Manipulator for continuous battery transportation and feeding

Abstract

The invention relates to the technical field of manipulators, in particular to a manipulator for continuous battery transporting and feeding, which comprises a base, a mechanical arm and a manipulator, the base comprises a connecting plate which is integrally arranged, a fixing plate is used for fixing and supporting the mechanical arm, a motor and a first transmission shaft, and a second transmission shaft is arranged at the bottom end of the motor in a linkage manner; the bottom end of the base is installed on an external supporting seat, the mechanical arm comprises a gear set and a movable joint, the mechanical hand is movably connected with the mechanical arm through the movable joint, and the mechanical hand comprises an even number of supporting rods, a clamping jaw, a connecting rod and two or more pushing air cylinders. The second transmission shaft is arranged at the bottom end of the motor in a linkage mode and meshed with the conical head of the first transmission shaft to drive the first transmission shaft to rotate, the coupler is arranged on the first transmission shaft and drives the gear set to rotate to control the mechanical arm to move left and right, transmission is stable and reliable, manual transportation is effectively replaced, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator used for continuous battery transportation and loading. Background Art

[0002] The robot arm is a high-tech automated production equipment developed in recent decades. It plays a very important role in stabilizing and improving product quality, improving production efficiency, improving working conditions and the rapid replacement of products. The robot arm is a new type of device developed in the process of mechanized and automated production. The scale and technical level of the machinery industry are important indicators of a country's economic strength and scientific and technological level. Therefore, all countries in the world regard the development of the machinery industry as one of the strategic priorities for developing their own economies. In the new century, the continuous progress and development of production levels and science and technology have driven the rapid advancement and development of the entire machinery industry. In modern industry, processing and assembly are discontinuous in production. Relying solely on manpower to connect these discontinuous production processes is not only time-consuming but also quite inefficient. At the same time, the labor intensity of people is very high, and sometimes injuries and mistakes occur. Obviously, this seriously affects and restricts the efficiency and automation of the entire production process. The application of the robot arm solves this problem very well. It does not have repeated accidental mistakes and can effectively avoid personal accidents.

[0003] A Chinese patent with publication number CN116729990A discloses a material removal and transplanting mechanism, including a fixed seat, the fixed seat is provided with a driving mechanism, and is connected to a movable seat that slides laterally through the driving mechanism, a driving cylinder is installed above the movable seat, and a clamping seat is assembled on the top of the driving cylinder, and both ends of the clamping seat are provided with clamping pieces, and both clamping pieces clamp batteries. It solves the problem that when replacing batteries, the batteries that have been tested need to be placed at the unloading station manually or by a robot, and then the batteries that have not been tested need to be taken from the loading station and placed at the testing station, which is a waste of time.

[0004] Another example is the existing Chinese patent with reference announcement number CN116533219A, which provides a battery production robot, including a base, a robot arm assembly installed on the upper end of the base, the robot arm assembly is connected to a mounting block, the mounting block is fixedly connected to a fixed shell, a fixed groove is provided at one end of the fixed shell away from the mounting block, robot clamps are symmetrically provided on the left and right sides of the fixed groove, positioning holes are provided on the upper side of the robot clamp, the positioning holes are arranged corresponding to the positioning assembly, the robot clamps on the left and right sides are connected to the drive assembly, and the positioning assembly and the drive assembly are both installed on the fixed shell. It effectively solves the above-mentioned technical problem that when the existing robot clamps the battery and performs loading and unloading operations, if the battery slides down, it cannot be understood in time, and if the battery continues to be clamped and the loading and unloading operations are performed, it is easy to cause the battery to fall, thereby causing damage to the battery, reducing the reliability of the robot clamping the battery. Summary of the invention

[0005] The object of the present invention is to provide a robot for continuous battery transportation and loading, so as to solve the problem proposed in the above background technology that the batteries that have completed inspection need to be placed at the unloading station manually or by a robot, and then the uninspected batteries are taken from the loading station and placed at the inspection station, which is time-consuming. When the existing robot clamps the battery for loading and unloading operations, if the battery slips, it cannot be detected in time. If the battery is continued to be clamped and loaded and unloaded, it is easy to cause the battery to fall, thereby causing damage to the battery.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a manipulator for continuous battery transport and loading, comprising a base, a manipulator arm and a manipulator, the base comprising an integrally arranged fixing plate, the fixing plate being used to fix and support the manipulator arm, a motor and a first transmission shaft, the bottom end of the motor being linked with a second transmission shaft, the bottom end of the base being mounted on an external support seat, the manipulator arm comprising a gear set and a movable joint, the manipulator being movably connected to the manipulator arm via the movable joint, the manipulator comprising an even number of support rods, clamping claws, connecting rods and at least two or more propulsion cylinders.

