Manipulator for taking and discharging electric core

Abstract

The invention relates to the field of manipulator equipment, in particular to a manipulator for taking and discharging a core, which comprises a fixing frame, a mechanical arm is slidably mounted on the fixing frame along the vertical direction, mounting boxes are integrally formed at the left end and the right end of the mechanical arm, one ends, close to each other, of the two mounting boxes are open, and adjusting plates are rotatably mounted in the mounting boxes. A first clamp and a second clamp are respectively mounted on two front and back opposite side walls of the adjusting plate, the first clamp is used for grabbing a square battery cell, and the second clamp is used for grabbing a round battery cell. According to the mechanical arm, the clamp on the mechanical arm is optimized, so that the mechanical arm can grab a round battery cell and can grab a square battery cell, and when the round battery cell and the square battery cell are fed at the same time, the clamp on the mechanical arm does not need to be replaced repeatedly; therefore, the whole process of taking and placing the battery cell is simplified, and the efficiency of taking and placing the battery cell is improved.

Description

Technical Field

[0001] The present application relates to the field of robot equipment, and in particular to a robot for removing a discharge core. Background Art

[0002] With the progress of society and the development of science and technology, the development of new energy technology is also becoming more and more rapid, especially the development of new energy vehicles, which has changed from theoretical possibility to real existence. The new energy battery module is one of the most important components in new energy vehicles, and the battery cell is an indispensable part of the battery module.

[0003] In the related art, in the existing battery module assembly production process, when the battery cells are fed, the battery cells are generally taken from the feeding place to the assembly line manually. This traditional method is not only time-consuming and labor-intensive, but also increases labor costs, and has low efficiency and is difficult to meet usage requirements. In order to effectively improve the efficiency of taking and placing during the battery cell feeding process, many manufacturers currently use a robot to take and place the battery cells.

[0004] There are two most common forms of battery cells: round battery cells and square battery cells. However, current manipulators can only carry one type of clamp, which cannot meet the requirements of grabbing both round and square battery cells. When the clamp on the manipulator faces a battery cell that is not suitable for it, the clamp on the manipulator can only be replaced. This means that when round and square battery cells are fed at the same time, the clamp on the manipulator needs to be replaced repeatedly, which makes the entire process of picking and placing the battery cells extremely cumbersome and inefficient, which is not conducive to the simultaneous feeding of round and square battery cells. Summary of the invention

[0005] The present application provides a robot for removing battery cells. The purpose is to optimize the clamps on the robot so that the robot can meet the requirements of grabbing both round battery cells and square battery cells. Therefore, when round battery cells and square battery cells are fed at the same time, there is no need to repeatedly replace the clamps on the robot, which is conducive to simplifying the entire process of removing and placing the battery cells and improving the efficiency of removing and placing the battery cells.

[0006] The present application provides a manipulator for removing a discharge core, which adopts the following technical solution:

[0007] A robot for removing and discharging a battery cell comprises a fixed frame, on which a robot arm is slidably mounted in a vertical direction, both left and right ends of the robot arm are integrally formed with mounting boxes, the ends of the two mounting boxes close to each other are open, an adjustment plate is rotatably mounted inside the mounting box, and front and rear opposite side walls of the adjustment plate are respectively mounted with a first clamp and a second clamp, the first clamp is used to grab a square battery cell, and the second clamp is used to grab a round battery cell.

[0008] By adopting the above technical solution, when it is necessary to grab a square battery cell, the adjustment plate is rotated in the installation box so that the first clamp faces the opening of the installation box, and the square battery cell is then grabbed by the two first clamps; when it is necessary to grab a round battery cell, the adjustment plate is rotated in the installation box so that the second clamp faces the opening of the installation box, and the round battery cell is then grabbed by the two second clamps.

[0009] This arrangement, by adding a first clamp and a second clamp at the end of the robot arm, enables the robot arm to satisfy the requirements of grabbing both round battery cells and square battery cells. Therefore, when round battery cells and square battery cells are fed at the same time, there is no need to repeatedly replace the clamps on the robot arm, which is beneficial to simplify the entire process of taking and placing the battery cells and improve the efficiency of taking and placing the battery cells.

[0010] Preferably, a first motor is installed on the top of the fixed frame, the driving end of the first motor is vertically downward, a screw is installed at the driving end of the first motor in the vertical direction, and the side wall of the robotic arm is integrally connected with a lifting seat, and the lifting seat is threadedly sleeved on the circumference of the screw.

[0011] By adopting the above technical solution, when the height of the robotic arm needs to be adjusted, the first motor is turned on, and while the first motor drives the screw rod to rotate, the lifting seat slides in the vertical direction, and then the lifting seat drives the robotic arm to slide in the vertical direction.

[0012] Preferably, a second motor is provided in the installation box, the driving end of the second motor is vertically upward, a first rotating shaft is vertically installed at the driving end of the second motor, and one end of the first rotating shaft away from the second motor is integrally connected to the bottom of the adjustment plate.

[0013] By adopting the above technical solution, the second motor and the first rotating shaft are used to realize the rotation of the adjustment plate in the installation box.

