Flexible sagger taking and placing clamping jaw device

Abstract

The flexible sagger taking and placing clamping jaw device comprises a truss rack assembly, a truss X-axis assembly, a truss Z-axis assembly and a truss tail end clamping jaw assembly, the truss X-axis assembly is arranged on the truss rack assembly and horizontally moves along the truss rack assembly, and the truss Z-axis assembly is arranged on the truss X-axis assembly and vertically moves along the truss X-axis assembly; the truss tail end clamping jaw assembly is arranged at the bottom of the truss Z-axis assembly. According to the sagger clamping jaw, a plurality of saggers which are different in position height and large in boundary dimension deviation can be grabbed at the same time, the sagger transferring efficiency is improved while the number of compatible types of the saggers is increased, and the damage rate of the clamping jaw to the saggers is greatly reduced.

Description

Technical Field

[0001] The invention relates to a robot gripper technology, in particular to a flexible sagger picking and placing gripper device. Background Art

[0002] In the automated production of lithium battery positive and negative electrode materials, since the saggers are made of sintered ceramics, the height and size deviations of the saggers are large. When the number of stacked saggers is large, the saggers cannot be automatically transported. Therefore, the saggers are generally stacked in one or two layers. As the market's requirements for the efficiency and rhythm of automated production lines become higher and higher, when one or two layers of saggers filled with lithium battery positive and negative electrode materials are stacked and enter the kiln for sintering, it not only causes a serious waste of kiln utilization, but also causes the output of lithium battery positive and negative electrode raw materials to be unable to increase, which is far from meeting market demand. When the number of stacked layers and columns of saggers is large, the existing gripper device cannot meet the needs of automatic grasping and handling of the same layer at one time. Summary of the invention

[0003] Purpose of the invention: In view of the above problems, the purpose of the present invention is to provide a flexible sagger picking and placing clamping claw device.

[0004] Technical solution: A flexible sagger picking and placing gripper device of the present invention comprises: a truss frame assembly, a truss X-axis assembly, a truss Z-axis assembly and a truss end gripper assembly, wherein the truss X-axis assembly is arranged on the truss frame assembly and moves horizontally along the truss frame assembly, the truss Z-axis assembly is arranged on the truss X-axis assembly and moves vertically along the truss X-axis assembly, and the truss end gripper assembly is arranged at the bottom of the truss Z-axis assembly.

[0005] Further, the truss end clamping jaw assembly includes a clamping jaw fixing seat and a flexible clamping jaw;

[0006] The clamping claw fixing seat is fixed on the bottom end of the truss Z-axis assembly, and the flexible clamping claw is connected to the clamping claw fixing seat.

[0007] Further, the flexible clamp includes an upper fixed plate, a fixed column, a lower fixed plate, an electric proportional valve, a clamping cylinder, a programmable logic controller, a floating joint, a guide shaft, a limit stopper, a guide seat, a pressure sensor, a clamping cylinder, a clamping side plate, a clamping block, a movable plate and a pressure block;

[0008] The upper fixing plate is fixed to the clamping claw fixing seat by bolts, the upper fixing plate is fixed to the upper surface of the fixing column by bolts, and the lower fixing plate is fixed to the lower surface of the fixing column by bolts;

[0009] The programmable logic controller is connected to the electric proportional valve, the electric proportional valve is connected to the clamping cylinder, and the electric proportional valve and the clamping cylinder are installed on the upper surface of the lower fixing plate;

[0010] The lower fixed plate is provided with through holes, and guide seats are arranged at the through holes, and the guide seats penetrate the through holes and are fixed on the upper and lower sides of the lower fixed plate; the guide seat is provided with a through hole, and the guide shaft is matched with the guide seat and passes through the guide seat; the upper end of the guide shaft is provided with a limit stopper, and the lower end of the guide shaft is fixed on the movable plate;

[0011] The movable plate is arranged below the lower fixed plate, the floating joint and the pressure sensor are arranged between the lower fixed plate and the movable plate, the upper end of the floating joint passes through the through hole on the lower fixed plate and is installed at the end of the piston rod in the clamping cylinder, the lower end of the floating joint is connected to the inner hole of the pressure sensor through a thread, the pressure sensor is fixed on the upper surface of the movable plate, and the pressure sensor is connected to the programmable logic controller; the piston rod of the clamping cylinder is extended and retracted to drive the movable plate to rise and fall;

[0012] The clamping cylinder is fixed on the upper surface of the moving plate, the upper end of the clamping side plate is fixed on the piston plate of the clamping cylinder, the lower end of the clamping side plate is connected to the clamping block by bolts, and the pressure block is fixed on the lower surface of the moving plate. When the moving plate is raised or lowered, the pressure block, the clamping cylinder, the clamping side plate and the clamping block move up and down together.

