High-flexibility multi-compatibility automatic unstacking tool

Abstract

The invention discloses a high-flexibility multi-compatibility automatic unstacking tool. The high-flexibility multi-compatibility automatic unstacking tool comprises a truss; the movable lifting mechanism is arranged on the truss and provides driving force for movable lifting motion; the gripper mechanism is arranged at the output end of the movable lifting mechanism and used for gripping an external material frame; and the feedback mechanism is used for feeding back a signal that the movable lifting mechanism moves in place, so that the operation state of the movable lifting mechanism is controlled. The invention has the following beneficial effects: 1, whether the material frame exists or not is automatically detected, and the use of the in-place travel switch prevents the gripper from excessively descending to crush the battery cell and the material frame; 2, 4-5 layers of material frames are generally unstacked on a module line, and the equipment can be compatible with 4-8 layers, so that the compatible height is higher, and the labor is greatly saved; and 3, a servo motor is adopted to drive a gear and a rack on the truss, and two slide rails are adopted to assist walking, so that the truss can accurately walk to a position required by equipment, and the positioning accuracy is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy battery cell assembly, and particularly to a highly flexible and multi-compatible automatic palletizing and depalletizing tooling. Background Art

[0002] As the basic unit of power batteries, battery cells are usually transported to the factory in an integrated form of 4-8 layer pallet stacks. In the production line feeding process, the traditional manual forklift depalletizing method not only has low operation efficiency, but also has the potential risk of rack overturning and material damage caused by operation errors. Therefore, modern module production lines generally introduce automated depalletizing equipment to replace manual operations. With the in-depth transformation of intelligent manufacturing, intelligent depalletizing systems with high flexible adaptation capabilities, multi-specification compatibility characteristics, and economic advantages are becoming the key equipment requirements for improving the automation level of production lines. Summary of the Invention

[0003] According to an embodiment of the present invention, there is provided a highly flexible and multi-compatible automatic depalletizing tooling, comprising: A gantry; A moving and lifting mechanism, which is arranged on the gantry and provides the driving force for the moving and lifting movement; A gripper mechanism, which is arranged at the output end of the moving and lifting mechanism and is used to grasp the external material frame; A feedback mechanism, which is used to feedback the signal of the movement in place of the moving and lifting mechanism, so as to control the operating state of the moving and lifting mechanism.

[0004] Further, the moving and lifting mechanism comprises: A moving component, which is arranged on the gantry and provides the driving force for the moving movement; A lifting component, which is arranged at the output end of the moving component and provides the driving force for the lifting movement. The output end of the lifting component is connected to the gripper mechanism.

[0005] Further, the moving component comprises: A pair of first slide rails, which are arranged on both sides of the top of the gantry; A first rack, which is arranged on the top of the gantry; A walking frame, which is slidably connected to the pair of first slide rails, and the walking frame is connected to the lifting component; A first motor, which is arranged on the walking frame, and the output end of the first motor penetrates through the walking frame; A first gear, which is sleeved on the output end of the first motor, and the first gear meshes with the first rack.

[0006] Further, the moving component further comprises: an oil injection system, which is arranged on the walking frame.

[0007] Further, the moving component further includes: two first buffers, which are respectively arranged on the remaining two sides of the top of the row frame.

[0008] Further, the lifting component includes: A support frame, which is arranged on the walking frame; A hollow part, which is opened on the walking frame; A lifting frame, on which a pair of second slide rails are arranged. The lifting frame is slidably connected to the support frame through the pair of second slide rails. The lifting frame penetrates through the hollow part, and the bottom of the lifting frame is connected to the gripper mechanism; A second rack, which is arranged on the lifting frame; A second motor, which is arranged on the support frame; A second gear, which is sleeved on the output end of the second motor. The second gear meshes with the second rack.

[0009] Further, the gripper mechanism includes: A gripper main body, which is connected to the output end of the moving and lifting mechanism and moves under the drive of the moving and lifting mechanism; A pair of main grippers, which are arranged on both sides of the gripper main body and are used for clamping an external material frame; A pair of auxiliary grippers, which are arranged on the remaining two sides of the gripper main body and are used for clamping an external material frame.