[0014] Preferably, an adjustment mechanism is provided on the adjustment plate, the adjustment mechanism includes a first adjustment component and a second adjustment component, a driving gear is rotatably mounted on the top of the adjustment plate, the first adjustment component and the second adjustment component are distributed to the left and right sides of the driving gear, and the driving gear is used to drive the first adjustment component to adjust the size of the first clamp, and the second adjustment component to adjust the size of the second clamp;

[0015] Two support plates are fixed on the top of the adjustment plate in the horizontal direction, and the two support plates are spaced apart on the top of the adjustment plate. A second rotating shaft is installed between the two support plates in the horizontal direction, and the driving gear is sleeved on the second rotating shaft. A first knob is rotatably installed on the side wall of the support plate, and one end of the second rotating shaft is connected to the first knob. Half of the circumference of the driving gear is tooth-shaped, and the other half is smooth.

[0016] By adopting the above-mentioned technical solution, the shape and size of the first clamp and the second clamp are adjusted by using an adjustment mechanism, so that the first clamp and the second clamp can adapt to battery cells of different specifications and models, which is beneficial to improve the overall adaptability of the robotic arm. When faced with battery cells of different specifications and models, there is no need to replace the first clamp or the second clamp, which further improves the efficiency of the robotic arm in grasping the battery cells.

[0017] Preferably, the first adjustment assembly includes a first rack, a first adapter plate, a first driving block and two connecting plates, the first rack is mounted on the top of the adjustment plate in the horizontal direction, the first rack is meshed and connected with the driving gear, the first adapter plate is mounted on the adjustment plate in the vertical direction, the side wall of the first adapter plate is integrally connected with the first rack, the side of the first adapter plate away from the first rack is integrally connected with the first driving block, the left and right ends of the first driving block are wedge-shaped, the two connecting plates are distributed to the left and right ends of the first driving block, and the two connecting plates are wedge-matched with the left and right ends of the first driving block respectively;

[0018] One end of the connecting plate is in a wedge shape and is wedge-matched with one end of the corresponding first driving block, and the other end of the connecting plate is integrally connected to the first clamp.

[0019] The first clamp is composed of two "L"-shaped clamping plates, and one end of the two connecting plates away from the first driving block is respectively connected to the two clamping plates in one piece.

[0020] By adopting the above technical solution, when adjusting the size of the first clamp, the first knob is turned to drive the driving gear to rotate, and in this state, the teeth on the driving gear face downward. The driving gear meshes with the first rack during the rotation process, and the driving gear drives the first rack to slide on the adjustment plate in a direction close to or away from the first clamp.

[0021] When the first rack slides toward the direction close to the first clamp, the first rack synchronously drives the first adapter plate and the first drive block to slide toward the direction close to the first clamp. When the first drive block slides toward the direction close to the first clamp, the left and right ends of the first drive block respectively cooperate with the two connecting blocks in a wedge shape. At this time, the two connecting plates slide toward the directions away from each other, and then drive the two clamping plates of the first clamp to slide toward the directions away from each other through the two connecting plates. At this time, the size of the first clamp becomes larger, and it can clamp and grasp larger square battery cells.

[0022] On the contrary, when the first rack slides in a direction away from the first clamp, the size of the first clamp becomes smaller, so that smaller square battery cells can be clamped and grasped.

[0023] Preferably, a support box is fixed on the top of the adjustment plate, the ends of the two support plates are fixed to the outer wall of the support box, a fixing box is provided inside the support box, the two connecting plates are located inside the fixing box, and a first return spring is installed between the inner wall of the fixing box and the sides of the two connecting plates away from each other in the horizontal direction;

[0024] A receiving plate is sleeved between the two connecting plates, and the receiving plate is arranged at the end of the fixing box. The left and right sides of the receiving plate are provided with sliding grooves for the two connecting plates to slide. The two connecting plates slide in the two sliding grooves respectively, and a second return spring is installed between the side wall of the first driving block and the receiving plate.

[0025] By adopting the above technical solution, the first return spring can stably support the connecting plate and assist the connecting plate to be effectively returned, and the second return spring can stably support the first driving block and assist the first driving block to be effectively returned.

[0026] Preferably, the second adjustment assembly includes a second rack, a second adapter plate, a second driving block and two driving plates, the second rack is horizontally arranged, the second rack is located above the first rack, the second rack is meshed and connected with the driving gear, the second adapter plate is mounted on the adjustment plate in a vertical direction, the side wall of the second adapter plate is integrally connected with the second rack, the side of the second adapter plate away from the second rack is integrally connected with the second driving block, the left and right ends of the second driving block are wedge-shaped, the two driving plates are distributed to the left and right ends of the second driving block, and the two driving plates are wedge-matched with the left and right ends of the second driving block respectively;

[0027] The driving plate includes a first plate body and a second plate body, the first plate body is hollow inside, the second plate body extends into the first plate body, one end of the first plate body away from the second plate body is wedge-shaped and wedge-matched with one end of the second driving block, one end of the second plate body extends into the first plate body, and the other end of the second plate body abuts against the second clamp, a driving spring is installed in the first plate body, one end of the driving spring is connected to the inner wall of the first plate body, and the other end of the driving spring is integrally connected to the second plate body, and the driving spring is used to drive the second plate body to extend and retract in the first plate body;

[0028] The second clamp is in a curved arc shape as a whole, and the two driving plates are used to adjust the curvature of the second clamp.