[0007] Preferably, the mechanical arm gear set consists of a large synchronous wheel, a middle synchronous wheel, a tensioning wheel, a rotating arm and a synchronous belt. The large synchronous wheel is meshed with the first transmission shaft, and the first transmission shaft is meshed and connected with the conical head of the second transmission shaft.

[0008] Preferably, the middle section of the first transmission shaft is provided with a coupling, and the third front section is connected to the second coupling, and the second coupling passes through the base fixing plate and the end of the rotating arm.

[0009] Preferably, the sizes of the large synchronous wheel, the middle synchronous wheel and the tensioning wheel differ by one third or one half from each other.

[0010] Preferably, the movable joint includes an L-shaped connecting seat and a third transmission shaft, the third transmission shaft is provided with a first coupling and is meshed with the middle synchronous wheel and passes through the upper half of the L-shaped connecting seat, and the bottom end of the lower half of the L-shaped connecting seat is fixedly connected to the top connecting plate of the manipulator.

[0011] Preferably, the bottom end of the motor is connected to the top end of the L-shaped support seat, a fixing block is provided inside the L-shaped support seat, and the second transmission shaft is located inside the L-shaped support seat.

[0012] Preferably, the manipulator support rods are fixedly connected to each other by L-shaped connecting pieces and bolts to form a II-shaped frame.

[0013] Preferably, the clamping claw is arranged on the connecting rod, the connecting rod is movably connected to the connecting blocks on the two end surfaces and the front end is penetrated and connected with a clutch, and the connecting blocks arranged in arrays at both ends are fixedly connected to the lower end of the support rod.

[0014] Preferably, the bottom end of the clamping claw is hollow and fixedly connected to a cross bar, the surface of the cross bar is fixedly connected to L-shaped support rods and horizontal rods that are staggered horizontally and vertically, and the front end of the horizontal rod is fixedly connected to a baffle.

[0015] Preferably, the clutch comprises two connecting plates 1, a slider and a slide rod, one end of the connecting plate 1 is penetrated and connected to the connecting rod, and the other end is slidably connected to the slide rod through the slider, and has a U-shaped appearance.

[0016] Preferably, telescopic rods are provided inside the propulsion cylinders, the first propulsion cylinder is fixedly connected to the front end of the frame through a connecting plate 2 and the telescopic rod is located at the upper end of the sliding rod, the second propulsion cylinder and the third propulsion cylinder are located at the lower end of the connecting plate provided inside the frame and baffles are fixedly connected to the ends of the telescopic rods of the second propulsion cylinder and the third propulsion cylinder.

[0017] Preferably, the baffle is arranged inside the frame and is respectively located at the end of the propulsion cylinder and both sides of the inside of the clamping claw.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The manipulator of the present invention is powered by the motor at the end. The bottom end of the motor is connected to a second transmission shaft and is meshed with the conical head of the first transmission shaft to drive the first transmission shaft to rotate. Multiple couplings are arranged on the first transmission shaft to simultaneously drive the gear set to rotate and control the left and right movement of the manipulator. The transmission is smooth and reliable, which can effectively replace manual transportation and improve work efficiency.

[0020] 2. The manipulator of the present invention drives the clutch to control the connecting rod through the first propulsion cylinder to drive the clamping claws to separate and merge to clamp the object. The second and third propulsion cylinders push the baffle plate at the end of the telescopic rod to press down. The clamping claws are staggered with L-shaped support rods and horizontal rods in the horizontal and vertical directions. The front end of the horizontal rod is fixedly connected with a baffle plate. When the clamping claws are merged, the battery position can be perfectly fixed, which effectively solves the problem of the battery sliding down and falling when the manipulator clamps the battery for loading and unloading operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the manipulator of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the manipulator of the present invention;

[0024] Figure 4 It is a schematic diagram of the cross-sectional structure of the L-shaped support seat and the motor of the present invention;

[0025] Figure 5 It is a left-side structural schematic diagram of another embodiment of the present invention.

