Heavy high-precision transfer robot

Abstract

The invention discloses a heavy high-precision carrying robot, and relates to the technical field of lithium battery carrying, the heavy high-precision carrying robot comprises a ground rail mechanism and a robot main body mechanism, and the robot main body mechanism comprises a lifting frame, a first synchronous lifting device and a rack; the lifting frame is movably connected to the ground rail mechanism in the horizontal direction; the first synchronous lifting device comprises two ball screws; the two ball screws are arranged on the two opposite sides of the lifting frame correspondingly and extend in the vertical direction. The two ends of the rack are in transmission connection with the two ball screws correspondingly so that the rack can move in the vertical direction. The rack is used for bearing a battery cell; according to the technical scheme, the double requirements of a modern lithium battery production line for heavy load and high-precision carrying are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lithium battery carrying, in particular to a heavy high-precision carrying robot. BACKGROUND

[0002] In the field of new energy manufacturing such as lithium batteries, large-scale and integrated production has become the mainstream trend. In order to improve production capacity, large-capacity carriers are generally used to carry multiple batteries at one time, so the single load of the carrying equipment is relatively large.

[0003] The ground rail type RGV commonly used in the industry usually uses a reduction motor-chain wheel / steel wire rope mechanism to realize horizontal walking, and uses hydraulic or chain to realize lifting. However, when the load is too large, the repeated positioning accuracy usually decreases greatly, and the balance between heavy load and high precision cannot be achieved. SUMMARY

[0004] The main purpose of the present application is to provide a heavy high-precision carrying robot, which aims to maintain high-precision repeated positioning performance under heavy load.

[0005] To achieve the above purpose, the heavy high-precision carrying robot provided by the present application comprises:

[0006] a ground rail mechanism; and

[0007] a robot main body mechanism, the robot main body mechanism comprising a lifting frame, a first synchronous lifting device and a rack, the lifting frame being movably connected to the ground rail mechanism in the horizontal direction, the first synchronous lifting device comprising two ball screws, the two ball screws being respectively arranged on opposite sides of the lifting frame and extending in the vertical direction, and the rack being transmissionally connected to the two ball screws at both ends thereof to move in the vertical direction, and the rack being used for carrying battery cells.

[0008] In an embodiment, the robot main body mechanism further comprises a first synchronous lifting device, the first synchronous lifting device comprising a coupling corresponding to each ball screw, each coupling being transmissionally connected to a ball screw, and the two couplings being transmissionally connected to each other to synchronize the movement of the two ball screws.

[0009] In an embodiment, the first synchronous lifting device further comprises a first driving member, a rotating shaft and a reversing device corresponding to each coupling, each reversing device being transmissionally connected to a coupling, and the two reversing devices being transmissionally connected through the rotating shaft, and the first driving member being arranged on the lifting frame and transmissionally connected to a reversing device.

[0010] In an embodiment, the rack comprises a frame body, a bracket and a second synchronous lifting device, the frame body comprises four columns, each of the four columns is arranged on the lifting frame; the second synchronous lifting device comprises four lead screws, each of the lead screws is arranged on one of the columns, the bracket is drivingly connected to the four lead screws to vertically move the bracket on the columns; the bracket is used to carry the battery cell.

[0011] In an embodiment, the second synchronous lifting device further comprises four lifting reversers and two horizontal reversers; each of the lifting reversers is arranged on one of the columns, each of the lead screws is drivingly connected to an output end of one of the lifting reversers; the four lifting reversers are drivingly connected to the two horizontal reversers.

[0012] In an embodiment, the lifting frame is formed with two sliding rails corresponding to each of the lead screws, the four sliding rails are arranged in a vertical direction; the bracket is formed with a sliding groove corresponding to each of the sliding rails, a groove wall of each of the sliding grooves is slidingly connected to one of the sliding rails to limit the movement of the bracket in a horizontal direction when the bracket vertically moves.

[0013] In an embodiment, the ground rail mechanism comprises a rail and a helical rack, the helical rack is arranged on the rail, the helical rack is arranged in an extending manner along the moving direction of the lifting frame; the robot body mechanism further comprises a helical gear and a second driving member, the second driving member is arranged on the lifting frame, the helical gear is drivingly connected to an output end of the second driving member, the helical gear is drivingly engaged with the helical rack.