[0029] By adopting the above technical solution, when adjusting the curvature of the second clamp, the first knob is turned to drive the driving gear to rotate, and in this state, the teeth on the driving gear face upward. The driving gear meshes with the second rack during the rotation process, and the driving gear drives the second rack to slide in the direction of approaching or moving away from the second clamp.

[0030] When the second rack slides toward the direction approaching the second clamp, the second rack synchronously drives the second adapter plate and the second drive block to slide toward the direction approaching the second clamp. When the second drive block slides toward the direction approaching the second clamp, the left and right ends of the second drive block respectively cooperate with the two first plate bodies in a wedge shape. At this time, the two first plate bodies slide toward the direction away from each other, and then drive the corresponding two second plate bodies to slide toward the direction away from each other through the two first plate bodies.

[0031] Since the second clamp is in an arc shape, when the two second plates slide away from each other, the two second plates slide toward the two ends of the second clamp. In this process, since the second clamp is in an arc shape, when the second plate slides toward the end of the second clamp, the driving spring gradually releases the elastic force. In this process, the driving spring pushes the second plate to slide away from the first plate. When the second plate slides away from the first plate, the second clamp is pressed down, and the second clamp is adjusted by the second plate pressing down on the second clamp. In this process, the curvature of the second clamp becomes larger, so that the battery cell with a smaller diameter can be grasped.

[0032] On the contrary, when the second rack slides in a direction away from the second clamp, the curvature of the second clamp becomes smaller, so that the battery cell with a larger diameter can be grasped.

[0033] Preferably, a tightening mechanism is provided at the opening of the installation box, and the tightening mechanism is used to tighten the first clamp or the second clamp onto the corresponding battery core.

[0034] By adopting the above technical solution, the first clamp or the second clamp is pressed against the corresponding battery cell by using the pressing mechanism, which is beneficial to improve the stability of the first clamp or the second clamp in grasping the corresponding battery cell.

[0035] Preferably, the tightening mechanism comprises a second knob, a third rotating shaft, a driving gear, a first driven gear, a second driven gear, a third rack and a slide rail;

[0036] The second knob is rotatably mounted on the outer wall of the mounting box, the third rotating shaft is located in the mounting box, the third rotating shaft is horizontally arranged, one end of the third rotating shaft is integrally connected with the second knob, the other end of the third rotating shaft is integrally connected with the driving gear, the driving gear and the first driven gear are both vertically arranged, and the driving gear and the first driven gear are meshed and connected, the slide rail is fixed on the inner wall of the mounting box in a horizontal direction, the third rack is slidably mounted on the slide rail in a horizontal direction, the second driven gear is meshed and mounted on the top of the third rack, and the second driven gear and the first driven gear are connected through corresponding rotating rods.

[0037] By adopting the above technical solution, when the first clamp or the second clamp is used, after the first clamp or the second clamp grabs the corresponding battery cell, the second knob is turned, and the third rotating shaft is driven to rotate synchronously by the second knob. The third rotating shaft drives the driving gear to rotate, and then the first driven gear and the second driven gear are driven to rotate through the driving gear. During the rotation of the second driven gear, it meshes with the third rack, and then the third rack is driven by the second driven gear to slide horizontally on the slide rail until the third rack presses the first clamp or the second clamp onto the corresponding battery cell, thereby effectively ensuring the stability of the first clamp or the second clamp grabbing the corresponding battery cell.

[0038] In summary, the present application includes at least one of the following beneficial technical effects:

[0039] 1. When it is necessary to grab a square battery cell, the adjustment plate is rotated in the installation box so that the first clamp faces the opening of the installation box, and the square battery cell is grabbed by the two first clamps; when it is necessary to grab a round battery cell, the adjustment plate is rotated in the installation box so that the second clamp faces the opening of the installation box, and the round battery cell is grabbed by the two second clamps.

[0040] This arrangement mode, by adding a first clamp and a second clamp at the end of the robot arm, enables the robot arm to meet the requirements of grabbing both round battery cells and square battery cells, and thus, when round battery cells and square battery cells are fed at the same time, there is no need to repeatedly replace the clamps on the robot arm, which is conducive to simplifying the entire process of taking and placing the battery cells and improving the efficiency of taking and placing the battery cells;

[0041] 2. The shape and size of the first clamp and the second clamp are adjusted by the adjustment mechanism, so that the first clamp and the second clamp can adapt to different specifications and models of battery cells, which is conducive to improving the overall adaptability of the robot arm. When facing different specifications and models of battery cells, there is no need to replace the first clamp or the second clamp, which further improves the efficiency of the robot arm in grabbing the battery cells;

[0042] 3. After the first clamp or the second clamp grabs the corresponding battery cell, turn the second knob, and use the second knob to synchronously drive the third rotating shaft to rotate. The third rotating shaft drives the driving gear to rotate, and then drives the first driven gear and the second driven gear to rotate through the driving gear. During the rotation of the second driven gear, it meshes with the third rack, and then drives the third rack to slide horizontally on the slide rail through the second driven gear until the third rack presses the first clamp or the second clamp onto the corresponding battery cell, thereby effectively ensuring the stability of the first clamp or the second clamp in grabbing the corresponding battery cell. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application;

[0044] Figure 2 It is a structural schematic diagram of the embodiment of the present application specifically showing the positional relationship of the adjustment plate, the first clamp, the second clamp, the second motor, the first rotating shaft, the driving gear, the support plate, the second rotating shaft, the first rack, the second rack and the support box;

[0045] Figure 3 It is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship between the first adapter plate, the second adapter plate, the fixing box and the receiving plate;

[0046] Figure 4 is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship between the first return spring, the second return spring, the first drive block, the connecting plate, the second drive block and the drive plate;

[0047] Figure 5 is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship between the first plate body, the second plate body and the driving spring;

[0048] Figure 6 yes Figure 1 A magnified schematic diagram of center A.

