4 from both sides. The second rotation driving device 23 installed on one of the moving frames 23 can drive the ball spline pair 25 to rotate. The ball spline pair 25 enables the two moving frames 23 to drive the gear 26 even if they are separated. The gears 26 at both ends of the rotating ball spline pair 25 can drive the racks 28 on the two separation frames 27 to move, so that the same moving frame 23 can be moved. The two separation racks 27 on the rack 23 can move in opposite directions in the Y-axis direction, so that the clamping mechanism 3 can clamp battery separators 4 of different specifications, and control the different spacings between the suction cups 37 to absorb benzene boards 5 of different lengths; when packing, the mechanical arm controls the rack 1 to move to the appropriate position, and after the adjustment mechanism 2 adjusts the appropriate spacing, negative pressure is generated at the suction cups 37 in the grasping mechanism 3 to absorb the benzene board 5. After absorbing one side, the mechanical arm controls the rotating shaft 11 to rotate 180180°, and then the two suction cups 37 on the other side of the moving rack 23 absorb the benzene board 5. During absorption, the absorption rack 36 limits the benzene board 5. After the two benzene boards 5 are absorbed, the benzene boards 5 are moved to both sides of the storage box for placement, and then the rack is controlled again. 1 moves to the placement of the battery diaphragm 4. After the adjustment mechanism 2 adjusts the appropriate interval, the first linear actuator 31 in the grasping mechanism 3 controls the output end to move downward, so that the hinge block 1 32 and the hinge block 2 33 are transformed from the original approximately straight shape to a V shape. The approximately straight shape avoids the V-shaped protrusion turning to the other end, so that the V-shaped protrusion can carry and lift the openings at both ends of the battery diaphragm 4. Then, the control frame 1 adjusts the spacing between the two battery diaphragms 4 from the conveyor to the appropriate spacing adapted to the benzene board 5 in the storage box, and then places the two battery diaphragms 4 into the storage box. After placement, the battery diaphragms 4 are load-limited by the benzene boards 5 on both sides. Then, the third linear controller 31 controls the suction cup 37 on the suction frame 36 to move to a suitable position, and then continues to absorb the upper The benzene board 5 is transported to the storage box, thereby completing the transportation and packing of the batteries; the above-mentioned packing method is suitable for the storage box when the number of loads in each row is an even number. When the number of loads in each row is an odd number, the front several even arrays are still loaded in the above-mentioned manner. When loading the last one, the second linear actuator 35 controls the vertical movable frame 34 to move downward. After the vertical movable frame 34 moves downward, it cooperates with the first rotary drive device 21 to control the two movable frames 23 to adjust the distance between the two movable frames 23 in the X-axis direction, so that the bottom ends of the two symmetrical vertical movable frames 34 can also be inserted into the openings at both ends of the battery diaphragm 4 for load-bearing and lifting, so that the last odd number of battery diaphragms 4 can be transported to the storage box without the other parts of the grasping mechanism 3 colliding with the storage box.

[0031] In one embodiment, see Figure 2 and Figure 3 The first rotation drive device 21 is connected to one end of one of the ball screws 22 through a belt transmission component 1 601, and the second rotation drive device 24 is connected to one end of the ball spline pair 25 through a belt transmission component 2 602. The first rotation drive device 21 and the second rotation drive device 24 are both located between the two movable frames 23.

[0032] By adopting the above technical solution, the first rotary drive device 21 and the second rotary drive device 24 can be installed between the two movable frames 23, thereby reducing the volume of the entire frame 1 and making the structure more compact.

[0033] In one embodiment, see Figure 6 and Figure 7 A guide rail 603 is installed on the vertical movable frame 34, a slider 604 is installed on the movable frame 23, the guide rail 603 and the slider 604 are slidably engaged, and the second linear actuator 35 is located on the side of the vertical movable frame 34 away from the guide rail 603; a slider 605 is installed on the separation frame 27, a guide rail 606 is installed on the suction frame 36, the slider 605 and the guide rail 606 are slidably engaged, and the third linear actuator 38 is located on the side of the suction frame 36 away from the guide rail 606.