[0014] In an embodiment, the ground rail mechanism further comprises a lubricating device, the lubricating device is arranged on the lifting frame and is used to lubricate the helical gear and the helical rack.

[0015] In an embodiment, the bracket comprises a guide rail, a driving assembly, a push-pull assembly and a tray, the guide rail is arranged on the lifting frame, each of the trays is slidingly connected to the guide rail and is drivingly connected to the push-pull assembly; the driving assembly is drivingly connected to the push-pull assembly, the driving assembly can drive the push-pull assembly to move the tray along the guide rail; the tray is used to carry the battery cell.

[0016] In an embodiment, the driving assembly comprises a first driving assembly and a second driving assembly;

[0017] The first driving assembly comprises a support, a first guide driving member, a first guide rail and a rack mounting seat, the support is arranged on the lifting frame, the first guide rail is arranged on the support, an output end of the first guide driving member is drivingly connected to the rack mounting seat to drive the rack mounting seat to move on the first guide rail;

[0018] The second driving assembly comprises a second guide driving member and a second guide rail which are mounted on the rack mounting seat, and the push-pull assembly is drivingly connected to an output end of the second guide driving member, and the second guide driving member can drive the push-pull assembly to move along the second guide rail.

[0019] In the technical scheme of the present application, the heavy high-precision carrying robot comprises a ground rail mechanism and a robot main body mechanism, the robot main body mechanism comprises a lifting frame, a first synchronous lifting device and a rack, the lifting frame is movably connected to the ground rail mechanism in the horizontal direction, the first synchronous lifting device comprises two ball screws, the two ball screws are arranged on opposite sides of the lifting frame respectively, and the two ball screws are arranged in the vertical direction, and the rack is drivingly connected to the two ball screws at two ends respectively, so that the rack moves in the vertical direction, and the rack is used for carrying the battery cell. In the technical scheme of the present application, first, the lifting frame is driven by the control system to move to a specified position on the ground rail; then, the ball screw driving motor is started to drive the two side screws to rotate synchronously, so that the bracket is raised or lowered to the required height; the battery cell on the rack is accurately carried to the target position in this way; during the whole process, the control system monitors the position information in real time through the encoder to ensure the motion accuracy. The double ball screws are used in the robot main body mechanism instead of the hydraulic system, which overcomes the compressibility and hysteresis of the hydraulic system and realizes high-precision vertical lifting; the double-side symmetrical ball screw structure enhances the carrying capacity and stability, effectively deals with heavy load working conditions, realizes the decoupling of horizontal movement and vertical lifting, and greatly improves the overall positioning accuracy; thus, the high-precision positioning capability can be maintained while carrying the large-capacity battery cell bracket, which meets the dual requirements of heavy load and high-precision carrying of modern lithium battery production lines. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0021] Figure 1 The structure schematic diagram of an embodiment of the heavy high-precision carrying robot provided by the present application is shown in the figure.

[0022] Figure 2 The structure schematic diagram of the ground rail mechanism in the heavy high-precision carrying robot is shown in the figure. Figure 1 The local enlarged view of A in the figure.

[0023] Figure 3 The structure schematic diagram of the ground rail mechanism in the heavy high-precision carrying robot is shown in the figure.

[0024] Figure 4 The structure schematic diagram of the ground rail mechanism in the heavy high-precision carrying robot is shown in the figure.Figure 3 Structure diagram at B in the middle;

[0025] Figure 5 Structure diagram of a lifting frame in a heavy high-precision carrying robot;

[0026] Figure 6 Structure diagram of a lifting frame in a heavy high-precision carrying robot; Figure 5 Enlarged view at C in the middle;

[0027] Figure 7 Structure diagram of a lifting frame in a heavy high-precision carrying robot;

[0028] Figure 8 Structure diagram of a driving assembly in a heavy high-precision carrying robot.