[0013] Further, the truss X-axis assembly includes a first servo motor, a first reducer, a first gear, a second servo motor, a second reducer, a second gear, a horizontal fixing plate, a vertical fixing plate and a rib plate;

[0014] The first reducer is installed on the horizontal fixed plate, the first servo motor is installed at the tail of the first reducer and connected to the first reducer, the first gear is installed on the output shaft of the first reducer, and the first servo motor drives the first reducer and the first gear to rotate in forward and reverse directions;

[0015] The second reducer is mounted on the vertical fixed plate, the second servo motor is mounted at the tail of the second reducer and connected to the second reducer, the second gear is mounted on the output shaft of the second reducer, and the second servo motor drives the second reducer and the second gear to rotate in forward and reverse directions;

[0016] The vertical fixing plate is arranged on the horizontal fixing plate and is fixed by a rib plate.

[0017] Further, the truss frame assembly includes columns, beams and diagonal bars;

[0018] The columns are arranged vertically, the crossbeams are arranged horizontally, the two ends of the crossbeams are respectively fixed to the tops of the two columns, one end of the oblique reinforcement is fixed to the crossbeam, and the other end of the oblique reinforcement is fixed to the columns;

[0019] A first rack and a first linear guide pair are arranged on the upper top surface of the crossbeam. The direction of the first rack is parallel to that of the first linear guide pair. A first slider sliding along the first linear guide pair is arranged. The horizontal fixing plate is fixed on the first slider. The first rack is meshed with the first gear.

[0020] Further, the truss Z-axis assembly includes a support column, a second linear guide pair, and a second rack;

[0021] The support column is vertically arranged, the second linear guide pair and the second rack are vertically arranged on the surface of the support column, the second linear guide pair is provided with a second slider sliding along it, the second slider is fixed on the vertical fixed plate, and the second rack is meshed with the second gear.

[0022] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0023] The present invention can grasp multiple saggers at different heights on the same layer in one grasping, thus solving the problem that multiple saggers on the same layer cannot be grasped at one time due to size deviation of the saggers; the pressure of the clamping jaws on the saggers is controllable, thus realizing flexible and friendly grasping of the saggers by the clamping jaws, and improving the grasping and transferring efficiency of the saggers. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a flexible sagger picking and placing gripper device;

[0025] Figure 2 It is a structural schematic diagram of the clamping claw assembly at the end of the truss;

[0026] Figure 3 Schematic diagram of the flexible gripper.

[0027] Among them: 1. Sagger kiln car assembly; 2. Sagger conveyor line assembly; 3. Truss frame assembly; 4. Truss X-axis assembly; 5. Truss Z-axis assembly; 6. Truss end clamping jaw assembly; 61. Clamping jaw fixing seat; 62. Flexible clamping jaw; 71. Upper fixed plate; 72. Fixed column; 73. Electric proportional valve; 74. Clamping cylinder; 75. Floating joint; 76. Limit baffle; 77. Guide shaft; 78. Guide seat; 79. Clamping cylinder; 80. Cover plate; 81. Pressing block; 82. Lower fixed plate; 83. Pressure sensor; 84. Sagger; 85. Moving plate; 86. Clamping block; 87. Clamping side plate. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0029] A flexible sagger picking and placing clamping claw device described in this embodiment is as follows: Figure 1As shown, Figure (a) is the main view and Figure (b) is the left view. The device includes: a truss frame assembly 3, a truss X-axis assembly 4, a truss Z-axis assembly 5 and a truss end clamp assembly 6. The truss X-axis assembly 4 is arranged on the truss frame assembly 3 and moves horizontally along the truss frame assembly 3, the truss Z-axis assembly 5 is arranged on the truss X-axis assembly 4 and moves vertically along the truss X-axis assembly 4, and the truss end clamp assembly 6 is arranged at the bottom of the truss Z-axis assembly 5.