[0049] Figure numerals: 1, fixed frame; 2, mechanical arm; 3, mounting box; 4, adjustment plate; 5, first fixture; 6, second fixture; 7, first motor; 8, lead screw; 9, lifting seat; 10, second motor; 11, first rotating shaft; 12, driving gear; 13, support plate; 14, second rotating shaft; 15, first knob; 16, first rack; 17, first adapter plate; 18, first driving block; 19, connecting plate; 20, support box; 21, fixed Fixed box; 22, first return spring; 23, receiving plate; 24, slide groove; 25, second return spring; 26, second rack; 27, second adapter plate; 28, second drive block; 29, drive plate; 291, first plate body; 292, second plate body; 30, drive spring; 31, second knob; 32, third rotating shaft; 33, driving gear; 34, first driven gear; 35, second driven gear; 36, third rack; 37, slide rail. DETAILED DESCRIPTION

[0050] The following is combined with Figure 1 -Attached Figure 6 , further details of this application are given.

[0051] Example:

[0052] The present application embodiment discloses a manipulator for removing a discharge core, referring to Figure 1 and Figure 2 , including a fixing frame 1, the fixing frame 1 is a square frame structure as a whole, a mechanical arm 2 is slidably installed on the fixing frame 1 in the vertical direction, and installation boxes 3 are integrally formed at both ends of the mechanical arm 2. The interior of the installation box 3 is hollow, and the ends of the two installation boxes 3 that are close to each other are open. An adjustment plate 4 is rotatably installed inside the installation box 3, and the adjustment plate 4 is arranged in the horizontal direction and can be rotated in the horizontal direction. A first clamp 5 and a second clamp 6 are respectively installed on the left and right sides of the adjustment plate 4. The first clamp 5 is used to grab the square battery cell, and the second clamp 6 is used to grab the round battery cell.

[0053] When it is necessary to grab the square battery cell, the adjustment plate 4 is rotated in the installation box 3 so that the first clamp 5 faces the opening of the installation box 3, and the square battery cell is then grabbed by the two first clamps 5; when it is necessary to grab the round battery cell, the adjustment plate 4 is rotated in the installation box 3 so that the second clamp 6 faces the opening of the installation box 3, and the round battery cell is then grabbed by the two second clamps 6.

[0054] This arrangement, by adding a first clamp 5 and a second clamp 6 to the end of the robot arm 2, enables the robot arm 2 to satisfy the requirements of both grasping round battery cells and grasping square battery cells. Therefore, when round battery cells and square battery cells are fed at the same time, there is no need to repeatedly replace the clamps on the robot arm 2, which is beneficial to simplify the entire process of taking and placing the battery cells and improve the efficiency of taking and placing the battery cells.

[0055] Specifically, during assembly, when the first clamp 5 or the second clamp 6 rotates to the opening of the mounting box 3, the ends of the first clamp 5 or the second clamp 6 extend out of the mounting box 3. The purpose of this is to effectively avoid the first clamp 5 or the second clamp 6 from causing certain interference to the first clamp 5 or the second clamp 6 when grasping the battery cell, thereby effectively ensuring that the first clamp 5 or the second clamp 6 can smoothly grasp the corresponding battery cell.

[0056] Specifically, refer to Figure 1 and Figure 2 A first motor 7 is installed on the top of the fixed frame 1, and the driving end of the first motor 7 is vertically downward. A screw 8 is installed at the driving end of the first motor 7 in the vertical direction. A lifting seat 9 is integrally connected to the back of the robot arm 2, and the lifting seat 9 is threadedly sleeved on the side of the screw 8. When the height of the robot arm 2 needs to be adjusted, the first motor 7 is turned on, and while the screw 8 is driven to rotate by the first motor 7, the lifting seat 9 slides in the vertical direction, and then the lifting seat 9 drives the robot arm 2 to slide in the vertical direction. At the same time, guide rods are installed between the left and right ends of the lifting seat 9 and the top of the fixed frame 1 in the vertical direction. The guide rods are used to guide the sliding of the lifting seat 9, which is conducive to improving the stability of the sliding of the lifting seat 9 in the vertical direction.

[0057] Specifically, refer to Figure 1 and Figure 2 The second motor 10 is fastened in the installation box 3 by fastening bolts, the driving end of the second motor 10 is vertically upward, a first rotating shaft 11 is installed at the driving end of the second motor 10 in the vertical direction, and one end of the first rotating shaft 11 away from the second motor 10 is integrally connected to the bottom of the adjustment plate 4. The second motor 10 and the first rotating shaft 11 are used to realize the rotation of the adjustment plate 4 in the installation box 3.