[0029] BRIEF DESCRIPTION OF DRAWINGS

[0030] 1000 Heavy duty high precision handling machine 221222 Second guide rail 1 Ground rail mechanism 2213 Push-pull assembly 11 Track 2214 Tray 12 Helical rack 2221 Column 13 Lubricating device 2231 Lead screw 2 Robot body mechanism 2232 Lift reverser 21 Lifting frame 2233 Horizontal reverser 211 Slide rail 23 Ball screw 22 Frame 24 First synchronous lifting device 221 Bracket 241 Coupling 2211 Guide rail 242 First driving member 221211 Support 243 Rotating shaft 221212 First guide driving member 244 Reverser 221213 First guide rail 25 Helical gear 221214 Rack mounting seat 26 Second driving member 221221 Second guide driving member

[0031] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0034] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0035] In the field of new energy manufacturing such as lithium battery, large-scale and integrated production has become the mainstream trend. In order to improve the production capacity, the production line generally uses large capacity bracket to carry multiple battery cells at one time, so the single load of the carrying equipment is relatively large.

[0036] The ground rail type RGV commonly used in the industry at present usually realizes horizontal walking by means of a speed reducer-mechanism of chain wheel / steel wire rope, and realizes lifting by means of hydraulic pressure or chain. However, when the load is too large, the repeated positioning accuracy usually decreases greatly, and the balance between heavy load and high precision cannot be realized.

[0037] To solve the above problems, the present application provides a heavy and high-precision carrying robot 1000, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The structure schematic diagram of the embodiment of the heavy and high-precision carrying robot 1000 provided by the present application.

[0038] Please refer to Figure 1 and Figure 2 The present application provides a heavy and high-precision carrying robot 1000, which comprises a ground rail mechanism 1 and a robot main body mechanism 2, and the robot main body mechanism 2 comprises a lifting frame 21, a first synchronous lifting device 24 and a rack 22; the lifting frame 22 is movably connected to the ground rail mechanism 1 in the horizontal direction; the first synchronous lifting device 24 comprises two ball screws 23; the two ball screws 23 are respectively arranged on the opposite sides of the lifting frame 22, and the two ball screws 23 are arranged in the vertical direction; the two ends of the rack 22 are respectively drivingly connected to the two ball screws 23, so that the rack 22 moves in the vertical direction; and the rack 22 is used for carrying battery cells.

[0039] The ground rail mechanism 1 refers to a rail structure for supporting and guiding the movement of the lifting frame 21 in the horizontal direction. It can be implemented by a rail with a guide groove and a driving assembly. The ground rail mechanism 1 can provide a stable horizontal movement path for the lifting frame 21, reducing positioning deviation caused by wheel-rail matching errors. The robot main body mechanism 2 refers to a device that realizes the stable lifting of the rack 22 in the vertical direction through mechanical linkage. It can be implemented by a structure with two symmetrical ball screws 23. The synchronous transmission of the two ball screws 23 eliminates the unbalanced load problem caused by single-sided driving, thereby improving the stability and positioning accuracy of the lifting process. The ball screw 23 is a precision transmission component that converts rotary motion into linear motion. It can be implemented by a structure with high-precision ground screw and ball nut. The low friction and high transmission efficiency of the ball screw 23 ensure accurate vertical displacement control of the rack 22 when carrying heavy objects. The two ends of the rack 22 are respectively connected to the two ball screws 23, which means that the rack 22 is connected to the two ball screws through a rigid or flexible connection structure. The ball nut and the rack 22 can be fixed through a flange or a coupling 241. The synchronous driving of the two sides makes the force on the rack 22 uniform, avoiding tilting or jamming caused by single-sided transmission. The sliding rail 211 cooperates with the sliding groove, which means that the sliding rail 211 and the sliding groove are used to limit the horizontal degree of freedom of the rack 22. It can be implemented by a combination of rectangular or dovetail-shaped guide rails and matching grooves. The close cooperation between the sliding rail 211 and the sliding groove eliminates the horizontal deviation of the rack 22 caused by load changes during lifting, ensuring the straightness of the vertical motion trajectory.

[0040] The heavy-duty high-precision handling robot 1000 includes a ground rail mechanism 1 and a robot main body mechanism 2. The robot main body mechanism 2 is composed of a lifting frame 21, a first synchronous lifting device 24, and a rack 22. The lifting frame 21 is horizontally connected to the ground rail mechanism 1 and can move in the horizontal direction. Two ball screws 23 are respectively arranged on opposite sides of the lifting frame 21 and extend in the vertical direction. The two ends of the rack 22 are respectively connected to the two ball screws 23, so that the rack 22 can move in the vertical direction.