[0010] Further, the gripper mechanism further includes: A pair of main driving mechanisms, which are arranged on the gripper main body and are respectively used for driving a pair of main grippers to move; A pair of auxiliary driving mechanisms, which are arranged on the gripper main body and are respectively used for driving a pair of auxiliary grippers to move.

[0011] Further, one of the main driving mechanisms includes: A main cylinder, which is arranged on the gripper main body. The output end of the main cylinder is connected to the main gripper; A pair of third slide rails, which are arranged on the gripper main body. The pair of third slide rails are slidably connected to the main gripper; A pair of second buffers, which are arranged on the gripper main body and are located on both sides of the main cylinder; One of the auxiliary driving mechanisms includes: An auxiliary cylinder, which is arranged on the gripper main body. The output end of the auxiliary cylinder is connected to the auxiliary gripper; A pair of fourth slide rails, which are arranged on the gripper main body. The pair of fourth slide rails are slidably connected to the auxiliary gripper; A pair of third buffers, which are arranged on the gripper main body and are located on both sides of the auxiliary cylinder.

[0012] Furthermore, the feedback mechanism includes: A detection piece, which is arranged on the walking frame; Multiple in-place detectors, which are arranged on the row frame and used to identify the detection piece and send in-place signals; A laser sensor, which is arranged on the gripper mechanism and used to detect the external material box; A travel switch, which is arranged on the gripper mechanism.

[0013] A high-flexibility multi-compatible automatic palletizing and depalletizing tooling according to an embodiment of the present invention has the following beneficial effects: 1. Automatically detect the presence or absence of the material box, and the use of the in-place travel switch avoids excessive lowering of the gripper and damaging the battery cells and the material box.

[0014] 2. Generally, there are 4-5 layers of material boxes to be depalletized on the module line. This equipment can be compatible with 4-8 layers, with better compatible height, greatly saving labor.

[0015] 3. On the row frame, the form of a servo motor driving a gear rack + two slide rails for auxiliary walking is adopted, which can accurately reach the position required by the equipment, greatly improving the positioning accuracy. At the same time, the in-place detection switch is used for verification to further ensure the accuracy of the equipment.

[0016] 4. The gripper moves up and down in the form of a servo motor driving a gear rack + two slide rails for auxiliary walking, which not only ensures the smoothness of the gripper's ascent but also ensures the accuracy of the ascent height.

[0017] 5. This equipment can also be set with multiple working positions. The number of working positions depends on the length of the row frame, generally two full-material-box loading positions and one empty-material-box position.

[0018] 6. The depalletizing gripper can be compatible with multiple types of material boxes and is compatible with different sizes of material boxes according to the strokes of the main cylinder and the auxiliary cylinder.

[0019] 7. The overall structure and action logic of the equipment are simple, which is convenient for debugging and saves hardware and debugging costs.

[0020] It should be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 FIG. is a schematic three-dimensional structure diagram of a high-flexibility multi-compatible automatic palletizing and depalletizing tooling according to an embodiment of the present invention.

[0022] Figure 2 FIG. is a schematic three-dimensional structure diagram of a high-flexibility multi-compatible automatic palletizing and depalletizing tooling without a gripper mechanism according to an embodiment of the present inventionFigure 1 .

[0023] Figure 3 Schematic diagram of the three-dimensional structure of a high-flexibility and multi-compatible automatic palletizing and depalletizing tooling without a gripper mechanism according to an embodiment of the present invention Figure 2 .

[0024] Figure 4 Schematic diagram of the three-dimensional structure of a high-flexibility and multi-compatible automatic palletizing and depalletizing tooling when gripping a material frame according to an embodiment of the present invention.

[0025] Figure 5 Schematic diagram of the three-dimensional structure of a high-flexibility and multi-compatible automatic palletizing and depalletizing tooling when not gripping a material frame according to an embodiment of the present invention.