[0030] The truss X-axis assembly 4 includes a first servo motor, a first reducer, a first gear, a second servo motor, a second reducer, a second gear, a horizontal fixing plate, a vertical fixing plate and a rib plate;

[0031] The first reducer is installed on the horizontal fixed plate, the first servo motor is installed at the tail of the first reducer and connected to the first reducer, the first gear is installed on the output shaft of the first reducer, and the first servo motor drives the first reducer and the first gear to rotate in forward and reverse directions;

[0032] The second reducer is mounted on the vertical fixed plate, the second servo motor is mounted at the tail of the second reducer and connected to the second reducer, the second gear is mounted on the output shaft of the second reducer, and the second servo motor drives the second reducer and the second gear to rotate in forward and reverse directions;

[0033] The vertical fixing plate is arranged on the horizontal fixing plate and is fixed by a rib plate.

[0034] The truss frame assembly 3 includes columns, beams and diagonal bars;

[0035] The columns are arranged vertically, the crossbeams are arranged horizontally, the two ends of the crossbeams are respectively fixed to the tops of the two columns, one end of the oblique reinforcement is fixed to the crossbeam, and the other end of the oblique reinforcement is fixed to the columns;

[0036] A first rack and a first linear guide pair are arranged on the upper top surface of the crossbeam. The direction of the first rack is parallel to that of the first linear guide pair. A first slider sliding along the first linear guide pair is arranged. The horizontal fixing plate is fixed on the first slider. The first rack is meshed with the first gear.

[0037] The truss Z-axis assembly 5 includes a support column, a second linear guide pair and a second rack;

[0038] The support column is vertically arranged, the second linear guide pair and the second rack are vertically arranged on the surface of the support column, the second linear guide pair is provided with a second slider sliding along it, the second slider is fixed on the vertical fixed plate, and the second rack is meshed with the second gear.

[0039] like Figure 2As shown, the truss end clamping jaw assembly 6 includes a clamping jaw fixing seat 61 and a flexible clamping jaw 62, and the truss end clamping jaw assembly 6 is lifted and lowered together with the truss Z-axis assembly 5. The clamping jaw fixing seat 61 is fixed to the bottom end of the support column in the truss Z-axis assembly 5, and the flexible clamping jaw 62 is connected to the clamping jaw fixing seat 61, and the flexible clamping jaw 62 is arranged below the clamping jaw fixing seat 61. A plurality of flexible clamping jaws 62 are evenly installed at the bottom of the clamping jaw fixing seat 61, and the flexible clamping jaw 62 has an automatic telescopic function, which is used to simultaneously grasp and stack multiple layers and place multiple saggers in sequence on one layer.

[0040] like Figure 3 As shown, FIG. (a) is a main view, and FIG. (b) is a left view, the flexible clamping claw 62 includes an upper fixing plate 71, a fixing column 72, a lower fixing plate 82, an electric proportional valve 73, a clamping cylinder 74, a programmable logic controller, a floating joint 75, a guide shaft 77, a limit stopper 76, a guide seat 78, a pressure sensor 83, a clamping cylinder 79, a clamping side plate 87, a clamping block 86, a movable plate 85 and a pressing block 81;

[0041] The upper fixed plate 71, the lower fixed plate 82 and the movable plate 85 are arranged in sequence from top to bottom;

[0042] The upper fixing plate 71 is fixed to the clamping jaw fixing seat 61 by bolts, the upper fixing plate 71 is fixed to the upper surface of the fixing column 72 by bolts, and the lower fixing plate 82 is fixed to the lower surface of the fixing column 72 by bolts; the upper fixing plate 71 and the lower fixing plate 82 are fixed to the lower surface of the fixing column 72 by bolts; the upper fixing plate 71 and the lower fixing plate 82 are immovable relative to the clamping jaw fixing seat 61;

[0043] The programmable logic controller is connected to the electric proportional valve 73, the electric proportional valve 73 is connected to the pressing cylinder 74, and the electric proportional valve 73 and the pressing cylinder 74 are installed on the upper surface of the lower fixed plate 82;

[0044] The lower fixed plate 82 is provided with through holes, and guide seats 78 are arranged at the through holes. The guide seats 78 penetrate through the through holes and are fixed on the upper and lower sides of the lower fixed plate 82. In this example, four through holes are provided on the lower fixed plate 82 for installing the guide seats 78. The guide seat 78 is provided with a through hole, and the guide shaft 77 is clearance-matched with the guide seat 78 and passes through the guide seat 78. The upper end of the guide shaft 77 is provided with a limit stopper 76, and the lower end of the guide shaft 77 is fixed on the movable plate 85; the lower surface of the guide seat 78 is provided with a cover plate 80, and the cover plate 80 is provided with the same through hole as the guide seat 78. The movable plate 85 can slide up and down along the guide seat 78 through the guide shaft 77.