[0058] Furthermore, an adjustment mechanism is provided on the adjustment plate 4, and the adjustment mechanism is used to adjust the shape and size of the first clamp 5 and the second clamp 6, so that the first clamp 5 and the second clamp 6 can adapt to battery cells of different specifications and models, which is beneficial to improve the overall adaptability of the robot arm 2. When facing battery cells of different specifications and models, there is no need to replace the first clamp 5 or the second clamp 6, which further improves the efficiency of the robot arm 2 in grasping the battery cells.

[0059] Specifically, refer to Figure 1 and Figure 2 The adjustment mechanism includes a first adjustment component and a second adjustment component, and a driving gear 12 is rotatably installed on the top of the adjustment plate 4, and the first adjustment component and the second adjustment component are distributed to the left and right sides of the driving gear 12. The driving gear 12 is used to drive the first adjustment component to adjust the size of the first clamp 5, and the second adjustment component to adjust the size of the second clamp 6.

[0060] Specifically, refer to Figure 1 and Figure 2 Two support plates 13 are welded horizontally on the top of the adjustment plate 4. The two support plates 13 are spaced apart on the top of the adjustment plate 4. A second rotating shaft 14 is installed horizontally between the two support plates 13. The driving gear 12 is sleeved on the second rotating shaft 14. At the same time, a first knob 15 is installed on the side wall of one of the support plates 13. One end of the second rotating shaft 14 is connected to the first knob 15. By rotating the first knob 15, the second rotating shaft 14 and the driving gear 12 are driven to rotate in the installation box 3.

[0061] One half of the circumference of the driving gear 12 is toothed, and the other half is smooth.

[0062] Reference Figure 2 , Figure 3 as well as Figure 4 The first adjustment assembly includes a first rack 16, a first adapter plate 17, a first driving block 18 and two connecting plates 19. The first rack 16 is mounted on the top of the adjustment plate 4 in the horizontal direction, and the first rack 16 is meshed and connected with the driving gear 12. The first adapter plate 17 is mounted on the adjustment plate 4 in the vertical direction, and the side wall of the first adapter plate 17 is integrally connected with the first rack 16. The side of the first adapter plate 17 away from the first rack 16 is integrally connected with the first driving block 18. The left and right ends of the first driving block 18 are wedge-shaped. The two connecting plates 19 are distributed to the left and right ends of the first driving block 18, and the two connecting plates 19 are wedge-matched with the left and right ends of the first driving block 18 respectively. One end of the connecting plate 19 is wedge-shaped and wedge-matched with one end of the corresponding first driving block 18, and the other end of the connecting plate 19 is integrally connected with the first clamp 5.

[0063] The first clamp 5 is composed of two “L”-shaped clamping plates, and the ends of the two connecting plates 19 away from the first driving block 18 are respectively connected to the two clamping plates in one piece.

[0064] Specifically, when adjusting the size of the first clamp 5, the staff reaches into the installation box 3 to rotate the first knob 15 to drive the driving gear 12 to rotate. In this state, the teeth on the driving gear 12 face downward. The driving gear 12 meshes with the first rack 16 during the rotation process, and the driving gear 12 drives the first rack 16 to slide on the adjustment plate 4 in a direction close to or away from the first clamp 5.

[0065] When the first rack 16 slides toward the direction approaching the first clamp 5, the first rack 16 synchronously drives the first adapter plate 17 and the first drive block 18 to slide toward the direction approaching the first clamp 5. When the first drive block 18 slides toward the direction approaching the first clamp 5, the left and right ends of the first drive block 18 respectively cooperate with the two connecting blocks in a wedge shape. At this time, the two connecting plates 19 slide toward the directions away from each other, and then the two clamping plates of the first clamp 5 are driven to slide toward the directions away from each other through the two connecting plates 19. At this time, the size of the first clamp 5 becomes larger, and it can clamp and grasp larger square battery cells.

[0066] On the contrary, when the first rack 16 slides in a direction away from the first clamp 5 , the size of the first clamp 5 becomes smaller, so that smaller square cells can be clamped and grasped.

[0067] Further, refer to Figure 2 , Figure 3 as well as Figure 4 , support boxes 20 are welded to the left and right ends of the top of the adjustment plate 4, and the ends of the two support plates 13 are respectively welded to the outer wall between the two support boxes 20. A fixing box 21 is welded inside the support box 20, and the two connecting plates 19 are located inside the fixing box 21, and a first return spring 22 is installed horizontally between the inner wall of the fixing box 21 and the side of the two connecting plates 19 that are away from each other. The first return spring 22 can help the connecting plate 19 to be effectively reset while stably supporting the connecting plate 19.

[0068] Meanwhile, a receiving plate 23 is sleeved between the two connecting plates 19, and the receiving plate 23 is welded to the end of the fixing box 21. The left and right sides of the receiving plate 23 are provided with slide grooves 24 for the two connecting plates 19 to slide, and the two connecting plates 19 slide in the two slide grooves 24 respectively. A second return spring 25 is installed between the side wall of the first driving block 18 and the receiving plate 23, and the second return spring 25 can stably support the first driving block 18 and assist the first driving block 18 to effectively return to its original position.