[0026] Figure 6 Schematic diagram of the three-dimensional structure at the gripper mechanism of a high-flexibility and multi-compatible automatic palletizing and depalletizing tooling according to an embodiment of the present invention. Detailed implementation manners

[0027] The following will describe in detail the preferred embodiments of the present invention in conjunction with the drawings, and further elaborate on the present invention.

[0028] First, in combination with Figures 1 - 6 Describe a high-flexibility and multi-compatible automatic palletizing and depalletizing tooling according to an embodiment of the present invention, which is used for gripping a battery cell material frame and has a wide range of application scenarios.

[0029] As Figures 1 - 6 shown, a high-flexibility and multi-compatible automatic palletizing and depalletizing tooling according to an embodiment of the present invention includes a gantry 100, a moving and lifting mechanism 200, a gripper mechanism 300, and a feedback mechanism.

[0030] Specifically, as Figures 1 - 6 shown, the moving and lifting mechanism 200 is arranged on the gantry 100 to provide the driving force for the moving and lifting movement; the moving and lifting mechanism 200 includes: a moving component and a lifting component. The moving component is arranged on the gantry 100 to provide the driving force for the moving movement; the lifting component is arranged at the output end of the moving component to provide the driving force for the lifting movement, and the output end of the lifting component is connected to the gripper mechanism 300.

[0031] Further, as Figures 1 - 6As shown in the figure, the moving component includes: a pair of first slide rails 211, a first rack 212, a walking frame 213, a first motor 214, and a first gear 215. The pair of first slide rails 211 are arranged on both sides of the top of the gantry 100; the first rack 212 is arranged on the top of the gantry 100; the walking frame 213 is slidably connected to the pair of first slide rails 211, and the walking frame 213 is connected to the lifting component; the first motor 214 is arranged on the walking frame 213, the output end of the first motor 214 penetrates the walking frame 213, and the first motor 214 can be a servo motor; the first gear 215 is sleeved on the output end of the first motor 214, and the first gear 215 meshes with the first rack 212. By controlling the operation of the first motor 214, the first gear 215 can be rotated on the first rack 212, thereby driving the walking frame 213 to move stably on the pair of first slide rails 211.

[0032] Further, as Figures 1 - 6 shown, the moving component further includes: an oil injection system 216, which is arranged on the walking frame 213 and is used to lubricate the first motor 214 and the second motor 226.

[0033] Further, as Figures 1 - 6 shown, the moving component further includes: two first buffers 217, which are respectively arranged on the remaining two sides of the top of the gantry 100 and are used to buffer the walking frame 213.

[0034] Further, as Figures 1 - 6 shown, the lifting component includes: a support frame 221, a hollow part 222, a lifting frame 223, a second rack 225, a second motor 226, and a second gear 227. The support frame 221 is arranged on the walking frame 213; the hollow part 222 is opened on the walking frame 213 and is used to guide the lifting operation of the lifting frame 223; a pair of second slide rails 224 are arranged on the lifting frame 223, and the lifting frame 223 is slidably connected to the support frame 221 through the pair of second slide rails 224. The lifting frame 223 penetrates the hollow part 222, and the bottom of the lifting frame 223 is connected to the gripper mechanism 300; the second rack 225 is arranged on the lifting frame 223; the second motor 226 is arranged on the support frame 221, and the second motor 226 can be a servo motor; the second gear 227 is sleeved on the output end of the second motor 226, and the second gear 227 meshes with the second rack 225. By controlling the operation of the second motor 226, the second gear 227 can be driven to rotate, thereby enabling the second rack 225 to move up and down, so that the lifting frame 223 moves up and down along with the second rack 225 on the pair of second slide rails 224.

[0035] Specifically, as Figures 1 - 6As shown in the figure, the gripper mechanism 300 is provided at the output end of the moving and lifting mechanism 200 and is used to grip an external material box. The gripper mechanism 300 includes: a gripper main body 301, a pair of main gripper jaws 302, and a pair of auxiliary gripper jaws 303. The gripper main body 301 is connected to the output end of the moving and lifting mechanism 200 and moves under the drive of the moving and lifting mechanism 200; a pair of main gripper jaws 302 are provided on both sides of the gripper main body 301 and are used to grip an external material box; a pair of auxiliary gripper jaws 303 are provided on the remaining two sides of the gripper main body 301 and are used to grip an external material box to ensure the stability of gripping.