[0045] The movable plate 85 is arranged below the lower fixed plate 82, and the floating joint 75 and the pressure sensor 83 are both arranged between the lower fixed plate 82 and the movable plate 85. The upper end of the floating joint 75 passes through the through hole on the lower fixed plate 82 and is installed on the end of the piston rod in the clamping cylinder 74, and the lower end of the floating joint 75 is connected to the inner hole of the pressure sensor 83 through a thread. The pressure sensor 83 is fixed on the upper surface of the movable plate 85, and the pressure sensor 83 is connected to the programmable logic controller; the piston rod of the clamping cylinder 74 is extended and retracted to drive the movable plate 85 to rise and fall.

[0046] The clamping cylinder 79 is fixed on the upper surface of the movable plate 85, the upper end of the clamping side plate 87 is fixed on the piston plate of the clamping cylinder 79, the clamping block 86 is connected to the lower end of the clamping side plate 87 by bolts, and the pressing block 81 is fixed on the lower surface of the movable plate 85. When the movable plate 85 is raised or lowered, the pressing block 81, the clamping cylinder 79, the clamping side plate 87 and the clamping block 86 move up and down together.

[0047] During operation, the flexible sagger picking and placing gripper device in this example is placed above the high temperature resistant kiln trolley 1 and the sagger conveyor line assembly 2. The high temperature resistant kiln trolley 1 is used to transport saggers filled with positive or negative lithium battery materials to the kiln for drying. After drying, the saggers are transported to the material taking position of the gripper assembly 6 at the end of the truss. The sagger conveyor line assembly 2 includes a roller conveyor line and a jacking mechanism, which are used to realize the unloading and transportation of the saggers in the gripper at the end of the truss. In the process of grabbing the saggers 84 by the flexible gripper 62, since there is a certain error in the height of a single sagger 84, for the same layer of saggers 84 after stacking multiple layers, the height of the saggers 84 in different columns of the same layer will fluctuate randomly within a certain size positive and negative deviation range. When taking materials, the truss Z-axis assembly 5 is lowered to a certain position below the theoretical height of the sagger 84 each time. After the lower surface of the pressure block 81 of the flexible clamp 62 contacts the upper surface of the sagger 84, the pressure sensor 83 in the flexible clamp 62 feeds back the pressure parameters to the PLC in real time. The PLC controls the electrical proportional valve 73 to output the corresponding air pressure to the rodless chamber of the clamping cylinder 74, so that the lower surface of the pressure block 81 of the flexible clamp 62 and the upper surface of the sagger 84 are kept in contact with a certain pressure with adjustable parameters. At the same time, it is ensured that the flexible clamp 62 does not damage the sagger 84 during the pressing process. Different flexible clamps 62 have different expansion and contraction amounts, which compensates for the height difference of the saggers 84 with different numbers of columns of the same number of layers. Therefore, the flexible, efficient and accurate placement of the sagger 84 is achieved. In addition, the clamp has reserved mounting holes compatible with saggers 84 of different specifications. In the production process, it is only necessary to install the clamp block 86 to the mounting hole corresponding to the clamping side plate 87 to achieve the placement of saggers of different specifications.

Claims

1. A flexible sagger picking and placing gripper device, characterized in that: include: A truss frame assembly, a truss X-axis assembly, a truss Z-axis assembly and a truss end clamp assembly, wherein the truss X-axis assembly is arranged on the truss frame assembly and moves horizontally along the truss frame assembly, the truss Z-axis assembly is arranged on the truss X-axis assembly and moves vertically along the truss X-axis assembly, and the truss end clamp assembly is arranged at the bottom of the truss Z-axis assembly.