[0026] Markings in the figure: 1, base; 2, mechanical arm; 3, manipulator; 301, support rod; 302, clamping claw; 303, connecting rod; 304, propulsion cylinder; 3041, first propulsion cylinder; 3042, second propulsion cylinder; 3043, third propulsion cylinder; 305, connecting plate; 306, L-shaped connecting piece; 307, bolt; 308, connecting block; 4, fixing plate; 5, motor; 6, first transmission shaft; 602, second transmission shaft; 603, third transmission shaft; 7, gear set; 701, large synchronous wheel; 702, middle synchronous wheel Step wheel; 703, tension wheel; 704, rotating arm; 7041, concave fixed block; 705, synchronous belt; 8, movable joint; 9, first coupling; 902, second coupling; 903, third coupling; 10, L-shaped connecting seat; 11, L-shaped supporting seat; 12, fixed block; 13, frame; 14, clutch; 1401, connecting piece 1; 1402, slider; 1403, slide bar; 15, cross bar; 16, L support rod; 17, horizontal rod; 18, baffle; 19, telescopic rod; 20, connecting piece 2; 21, battery; DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0028] Reference to "embodiment" or "implementation" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment or implementation may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] In this specification, for the sake of convenience, the words and phrases indicating the orientation or positional relationship such as "middle", "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like are used to illustrate the positional relationship of the constituent elements with reference to the drawings. This is only for the convenience of describing this specification and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. The positional relationship of the constituent elements is appropriately changed according to the orientation of the constituent elements being described. Therefore, it is not limited to the words and phrases described in the specification, and can be appropriately replaced according to the circumstances.

[0030] See also Figure 1-4 In this embodiment, in order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator for continuous battery transport and loading, comprising a base (1), a manipulator arm (2) and a manipulator arm (3), wherein the base (1) comprises an integrally arranged fixing plate (4), wherein the fixing plate (4) is used to fix and support the manipulator arm (2), a motor (5) and a first transmission shaft (6), wherein the bottom end of the motor (5) is linked with a second transmission shaft (602), wherein the bottom end of the base (1) is mounted on an external support seat, wherein the manipulator arm (2) comprises a gear set (7) and a movable joint (8), wherein the manipulator arm (3) is movably connected to the manipulator arm (2) via the movable joint (8), and wherein the manipulator arm (3) comprises an even number of support rods (301), a clamping claw (302), a connecting rod (303) and at least two or more propulsion cylinders (304).

[0031] Preferably, the mechanical arm gear set (7) is composed of a large synchronous wheel (701), a middle synchronous wheel (702), a tension wheel (703), a rotating arm (704) and a synchronous belt (705); the large synchronous wheel (701) is meshed with the first transmission shaft (6); the first transmission shaft (6) is meshed with the conical head of the second transmission shaft (602); the large synchronous wheel (701) is fixedly connected to the fixed plate (4) in the middle section of the base; the middle synchronous wheel (702) is movably connected to the rotating arm (704) through the third transmission shaft (603); a concave fixing block (7041) is provided on the rotating arm (704); the tension wheel (703) is rotatably connected to one side of the rotating arm (704) and is located on the outside of the synchronous belt (705).

[0032] Preferably, a coupling three (903) is provided in the middle section of the first transmission shaft (6), and the front section is connected to the second coupling (902). The second coupling (902) passes through the base fixing plate (4) and the end of the rotating arm (704). During operation, the large synchronous wheel (701) remains stationary, and the first transmission shaft (6) drives the second coupling (902) to drive the rotating arm (704) to rotate, and the middle synchronous wheel (702) rotates along with the rotating arm (704).

[0033] Preferably, the sizes of the large synchronous wheel (701), the middle synchronous wheel (702) and the tension wheel (703) differ by one third or one half. By setting two synchronous wheels, one large and one small, during operation, the robot arm (7) rotates 90° and the robot arm (3) rotates 180° relative to the robot arm (2) to perform picking and placing.

[0034] Preferably, the movable joint (8) includes an L-shaped connecting seat (10) and a third transmission shaft (603), the third transmission shaft (603) is provided with a first coupling (9) and is meshed with the middle synchronous wheel (702) and passes through the upper part of the L-shaped connecting seat (10), and the bottom end of the lower part of the L-shaped connecting seat (10) is fixedly connected to the top connecting plate (305) of the manipulator (3).

[0035] Optionally, a limit switch is provided on the outer side of the front end fixing plate (4) of the base to detect sequential positioning and control the position and working state of the robotic arm (3) and an origin switch to control the speed of the robotic arm (3) for use in conjunction with the first coupling (9) (not shown).