[0036] Further, as Figures 1 - 6 shown in the figure, the gripper mechanism 300 further includes: a pair of main drive mechanisms and a pair of auxiliary drive mechanisms. A pair of main drive mechanisms are provided on the gripper main body 301 and are respectively used to drive a pair of main gripper jaws 302 to move, so as to realize the opening and clamping of the pair of main gripper jaws 302; a pair of auxiliary drive mechanisms are provided on the gripper main body 301 and are respectively used to drive a pair of auxiliary gripper jaws 303 to move, so as to realize the opening and clamping of the pair of auxiliary gripper jaws 303.

[0037] Further, as Figures 1 - 6 shown in the figure, one of the main drive mechanisms includes: a main cylinder 3041, a pair of third slide rails 3042, and a pair of second buffers 3043. The main cylinder 3041 is provided on the gripper main body 301, and the output end of the main cylinder 3041 is connected to the main gripper jaw 302; a pair of third slide rails 3042 are provided on the gripper main body 301, and the pair of third slide rails 3042 are slidably connected to the main gripper jaw 302; a pair of second buffers 3043 are provided on the gripper main body 301 and are located on both sides of the main cylinder 3041 and are used for buffering; by controlling the operation of the main cylinder 3041, the main gripper jaw 302 can be moved on the pair of third slide rails 3042 to realize the opening and clamping of the main gripper jaw 302.

[0038] Further, as Figures 1 - 6 shown in the figure, one of the auxiliary drive mechanisms includes: an auxiliary cylinder 3051, a pair of fourth slide rails 3052, and a pair of third buffers 3053. The auxiliary cylinder 3051 is provided on the gripper main body 301, and the output end of the auxiliary cylinder 3051 is connected to the auxiliary gripper jaw 303; a pair of fourth slide rails 3052 are provided on the gripper main body 301, and the pair of fourth slide rails 3052 are slidably connected to the auxiliary gripper jaw 303; a pair of third buffers 3053 are provided on the gripper main body 301 and are located on both sides of the auxiliary cylinder 3051 and are used for buffering. By controlling the operation of the auxiliary cylinder 3051, the auxiliary gripper jaw 303 can be moved on the pair of fourth slide rails 3052 to realize the opening and clamping of the auxiliary gripper jaw 303.

[0039] Further, as Figure 6As shown, the feedback mechanism is used to feedback the signal indicating that the movement of the mobile lifting mechanism 200 is in place, so as to control the operating state of the mobile lifting mechanism 200. The feedback mechanism includes: a detection piece 401, a plurality of in-place detectors 402, a laser sensor 403, and a travel switch 404. The detection piece 401 is arranged on the walking frame 213; the plurality of in-place detectors 402 are arranged on the frame 100, used to identify the detection piece 401 and send out in-place signals, so as to improve the accuracy of moving in place. Multiple in-place detectors are respectively corresponding to different palletizing stations; the laser sensor 403 is arranged on the gripper mechanism 300, used to detect the presence or absence of an external material box, so as to slow down the lifting component; the travel switch 404 is arranged on the gripper mechanism 300, used to contact the external material box, so as to control the temporary stop of the lifting component and make the gripper mechanism 300 reach the grasping position.

[0040] Working principle: 1. The material box is in place (manual or automatic feeding). 2. Control the operation of the first motor 214, which can make the first gear 215 rotate on the first rack 212, and then drive the walking frame 213 to move stably on a pair of first slide rails 211. The detection piece 401 and the gripper mechanism 300 move accordingly with the walking frame 213. When the detection piece 401 slides to the position of the in-place detector 402 and is detected by the in-place detector 402, the first motor 214 stops running and reaches the corresponding material taking position. 3. Control the operation of the second motor 226, which can drive the second gear 227 to rotate, and then make the second rack 225 move up and down, so that the lifting frame 223 moves down along a pair of second slide rails 224 with the second rack 225. The gripper mechanism 300 moves down with the lifting frame 223.