[0069] Specifically, refer to Figure 2 , Figure 3 as well as Figure 4The second adjustment assembly includes a second rack 26, a second adapter plate 27, a second drive block 28 and two drive plates 29. The second rack 26 is arranged horizontally, and the second rack 26 is located above the first rack 16. The second rack 26 is meshed and connected with the drive gear 12. The second adapter plate 27 is mounted on the adjustment plate 4 in the vertical direction, and the side wall of the second adapter plate 27 is integrally connected with the second rack 26. The side of the second adapter plate 27 away from the second rack 26 is integrally connected with the second drive block 28. The left and right ends of the second drive block 28 are wedge-shaped. The two drive plates 29 are distributed to the left and right ends of the second drive block 28, and the two drive plates 29 are wedge-matched with the left and right ends of the second drive block 28 respectively.

[0070] Reference Figure 4 and Figure 5 The driving plate 29 includes a first plate body 291 and a second plate body 292. The first plate body 291 is hollow inside, and the second plate body 292 extends into the first plate body 291. One end of the first plate body 291 away from the second plate body 292 is wedge-shaped and wedge-matched with one end of the second driving block 28. One end of the second plate body 292 extends into the first plate body 291, and the other end of the second plate body 292 abuts against the second clamp 6. A driving spring 30 is installed in the first plate body 291. One end of the driving spring 30 is connected to the inner wall of the first plate body 291, and the other end of the driving spring 30 is integrally connected to the second plate body 292. The driving spring 30 is used to drive the second plate body 292 to expand and contract in the first plate body 291. When the second plate body 292 abuts against the second clamp 6, the driving spring 30 is in a compressed state.

[0071] The second clamp 6 is in an arc shape as a whole, and the two driving plates 29 are used to adjust the curvature of the second clamp 6. The second clamp 6 is connected to the corresponding receiving plate 23 on one side thereof through a connecting rod, and the connecting rod on the receiving plate 23 is used to stably support the second clamp 6.

[0072] Specifically, when adjusting the curvature of the second clamp 6, the first knob 15 is turned to drive the driving gear 12 to rotate. In this state, the teeth on the driving gear 12 face upward. The driving gear 12 meshes with the second rack 26 during the rotation process, and the driving gear 12 drives the second rack 26 to slide in a direction close to or away from the second clamp 6.

[0073] When the second rack 26 slides in the direction close to the second clamp 6, the second rack 26 synchronously drives the second adapter plate 27 and the second drive block 28 to slide in the direction close to the second clamp 6. When the second drive block 28 slides in the direction close to the second clamp 6, the left and right ends of the second drive block 28 respectively cooperate with the two first plates 291 in a wedge shape. At this time, the two first plates 291 slide in the direction away from each other, and then drive the corresponding two second plates 292 to slide in the direction away from each other through the two first plates 291.

[0074] Since the second clamp 6 is in an arc shape, when the two second plates 292 slide in a direction away from each other, the two second plates 292 slide toward the two ends of the second clamp 6. In this process, since the second clamp 6 is in an arc shape, when the second plate 292 slides toward the end of the second clamp 6, the driving spring 30 gradually releases the elastic force. In this process, the driving spring 30 pushes the second plate 292 to slide in a direction away from the first plate 291. When the second plate 292 slides in a direction away from the first plate 291, the second clamp 6 is pressed down, and then the second clamp 6 is adjusted by the second plate 292 pressing down on the second clamp 6. In this process, the curvature of the second clamp 6 becomes larger, and a battery cell with a smaller diameter can be grasped.

[0075] On the contrary, when the second rack 26 slides in a direction away from the second clamp 6, the curvature of the second clamp 6 becomes smaller, so that the battery cell with a larger diameter can be grasped.

[0076] In this embodiment, the second clamp 6 is made of rubber, which is soft and elastic. When the second plate 292 presses down the second clamp 6, it is easier for the second clamp 6 to deform, which is more conducive to adjusting the size of the second clamp 6.

[0077] A fixing box 21 is also installed at the two first plates 291 , and a first return spring 22 is also installed between the side walls of the two first plates 291 and the fixing box 21 .

[0078] Furthermore, a clamping mechanism is provided at the opening of the mounting box 3. When the first clamp 5 or the second clamp 6 grabs the corresponding battery cell, the clamping mechanism can clamp the first clamp 5 or the second clamp 6 against the corresponding battery cell, thereby facilitating improving the stability of the first clamp 5 or the second clamp 6 in grabbing the corresponding battery cell.

[0079] Specifically, the abutting mechanism includes a second knob 31 , a third rotating shaft 32 , a driving gear 33 , a first driven gear 34 , a second driven gear 35 , a third rack 36 and a slide rail 37 .

[0080] Reference Figure 1 and Figure 6The second knob 31 is rotatably mounted on the outer wall of the installation box 3, the third rotating shaft 32 is located in the installation box 3, the third rotating shaft 32 is horizontally arranged, one end of the third rotating shaft 32 is integrally connected with the second knob 31, and the other end of the third rotating shaft 32 is integrally connected with the driving gear 33. The driving gear 33 and the first driven gear 34 are both vertically arranged, and the driving gear 33 and the first driven gear 34 are meshed and connected. The slide rail 37 is welded on the inner wall of the installation box 3 in the horizontal direction, and the third rack 36 is slidably mounted on the slide rail 37 in the horizontal direction. The second driven gear 35 is meshed and mounted on the top of the third rack 36, and the second driven gear 35 and the first driven gear 34 are connected through corresponding rotating rods.