[0036] Preferably, the bottom end of the motor (5) is connected to the top end of the L-shaped support seat (11), a fixing block (12) is arranged inside the L-shaped support seat (11), and the second transmission shaft (602) is located inside the L-shaped support seat (11).

[0037] Preferably, the manipulator support rods (301) are fixedly connected to each other via L-shaped connecting pieces (306) and bolts (307), forming a II-shaped frame (13).

[0038] Preferably, the clamping claw (302) is arranged on the connecting rod (303), the connecting rod (303) is movably connected to the connecting blocks (308) on the two end surfaces and the front end is penetrated by a clutch (14), and the connecting blocks (308) arranged in arrays at both ends are fixedly connected to the lower end of the support rod (303).

[0039] Preferably, the bottom end of the clamping claw (302) is hollow and fixedly connected to a cross bar (15), the surface of the cross bar (15) is fixedly connected to L-shaped support rods (16) and horizontal rods (17) arranged in a horizontal and vertical staggered manner, and the front end of the horizontal rod (17) is fixedly connected to a baffle (18).

[0040] Optionally, a layer of rubber sponge is provided on the outer surface of the baffle (18) and the L-shaped support rod (16), which has low density, excellent elasticity and flexibility, and high shock absorption, sound insulation and heat insulation properties and is used as a protective layer (not shown in the figure).

[0041] Preferably, the clutch (14) comprises two connecting plates (1401), a slider (1402) and a slide rod (1403), one end of the connecting plate (1401) is connected to the connecting rod (303) and the other end is slidably connected to the slide rod (1403) through the slider (1402), and the appearance is U-shaped.

[0042] Preferably, a telescopic rod (19) is provided inside the propulsion cylinder (304), the first propulsion cylinder (3041) is fixedly connected to the front end of the frame (13) through the second connecting plate (20), and the telescopic rod (19) is located at the upper end of the sliding rod (1403), the second propulsion cylinder (3042) and the third propulsion cylinder (3043) are located at the lower end of the connecting plate (20) provided inside the frame (13), and the ends of the telescopic rods (19) of the second propulsion cylinder (3042) and the third propulsion cylinder (3043) are fixedly connected with a baffle (18), during operation, the first propulsion cylinder (3041) pushes the internal telescopic rod (19) downward to move the sliding rod (1403) downward, and the connecting plate (1401) is separated to both sides through the sliding block (1402) to drive the connecting rod (303) to separate and open the clamping claws (302) provided on the connecting rod (303).

[0043] Preferably, the baffle (18) is arranged inside the frame (13) and is respectively located at the end of the propulsion cylinder (304) and on both sides of the clamping claw (302). The second and third propulsion cylinders propel the baffle (18) at the end of the telescopic rod (19) downward to fix the upward movement of the battery (21). The clamping claw (302) is staggered with L-shaped support rods (16) and horizontal rods (17) in the horizontal and vertical directions. The front end of the horizontal rod (17) is fixedly connected with the baffle (18). When the clamping claws (302) are combined, the fixed battery (21) moves left and right. The L-shaped support rod (16) fixes the downward movement of the battery (21), and fixes the moving position of the battery (21) in four directions. This can effectively solve the problem of the battery (21) sliding down and falling when the robot (3) clamps the battery (21) for loading and unloading operations.

[0044] like Figure 5 As another embodiment of the present invention: the mechanical arm gear set (7) is composed of two synchronous wheels (701) (702) of the same size, a tensioning wheel (703), a rotating arm (704) and a synchronous belt (705), the synchronous wheel (701) is meshed with the first transmission shaft (6), the first transmission shaft (6) is meshed with the conical head of the second transmission shaft (602), the middle section of the first transmission shaft (6) is provided with a coupling three (903), the front section is connected to the second coupling (902), the second coupling (902) passes through the base fixing plate (4) and the end of the rotating arm (704), during operation, the lower end synchronous wheel (701) does not move, the first transmission shaft (6) drives the second coupling (902) to drive the rotating arm (704) to rotate, the upper end synchronous wheel (702) rotates with the rotating arm (704), and the mechanical arm rotates 180° to perform pick-up and placement.