[0041] 4. When the laser sensor 403 detects a material box, the second motor 226 decelerates until the travel switch 404 touches the material box, then the gripper mechanism 300 stops descending. The main cylinders 3041 on a pair of main grippers 302 retract, and the auxiliary cylinders 3051 on a pair of auxiliary grippers 303 retract, so that a pair of main grippers 302 and a pair of auxiliary grippers 303 clamp the material box. After clamping is completed, the second motor 226 runs in the reverse direction, and the lifting frame 223 rises, making the gripper mechanism 300 rise with the lifting frame 223.

[0042] 5. Control the operation of the first motor 214, which can make the first gear 215 rotate on the first rack 212, and then drive the walking frame 213 to move stably on a pair of first slide rails 211. The detection piece 401 and the gripper mechanism 300 move accordingly with the walking frame 213. When the detection piece 401 slides to the position of the corresponding in-place detector 402 and is detected by the in-place detector 402, the first motor 214 stops running and reaches the corresponding material discharging position. 6. Control the operation of the second motor 226 to lower the lifting frame 223, causing the gripper mechanism 300 to descend along with the lifting frame 223.

[0043] 7. When the laser sensor 403 detects the loading position, the second motor 226 reduces its speed. A distance measured by the laser sensor 403 is fed back to the second motor 226 according to the program. When the set program is reached, the gripper mechanism 300 stops descending. The main cylinders 3041 on a pair of main grippers 302 extend, and the auxiliary cylinders 3051 on a pair of auxiliary grippers 303 extend, causing the pair of main grippers 302 and the pair of auxiliary grippers 303 to release the material frame.

[0044] 8. The second motor 226 runs in reverse, causing the lifting frame 223 to rise, and the gripper mechanism 300 rises along with the lifting frame 223.

[0045] In this cycle, the palletizing of the material frames is completed.

[0046] Above, with reference to Figures 1 - 6 A highly flexible and multi-compatible automatic palletizing tooling according to an embodiment of the present invention is described, having the following beneficial effects: 1. Automatically detect the presence of the material frame, and the use of the in-place travel switch 404 prevents the gripper from descending excessively and damaging the battery cells and the material frame.

[0047] 2. Generally, there are 4 - 5 layers of material frames to be palletized on the module line. This device can be compatible with 4 - 8 layers, with better compatible height, greatly saving labor.

[0048] 3. On the gantry 100, a servo motor drives the form of a gear rack + two slide rails assist in walking, which can accurately reach the position required by the device, greatly improving the positioning accuracy. At the same time, the use of the in-place detection switch for verification further ensures the accuracy of the device.

[0049] 4. The gripper also moves up and down in the form of a servo motor driving a gear rack + two slide rails assisting in walking, which not only ensures the smoothness of the gripper's ascent but also ensures the accuracy of the ascent height.

[0050] 5. This device can also be set with multiple working positions. The number of working positions depends on the length of the gantry 100, generally two full-material-frame loading positions and one empty-material-frame position.

[0051] 6. The palletizing gripper can be compatible with multiple types of material frames and is compatible with different sizes of material frames according to the strokes of the main cylinders 3041 and the auxiliary cylinders 3051.

[0052] 7. The overall structure and action logic of the device are simple, facilitating debugging and saving hardware and debugging costs.

[0053] It should be noted that in this specification, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "comprising..." do not preclude the presence of additional identical elements in the process, method, article or device comprising said elements.

[0054] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be recognized that the above description should not be construed as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and alternatives to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. A highly flexible and multi-compatible automatic depalletizing tool, characterized in that: Include: Walking rack; A mobile lifting mechanism, which is arranged on the frame and provides a driving force for the mobile lifting movement; A gripper mechanism, which is arranged at the output end of the mobile lifting mechanism and is used to grab an external material frame; A feedback mechanism is used to feed back a signal indicating that the mobile lifting mechanism has reached a certain position, thereby controlling the operating state of the mobile lifting mechanism.

2. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 1, characterized in that: The mobile lifting mechanism comprises: A moving component, the moving component is arranged on the rack and is used to provide a driving force for the moving motion; A lifting component is arranged at the output end of the moving component and is used to provide a driving force for the lifting movement. The output end of the lifting component is connected to the gripping mechanism.

3. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 2, characterized in that: The mobile component comprises: A pair of first slide rails, the pair of first slide rails are arranged on both sides of the top of the rack; A first rack, the first rack being arranged on the top of the rack; A walking frame, the walking frame is slidably connected to the pair of first slide rails, and the walking frame is connected to the lifting assembly; A first motor, wherein the first motor is disposed on the walking frame, and an output end of the first motor passes through the walking frame; A first gear is sleeved on an output end of the first motor, and the first gear is meshed with the first rack.

4. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 3 is characterized in that: The moving assembly further comprises: an oil injection system, and the oil injection system is arranged on the traveling frame.

5. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 3, characterized in that: The moving assembly further comprises: two first buffers, and the two first buffers are respectively arranged on the remaining two sides of the top of the rack.

6. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 2, characterized in that: The lifting assembly comprises: A support frame, wherein the support frame is arranged on the walking frame; A hollow portion, wherein the hollow portion is provided on the walking frame; A lifting frame, wherein a pair of second slide rails are provided on the lifting frame, the lifting frame is slidably connected to the support frame through the pair of second slide rails, the lifting frame passes through the hollow portion, and the bottom of the lifting frame is connected to the gripping mechanism; a second rack, the second rack being arranged on the lifting frame; a second motor, the second motor being arranged on the support frame; The second gear is sleeved on the output end of the second motor, and the second gear is meshed with the second rack.

7. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 1, characterized in that: The gripper mechanism comprises: A gripper body, the gripper body being connected to the output end of the mobile lifting mechanism and moving under the drive of the mobile lifting mechanism; A pair of main clamping jaws, the pair of main clamping jaws are arranged on both sides of the gripper body, and are used to clamp the external material frame; A pair of auxiliary clamping jaws are arranged on the remaining two sides of the gripper body and are used to clamp the external material frame.

8. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 7, characterized in that: The gripper mechanism also comprises: A pair of main driving mechanisms, the pair of main driving mechanisms are arranged on the gripper body and are respectively used to drive a pair of main clamping jaws to move; A pair of auxiliary driving mechanisms are arranged on the gripper body and are respectively used to drive a pair of auxiliary clamping jaws to move.

9. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 8, characterized in that: One of the main drive mechanisms comprises: A main cylinder, wherein the main cylinder is arranged on the gripper body, and an output end of the main cylinder is connected to the main clamping jaw; a pair of third slide rails, the pair of third slide rails being arranged on the gripper body, the pair of third slide rails being slidably connected with the main clamping jaws; a pair of second buffers, the pair of second buffers being arranged on the gripper body and located on both sides of the main cylinder; One of the auxiliary drive mechanisms comprises: An auxiliary cylinder, wherein the auxiliary cylinder is arranged on the gripper body, and an output end of the auxiliary cylinder is connected to the auxiliary clamping claw; a pair of fourth slide rails, the pair of fourth slide rails being arranged on the gripper body, the pair of fourth slide rails being slidably connected with the auxiliary clamping claws; A pair of third buffers are arranged on the gripper body and located on both sides of the auxiliary cylinder.

10. The highly flexible and multi-compatible automatic depalletizing tool as claimed in claim 3, characterized in that: The feedback mechanism comprises: A detection sheet, the detection sheet being arranged on the walking frame; A plurality of in-place detectors, which are arranged on the rack and are used to identify the detection pieces and send out in-place signals; A laser sensor, the laser sensor is arranged on the gripper mechanism and is used to detect an external material frame; A travel switch is arranged on the gripping mechanism.

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