[0081] In specific use, after the first clamp 5 or the second clamp 6 grabs the corresponding battery cell, the second knob 31 is turned, and the third rotating shaft 32 is synchronously driven to rotate by the second knob 31. The third rotating shaft 32 drives the driving gear 33 to rotate, and then the first driven gear 34 and the second driven gear 35 are driven to rotate through the driving gear 33. During the rotation of the second driven gear 35, it meshes with the third rack 36, and then the third rack 36 is driven by the second driven gear 35 to slide horizontally on the slide rail 37 until the third rack 36 presses the first clamp 5 or the second clamp 6 onto the corresponding battery cell, thereby effectively ensuring the stability of the first clamp 5 or the second clamp 6 grabbing the corresponding battery cell.

[0082] In this embodiment, corresponding locking rods are provided at the first knob 15 and the second knob 31. When the first knob 15 and the second knob 31 are rotated to the right position, the first knob 15 and the second knob 31 are locked by the corresponding locking rods, thereby effectively preventing the displacement of the driving gear 12 and the second driven gear 35. It is a conventional technical means to lock the first knob 15 and the second knob 31 by using the locking rod, which will not be described in detail here.

[0083] At the same time, during assembly, the installation positions of the slide rail 37 and the third rotating shaft 32 in the installation box 3 need to be measured in advance to effectively avoid interference between the positions of the first clamp 5, the second clamp 6 and the slide rail 37, and the third rotating shaft 32 during the rotation of the first clamp 5 and the second clamp 6 in the installation box 3, thereby effectively ensuring that the first clamp 5 and the second clamp 6 can smoothly rotate and exchange positions in the installation box 3.

[0084] The implementation principle of a manipulator for removing a discharge core in the embodiment of the present application is as follows:

[0085] When it is necessary to grab the square battery cell, the adjustment plate 4 is rotated in the installation box 3 so that the first clamp 5 faces the opening of the installation box 3, and the square battery cell is then grabbed by the two first clamps 5; when it is necessary to grab the round battery cell, the adjustment plate 4 is rotated in the installation box 3 so that the second clamp 6 faces the opening of the installation box 3, and the round battery cell is then grabbed by the two second clamps 6.

[0086] This arrangement, by adding a first clamp 5 and a second clamp 6 to the end of the robot arm 2, enables the robot arm 2 to satisfy the requirements of both grasping round battery cells and grasping square battery cells. Therefore, when round battery cells and square battery cells are fed at the same time, there is no need to repeatedly replace the clamps on the robot arm 2, which is beneficial to simplify the entire process of taking and placing the battery cells and improve the efficiency of taking and placing the battery cells.

[0087] At the same time, an adjustment mechanism is added to the adjustment plate 4, and the adjustment mechanism is used to adjust the shape and size of the first clamp 5 and the second clamp 6, so that the first clamp 5 and the second clamp 6 can adapt to battery cells of different specifications and models, which is beneficial to improve the overall adaptability of the robot arm 2. When facing battery cells of different specifications and models, there is no need to replace the first clamp 5 or the second clamp 6, which further improves the efficiency of the robot arm 2 in grasping the battery cells.

[0088] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator for removing a discharge core, characterized in that: The invention comprises a fixing frame (1), wherein a mechanical arm (2) is slidably mounted on the fixing frame (1) along a vertical direction, and installation boxes (3) are integrally formed at both left and right ends of the mechanical arm (2), and the ends of the two installation boxes (3) close to each other are open, and an adjustment plate (4) is rotatably mounted inside the installation box (3), and a first clamp (5) and a second clamp (6) are respectively mounted on two opposite side walls of the adjustment plate (4), wherein the first clamp (5) is used to grab a square battery cell, and the second clamp (6) is used to grab a round battery cell.

2. A manipulator for removing a discharge core according to claim 1, characterized in that: A first motor (7) is installed on the top of the fixing frame (1), the driving end of the first motor (7) is vertically downward, a screw rod (8) is installed at the driving end of the first motor (7) in a vertical direction, and a lifting seat (9) is integrally connected to the side wall of the mechanical arm (2), and the lifting seat (9) is threadedly sleeved on the circumference of the screw rod (8).

3. A manipulator for removing a discharge core according to claim 2, characterized in that: A second motor (10) is arranged in the installation box (3), the driving end of the second motor (10) is vertically upward, a first rotating shaft (11) is installed at the driving end of the second motor (10) in a vertical direction, and an end of the first rotating shaft (11) away from the second motor (10) is integrally connected to the bottom of the adjustment plate (4).

4. A manipulator for removing a discharge core according to claim 3, characterized in that: The adjusting plate (4) is provided with an adjusting mechanism, the adjusting mechanism comprising a first adjusting component and a second adjusting component, a driving gear (12) is rotatably mounted on the top of the adjusting plate (4), the first adjusting component and the second adjusting component are distributed on the left and right sides of the driving gear (12), and the driving gear (12) is used to drive the first adjusting component to adjust the size of the first clamp (5), and the second adjusting component to adjust the size of the second clamp (6); Two support plates (13) are fixed on the top of the adjustment plate (4) in the horizontal direction. The two support plates (13) are spaced apart on the top of the adjustment plate (4). A second rotating shaft (14) is installed between the two support plates (13) in the horizontal direction. The driving gear (12) is sleeved on the second rotating shaft (14). A first knob (15) is rotatably installed on the side wall of the support plate (13). One end of the second rotating shaft (14) is connected to the first knob (15). Half of the circumference of the driving gear (12) is tooth-shaped, and the other half is smooth.