[0034] By adopting the above technical scheme, the sliding connection between guide rail 1 603 and slider 1 604, and slider 2 605 and guide rail 2 606 can realize that the vertical movable frame 34 can be slidably connected to the movable frame 23, and the suction frame 36 can be slidably connected to the separation frame 27, and only the connection between the second linear actuator 35 and the vertical movable frame 34 and the connection between the third linear actuator 38 and the suction frame 36 need to be disconnected, so as to facilitate the replacement of the vertical movable frame 34 and the suction frame 36; at the same time, guide rail 1 603 and the second linear actuator 35 are arranged on both sides of the vertical movable frame 34, and guide rail 2 606 and the third linear actuator 38 are arranged on both sides of the suction frame 6, which further improves the compactness of the entire device and reduces the volume.

[0035] In one embodiment, see Figure 7 The movable frame 23 is provided with a guide rail three 607 and a guide rail four 608, and the two separation frames 27 are provided with a slider three 609 and a slider four 610 respectively. The slider three 609 is slidably engaged with the guide rail three 607, and the guide rail four 608 is slidably engaged with the slider four 610.

[0036] By adopting the above technical solution, through the sliding engagement between the slider three 609 and the guide rail three 607, and the sliding engagement between the guide rail four 608 and the slider four 610, it is achieved that when the racks 28 on the two separation frames 27 are driven by the gear 26, they can be slidably engaged in opposite directions.

[0037] In one embodiment, the first linear actuator 31 is equipped with a push rod 611 , which is slidably engaged with the separation frame 27 , and the output end of the push rod 611 is hinged to the hinge block 1 32 .

[0038] By adopting the above technical solution, the output end of the first linear actuator 31 is protected to avoid damage to the output end of the first linear actuator 31 when the hinge block 1 32 and the hinge block 2 33 are bent from an approximately straight shape to a V shape, and the volume of the first linear actuator 31 is reduced.

[0039] In one embodiment, a hook 612 is installed on the vertical movable frame 34 .

[0040] By adopting the above technical solution, the vertical movable frame 34 can be hung and lifted from the openings at both ends of the battery separator 4 through the hooks 612 .

[0041] In one embodiment, see Figure 6 and Figure 7 A triangular fixed frame 613 is installed on the moving frame 23 , and the slider 604 and the second linear actuator 35 are both installed on the triangular fixed frame 613 .

[0042] By adopting the above technical solution, the vertical movable frame 34 and the separation frame 27 are placed on the same plane, so as to avoid the vertical movable frame 34 from colliding with the battery separator 4 when the separator 27 clamps the battery separator 4.

[0043] In one embodiment, a suction nozzle 614 is installed on the suction frame 36 , and the suction nozzle 614 is connected to the suction cup 37 .

[0044] By adopting the above technical solution, the suction nozzle 614 is connected to an external vacuum pump or a negative pressure pump, so that negative pressure can be generated when the suction cup 37 sucks the benzene board 5.

[0045] In one embodiment, a guide rail 5 615 is installed on the frame 1, and a slider 5 616 is installed on the movable frame 23, and the slider 5 616 is slidably engaged with the guide rail 5 615.

[0046] By adopting the above technical solution, through the sliding engagement between the slider five 616 and the guide rail five 615 , the movement of the movable frame 23 on the frame 1 is made more stable, and the weight of the movable frame 23 is no longer borne by the ball screw 22 .

[0047] In one embodiment, the number of slider three 609 and the number of slider four 610 are both two, and the two racks 28 are respectively mounted on the slider three 609 and the slider four 610.

[0048] By adopting the above technical solution, the slider three 609 and the slider four 610 are reduced, while the rack 28 is installed on the slider three 609 or the slider four 610 and is driven to move stably.