[0041] The ground rail mechanism 1 provides horizontal movement guidance and support for the lifting frame 21. The lifting frame 21 moves on the ground rail mechanism 1 to achieve horizontal positioning. Two ball screws 23 are symmetrically arranged on both sides of the lifting frame 21, forming a stable lifting structure. The ball screw 23 lifts the rack 22 in the vertical direction through rotary motion. The rack 22 is used to carry the battery cell and is the core working component of the transfer robot. By controlling the rotation of the ball screw 23, the height position of the rack 22 can be accurately adjusted. The cooperation of the ground rail mechanism 1 and the robot main body mechanism 2 enables the transfer robot to accurately position and move in three-dimensional space, completing the transfer task of the battery cell. The selection of the ball screw 23 can effectively eliminate the compressibility and hysteresis of the traditional hydraulic system, improving the lifting accuracy. The symmetrical arrangement of the ball screw 23 structure enhances the carrying capacity and stability.

[0042] First, the lifting frame 21 is driven by the control system to move to the designated position on the ground rail; then the ball screw 23 drive motor is started to drive the two sides of the screw to rotate synchronously, making the rack 22 rise or fall to the required height; the battery cell on the rack 22 is accurately transferred to the target position in this way; during the whole process, the control system monitors the position information in real time through the encoder to ensure the motion accuracy. The use of double ball screws 23 in the robot main body mechanism 2 instead of the hydraulic system overcomes the compressibility and hysteresis of the hydraulic system, achieving high-precision vertical lifting; the symmetrical arrangement of the ball screw 23 structure enhances the carrying capacity and stability, effectively coping with heavy load working conditions, realizing the decoupling of horizontal movement and vertical lifting, and greatly improving the overall positioning accuracy; thus, it can carry large-capacity battery cell racks 22 while maintaining high-precision positioning capability, meeting the dual demands of heavy load and high-precision transfer in modern lithium battery production lines.

[0043] Please refer to Figure 1 , Figure 2 , Figure 5 and Figure 6 In an embodiment of the present application, the robot main body mechanism 2 further comprises a first synchronous lifting device 24, the first synchronous lifting device 24 comprising a coupling 241 corresponding to each ball screw 23; each coupling 241 is in transmission connection with a ball screw 23, and the two couplings 241 are in transmission connection to make the two ball screws 23 move synchronously.

[0044] Among them, the two couplings 241 are respectively sleeved on the drive end of the ball screw 23; the input end of the coupling 241 is fixedly connected with the drive end of the ball screw 23 through a key groove or a flange structure; the output ends of the two couplings 241 are in transmission connection through gears, chains or synchronous belts; the transmission ratio of the coupling 241 is set to 1:1, ensuring that the rotation speed and direction of the two ball screws 23 are consistent.

[0045] Specifically, the driving end of each ball screw 23 is fixedly connected with a coupling 241, and the output ends of the two couplings 241 are in a linkage relationship through transmission components. When the driving member outputs power, the power is transmitted to the two ball screws 23 through the couplings 241, and the two ball screws 23 rotate at the same speed and in the same direction under the constraint of the transmission components, driving the rack 22 to stably ascend and descend along the vertical direction. For example, the two couplings 241 are connected through a synchronous belt, the tooth shape of the synchronous belt is engaged with the tooth groove on the outer periphery of the coupling 241, and the transmission gap is eliminated; further, the coupling 241 is a cross slider coupling 241, and the installation error of the two ball screws 23 is compensated through the intermediate slider, avoiding vibration or wear caused by axis deviation. Thus, the synchronous movement of the two ball screws 23 eliminates the deviation of the rack 22 caused by uneven force on one side, ensuring that the battery cell remains in a horizontal state during the lifting process.

[0046] The two couplings 241 are synchronously driven, and when one ball screw 23 rotates, the other ball screw 23 is driven to rotate synchronously through the coupling 241, thereby realizing the synchronous movement of the two ball screws 23 and improving the stability and precision of the lifting of the rack 22. Thus, the movement of the rack 22 in the vertical direction is more stable, reducing tilting and shaking and improving the safety and reliability of the battery cell handling. At the same time, the setting of the first synchronous lifting device 24 simplifies the control system, and there is no need to control the two ball screws 23 respectively, reducing the control difficulty and cost.