[0045] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A manipulator for continuous battery transport and loading, characterized in that: The invention comprises a base (1), a mechanical arm (2) and a mechanical hand (3), wherein the base (1) comprises an integrally arranged fixing plate (4), wherein the fixing plate (4) is used to fix and support the mechanical arm (2), a motor (5) and a first transmission shaft (6), wherein the bottom end of the motor (5) is linked with a second transmission shaft (602), wherein the bottom end of the base (1) is mounted on an external support seat, wherein the mechanical arm (2) comprises a gear set (7) and a movable joint (8), wherein the mechanical hand (3) is movably connected to the mechanical arm (2) via the movable joint (8), and wherein the mechanical hand (3) comprises an even number of support rods (301), a clamping claw (302), a connecting rod (303) and at least two or more propulsion cylinders (304).

2. A manipulator for continuous battery transportation and loading according to claim 1, characterized in that: The mechanical arm gear set (7) is composed of a large synchronous wheel (701), a middle synchronous wheel (702), a tension wheel (703), a rotating arm (704) and a synchronous belt (705); the large synchronous wheel (701) is meshed with the first transmission shaft (6); the first transmission shaft (6) is meshed with the conical head of the second transmission shaft (602); the large synchronous wheel (701) is fixedly connected to the fixed plate (4) in the middle section of the base; the middle synchronous wheel (702) is movably connected to the rotating arm (704) through the third transmission shaft (603); a concave fixing block (7041) is provided on the rotating arm (704); the tension wheel (703) is rotatably connected to one side of the rotating arm (704) and is located outside the synchronous belt (705).

3. A manipulator for continuous battery transportation and loading according to claim 1, characterized in that: The middle section of the first transmission shaft (6) is provided with a coupling three (903), and the front section is connected to the second coupling (902). The second coupling (902) passes through the base fixing plate (4) and the end of the rotating arm (704). During operation, the large synchronous wheel (701) remains stationary. The first transmission shaft (6) drives the second coupling (902) to drive the rotating arm (704) to rotate, and the middle synchronous wheel (702) rotates along with the rotating arm (704).

4. A manipulator for continuous battery transportation and loading according to claim 1, characterized in that: The movable joint (8) comprises an L-shaped connecting seat (10) and a third transmission shaft (603); the third transmission shaft (603) is provided with a first coupling 9 and is meshed with the middle synchronous wheel (702) and passes through the upper part of the L-shaped connecting seat (10); the bottom end of the lower part of the L-shaped connecting seat (10) is fixedly connected to the top connecting plate (305) of the manipulator (3).

5. The manipulator for continuous battery transportation and loading according to claim 1, characterized in that: The bottom end of the motor (5) is connected to the top end of the L-shaped support seat (11), a fixing block (12) is arranged inside the L-shaped support seat (11), and the second transmission shaft (602) is located inside the L-shaped support seat (11).

6. A manipulator for continuous battery transportation and loading according to claim 1, characterized in that: The clamping claw (302) is arranged on the connecting rod (303), the connecting rod (303) is movably connected to the connecting blocks (308) at the two end surfaces and the front end is penetrated and connected with a clutch (14), and the connecting blocks (308) arranged in arrays at both ends are fixedly connected to the lower end of the support rod (303).

7. A manipulator for continuous battery transportation and loading according to claim 1, characterized in that: The bottom end of the clamping claw (302) is hollow and fixedly connected to a cross bar (15); the surface of the cross bar (15) is fixedly connected to L-shaped support rods (16) and horizontal rods (17) arranged in a horizontal and vertical staggered manner; the front end of the horizontal rod (17) is fixedly connected to a baffle (18).

8. A manipulator for continuous battery transportation and loading according to claim 6, characterized in that: The clutch (14) comprises two connecting plates (1401), a slider (1402) and a slide bar (1403); one end of the connecting plate (1401) is connected to the connecting bar (303) and the other end is connected to the slide bar (1403) through the slider (1402) in a sliding manner, and has a U-shaped appearance.

9. A manipulator for continuous battery transportation and loading according to claim 1, characterized in that: Each of the propulsion cylinders (304) is provided with a telescopic rod (19). The first propulsion cylinder (3041) is fixedly connected to the front end of the frame (13) through a second connecting plate (20), and the telescopic rod (19) is located at the upper end of the sliding rod (1403). The second propulsion cylinder (3042) and the third propulsion cylinder (3043) are located at the lower end of a connecting plate (20) provided inside the frame (13), and a baffle (18) is fixedly connected to the end of the telescopic rod (19) of the second propulsion cylinder (3042) and the third propulsion cylinder (3043).

10. A manipulator for continuous battery transportation and loading according to claim 9, characterized in that: The baffle (18) is arranged inside the frame (13) and is respectively located at the end of the propulsion cylinder (304) and on both sides of the inside of the clamping claw (302).

Images