2. A flexible sagger picking and placing clamping device according to claim 1, characterized in that: The truss end clamping claw assembly includes a clamping claw fixing seat and a flexible clamping claw; The clamping claw fixing seat is fixed on the bottom end of the truss Z-axis assembly, and the flexible clamping claw is connected to the clamping claw fixing seat.

3. A flexible sagger picking and placing clamping device according to claim 2, characterized in that: The flexible clamping claw includes an upper fixing plate, a fixing column, a lower fixing plate, an electric proportional valve, a clamping cylinder, a programmable logic controller, a floating joint, a guide shaft, a limit stopper, a guide seat, a pressure sensor, a clamping cylinder, a clamping side plate, a clamping block, a moving plate and a pressing block; The upper fixing plate is fixed to the clamping claw fixing seat by bolts, the upper fixing plate is fixed to the upper surface of the fixing column by bolts, and the lower fixing plate is fixed to the lower surface of the fixing column by bolts; The programmable logic controller is connected to the electric proportional valve, the electric proportional valve is connected to the clamping cylinder, and the electric proportional valve and the clamping cylinder are installed on the upper surface of the lower fixing plate; The lower fixed plate is provided with through holes, and guide seats are arranged at the through holes, and the guide seats penetrate the through holes and are fixed on the upper and lower sides of the lower fixed plate; the guide seat is provided with a through hole, and the guide shaft is matched with the guide seat and passes through the guide seat; the upper end of the guide shaft is provided with a limit stopper, and the lower end of the guide shaft is fixed on the movable plate; The movable plate is arranged below the lower fixed plate, the floating joint and the pressure sensor are arranged between the lower fixed plate and the movable plate, the upper end of the floating joint passes through the through hole on the lower fixed plate and is installed at the end of the piston rod in the clamping cylinder, the lower end of the floating joint is connected to the inner hole of the pressure sensor through a thread, the pressure sensor is fixed on the upper surface of the movable plate, and the pressure sensor is connected to the programmable logic controller; the piston rod of the clamping cylinder is extended and retracted to drive the movable plate to rise and fall; The clamping cylinder is fixed on the upper surface of the moving plate, the upper end of the clamping side plate is fixed on the piston plate of the clamping cylinder, the lower end of the clamping side plate is connected to the clamping block by bolts, and the pressure block is fixed on the lower surface of the moving plate. When the moving plate is raised or lowered, the pressure block, the clamping cylinder, the clamping side plate and the clamping block move up and down together.

4. A flexible sagger picking and placing clamping device according to claim 3, characterized in that: The truss X-axis assembly includes a first servo motor, a first reducer, a first gear, a second servo motor, a second reducer, a second gear, a horizontal fixing plate, a vertical fixing plate and a rib plate; The first reducer is installed on the horizontal fixed plate, the first servo motor is installed at the tail of the first reducer and connected to the first reducer, the first gear is installed on the output shaft of the first reducer, and the first servo motor drives the first reducer and the first gear to rotate in forward and reverse directions; The second reducer is mounted on the vertical fixed plate, the second servo motor is mounted at the tail of the second reducer and connected to the second reducer, the second gear is mounted on the output shaft of the second reducer, and the second servo motor drives the second reducer and the second gear to rotate in forward and reverse directions; The vertical fixing plate is arranged on the horizontal fixing plate and is fixed by a rib plate.

5. A flexible sagger picking and placing clamping device according to claim 4, characterized in that: The truss frame assembly includes columns, beams and diagonal bars; The columns are arranged vertically, the crossbeams are arranged horizontally, the two ends of the crossbeams are respectively fixed to the tops of the two columns, one end of the oblique reinforcement is fixed to the crossbeam, and the other end of the oblique reinforcement is fixed to the columns; A first rack and a first linear guide pair are arranged on the upper top surface of the crossbeam. The direction of the first rack is parallel to that of the first linear guide pair. A first slider sliding along the first linear guide pair is arranged. The horizontal fixing plate is fixed on the first slider. The first rack is meshed with the first gear.

6. A flexible sagger picking and placing gripper device according to claim 5, characterized in that: The truss Z-axis assembly includes a support column, a second linear guide pair, and a second rack; The support column is vertically arranged, the second linear guide pair and the second rack are vertically arranged on the surface of the support column, the second linear guide pair is provided with a second slider sliding along it, the second slider is fixed on the vertical fixed plate, and the second rack is meshed with the second gear.

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