5. A manipulator for removing a discharge core according to claim 4, characterized in that: The first adjustment component comprises a first rack (16), a first adapter plate (17), a first driving block (18) and two connecting plates (19); the first rack (16) is mounted on the top of the adjustment plate (4) in the horizontal direction; the first rack (16) is meshed and connected with the driving gear (12); the first adapter plate (17) is mounted on the adjustment plate (4) in the vertical direction; the side wall of the first adapter plate (17) is integrally connected with the first rack (16); the side of the first adapter plate (17) away from the first rack (16) is integrally connected with the first driving block (18); the left and right ends of the first driving block (18) are wedge-shaped; the two connecting plates (19) are distributed to the left and right ends of the first driving block (18); the two connecting plates (19) are wedge-matched with the left and right ends of the first driving block (18) respectively; One end of the connecting plate (19) is in a wedge shape and is wedge-matched with one end of the corresponding first driving block (18), and the other end of the connecting plate (19) is integrally connected to the first clamp (5); The first clamp (5) is composed of two "L"-shaped clamping plates, and the ends of the two connecting plates (19) away from the first driving block (18) are respectively connected to the two clamping plates in one piece.

6. A manipulator for removing a discharge core according to claim 5, characterized in that: A support box (20) is fixed on the top of the adjustment plate (4), the ends of the two support plates (13) are fixed to the outer wall of the support box (20), a fixing box (21) is arranged inside the support box (20), the two connecting plates (19) are located inside the fixing box (21), and a first return spring (22) is installed in the horizontal direction between the inner wall of the fixing box (21) and the sides of the two connecting plates (19) that are away from each other; A receiving plate (23) is sleeved between the two connecting plates (19), and the receiving plate (23) is arranged at the end of the fixing box (21). The left and right sides of the receiving plate (23) are provided with sliding grooves (24) for the two connecting plates (19) to slide. The two connecting plates (19) slide in the two sliding grooves (24) respectively. A second return spring (25) is installed between the side wall of the first driving block (18) and the receiving plate (23).

7. A manipulator for removing a discharge core according to claim 6, characterized in that: The second adjustment component comprises a second rack (26), a second adapter plate (27), a second driving block (28) and two driving plates (29), the second rack (26) is arranged horizontally, the second rack (26) is located above the first rack (16), the second rack (26) is meshed and connected with the driving gear (12), the second adapter plate (27) is mounted on the adjustment plate (4) in a vertical direction, the side wall of the second adapter plate (27) is integrally connected with the second rack (26), the side of the second adapter plate (27) away from the second rack (26) is integrally connected with the second driving block (28), the left and right ends of the second driving block (28) are wedge-shaped, the two driving plates (29) are distributed to the left and right ends of the second driving block (28), and the two driving plates (29) are wedge-matched with the left and right ends of the second driving block (28) respectively; The driving plate (29) comprises a first plate body (291) and a second plate body (292), the first plate body (291) is hollow inside, the second plate body (292) extends into the first plate body (291), one end of the first plate body (291) away from the second plate body (292) is wedge-shaped and wedge-matched with one end of the second driving block (28), one end of the second plate body (292) extends into the first plate body (291), the other end of the second plate body (292) abuts against the second clamp (6), a driving spring (30) is installed in the first plate body (291), one end of the driving spring (30) is connected to the inner wall of the first plate body (291), and the other end of the driving spring (30) is integrally connected to the second plate body (292), and the driving spring (30) is used to drive the second plate body (292) to extend and retract in the first plate body (291); The second clamp (6) is in the shape of a curved arc as a whole, and the two driving plates (29) are used to adjust the curvature of the second clamp (6).

8. A manipulator for removing a discharge core according to claim 7, characterized in that: A pressing mechanism is provided at the opening of the installation box (3), and the pressing mechanism is used to press the first clamp (5) or the second clamp (6) against the corresponding battery core.

9. A manipulator for removing a discharge core according to claim 8, characterized in that: The abutting mechanism comprises a second knob (31), a third rotating shaft (32), a driving gear (33), a first driven gear (34), a second driven gear (35), a third rack (36) and a slide rail (37); The second knob (31) is rotatably mounted on the outer wall of the installation box (3); the third rotating shaft (32) is located in the installation box (3); the third rotating shaft (32) is arranged horizontally; one end of the third rotating shaft (32) is integrally connected with the second knob (31); the other end of the third rotating shaft (32) is integrally connected with the driving gear (33); the driving gear (33) and the first driven gear (34) are both arranged vertically; the driving gear (33) and the first driven gear (34) are meshedly connected; the slide rail (37) is fixed on the inner wall of the installation box (3) in a horizontal direction; the third rack (36) is slidably mounted on the slide rail (37) in a horizontal direction; the second driven gear (35) is meshedly mounted on the top of the third rack (36); and the second driven gear (35) and the first driven gear (34) are connected via corresponding rotating rods.

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