[0049] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A multifunctional gripper for new energy batteries, characterized in that: include: The frame (1) comprises a drive shaft (11), wherein the drive shaft (11) is mounted on the top of the frame (1), and the drive shaft (11) is rotatably mounted on the mechanical arm; The adjusting mechanism (2) comprises a first rotary drive device (21), a ball screw (22), a movable frame (23), a second rotary drive device (24), a ball spline pair (25), a gear (26), a separation frame (27) and a rack (28), wherein the first rotary drive device (21) is mounted on a frame (1), the ball screw (22) is rotatably mounted on the frame (1), two ball screws (22) are symmetrically arranged, an output end of the first rotary drive device (21) is drivingly connected to one of the ball screws (22), and the movable frame (23) is slidably engaged with the frame (1). The moving frame (23) is connected to the output end of the ball screw (22), the second rotation drive device (24) is mounted on one of the moving frames (23), both output ends of the ball spline pair (25) are rotatably mounted on the moving frame (23), the output end of the second rotation drive device (24) is transmission-connected to the ball spline pair (25), both output ends of the ball spline pair (25) are mounted with gears (26), the two separation frames (27) are slidably connected to the moving frame (23), racks (28) are mounted on the separation frames (27), and the two racks (28) are meshingly connected with the gears (26); The gripping mechanism (3) is used to clamp the battery separator (4) and the benzene plate (5), comprising a first linear actuator (31), a hinge block 1 (32), a hinge block 2 (33), a vertical moving frame (34), a second linear actuator (35), a suction frame (36), a suction cup (37) and a third linear actuator (38), wherein the first linear actuator (31) is mounted on the separation frame (27), the output end of the first linear actuator (31) is hingedly connected to the hinge block 1 (32), the separation frame (27) is hingedly connected to the hinge block 2 (33), and the hinge block 2 (34) is hingedly connected to the separation frame (27). The first connecting block (32) is hinged to the second hinge block (33); the vertical movable frame (34) is slidably connected to the movable frame (23); the second linear actuator (35) is mounted on the movable frame (23); the output end of the second linear actuator (35) is connected to the vertical movable frame (34); the suction frame (36) is slidably connected to the separation frame (27); a suction cup (37) is mounted on the suction frame (36); the third linear actuator (38) is mounted on the separation frame (27); the output end of the third linear actuator (38) is connected to the suction frame (36).

2. The multifunctional gripper for new energy batteries according to claim 1, characterized in that: The first rotary drive device (21) is connected to one end of one of the ball screws (22) via a belt drive assembly (601), and the second rotary drive device (24) is connected to one end of the ball spline pair (25) via a belt drive assembly (602). The first rotary drive device (21) and the second rotary drive device (24) are both located between the two movable frames (23).

3. The multifunctional gripper for new energy batteries according to claim 1 is characterized in that: The vertical movable frame (34) is provided with a guide rail 1 (603), the movable frame (23) is provided with a slider 1 (604), the guide rail 1 (603) and the slider 1 (604) are slidably engaged, and the second linear actuator (35) is located on the vertical movable frame (34) at a side away from the guide rail 1 (603); the separation frame (27) is provided with a slider 2 (605), the suction frame (36) is provided with a guide rail 2 (606), the slider 2 (605) and the guide rail 2 (606) are slidably engaged, and the third linear actuator (38) is located on the suction frame (36) at a side away from the guide rail 2 (606).

4. The multifunctional gripper for new energy batteries according to claim 1, characterized in that: The movable frame (23) is provided with a guide rail three (607) and a guide rail four (608), and the two separation frames (27) are provided with a slider three (609) and a slider four (610) respectively. The slider three (609) is slidably engaged with the guide rail three (607), and the guide rail four (608) is slidably engaged with the slider four (610).

5. The multifunctional gripper for new energy batteries according to claim 1, characterized in that: The first linear actuator (31) is provided with a push rod (611), the push rod (611) is slidably engaged on the separation frame (27), and the output end of the push rod (611) is hinged to the hinge block 1 (32).

6. The multifunctional gripper for new energy batteries according to claim 1, characterized in that: A hook (612) is installed on the vertical movable frame (34).

7. The multifunctional gripper for new energy batteries according to claim 3 is characterized in that: A triangular fixed frame (613) is mounted on the movable frame (23), and the first slider (604) and the second linear actuator (35) are both mounted on the triangular fixed frame (613).

8. The multifunctional gripper for new energy batteries according to claim 1, characterized in that: An air suction nozzle (614) is installed on the suction frame (36), and the air suction nozzle (614) is connected to the suction cup (37).

9. The multifunctional gripper for new energy batteries according to claim 1, characterized in that: A guide rail five (615) is installed on the frame (1), and a slide block five (616) is installed on the movable frame (23). The slide block five (616) is slidably engaged with the guide rail five (615).

10. The multifunctional gripper for new energy batteries according to claim 4, characterized in that: The number of the slider three (609) and the slider four (610) is two, and the two racks (28) are respectively mounted on the slider three (609) and the slider four (610).

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