[0047] Please refer to Figure 1 、 Figure 2 、 Figure 5 and Figure 6 In an embodiment of the present application, the first synchronous lifting device 24 further comprises a first driving member 242, a rotating shaft 243, and a reversing device 244 corresponding to each coupling 241, each reversing device 244 is in transmission connection with a coupling 241, and the two reversing devices 244 are in transmission connection through the rotating shaft 243; the first driving member 242 is arranged on the lifting frame 21 and is in transmission connection with a reversing device 244.

[0048] The reversing device 244 adopts a right-angle gear box structure, the input end is coaxially connected with the output end of the first driving member 242, and the output end is connected with the screw end of the ball screw 23 through the coupling 241; the rotating shaft 243 is a rigid transmission shaft, and the two ends are fixedly connected with the lateral output ends of the two reversing devices 244 through flanges; the first driving member 242 adopts a servo motor, the motor base is fixed on the lifting frame 21 through bolts, the output shaft is key-connected with the input end of the reversing device 244; the two reversing devices 244 are symmetrically distributed on the two sides of the lifting frame 21, and the rotating shaft 243 extends along the horizontal direction and penetrates through the internal space of the lifting frame 21.

[0049] Specifically, the rotating power output by the first driving member 242 is transmitted to the ball screws 23 through the couplings 241 after changing the transmission direction by the reversers 244, and the rotating shaft 243 synchronously transmits power to the reverser 244 on the other side, so that the screw rods of the two ball screws 23 move at the same speed and in the same direction. For example, when the servo motor is driven at a speed of 200 rpm, the rotating shaft 243 equally divides the power and transmits it to the reversers 244 on both sides, and the screw rods of the two ball screws 23 rotate synchronously, driving the rack 22 to vertically ascend or descend at a speed of 10 mm / s. Since the rotating shaft 243 is directly connected to the lateral output ends of the two reversers 244, the angle deviation in chain transmission is eliminated, the phase difference between the two ball screws 23 is controlled within ±0.05°, and the rack 22 still maintains horizontal ascending and descending when carrying 500 kg of battery cells, and the repeated positioning accuracy reaches ±0.1 mm.

[0050] The output shaft of the first driving member 242 is connected to one reverser 244 through the coupling 241. The two reversers 244 are connected by a transverse rotating shaft 243, forming a transmission chain. When the first driving member 242 operates, the power is transmitted to the two ball screws 23 through the reversers 244 and the rotating shaft 243, so that they rotate synchronously, thereby stably driving the rack 22 to ascend or descend. The transmission chain of the reverser 244 and the rotating shaft 243 keeps the two ball screws 23 synchronized, avoids the inclination of the rack 22, has a simple and reliable structure, high transmission efficiency, and is suitable for precise lifting operation under heavy load conditions. Compared with the hydraulic system, the response is faster and the positioning is more accurate.

[0051] Please refer to Figure 2 and Figure 7 In an embodiment of the present application, the rack 22 comprises a frame body, a bracket 221, and a second synchronous lifting device. The frame body comprises four vertical columns 2221, each of which is arranged in the lifting frame 21. The second synchronous lifting device comprises four screw rods 2231, each of which is arranged in a vertical column 2221. The bracket 221 is drivingly connected to the four screw rods 2231 to move in the vertical direction. The bracket 221 is used to carry battery cells.

[0052] By adding the second synchronous lifting device on the basis of the first synchronous lifting device 24, a double-layer lifting structure is formed. The first-stage lifting (overall lifting of the rack) and the second-stage lifting (independent lifting of the bracket) are decoupled, so that the resolution in the vertical direction is improved to the sum of the two-stage precisions. For example, if the single-stage precision is ±0.1 mm, the superposition can reach ±0.05 mm, which meets the demand of the lithium battery production line for micron-level positioning.

[0053] The four lead screws 2231 are symmetrically distributed on the columns 2221 to form a four-point support structure, which significantly reduces the elastic deformation of the bracket 221 under heavy load compared with the traditional single-point or double-point support. The rigidity transmission of the lead screws 2231 eliminates the compressibility error of the hydraulic system, ensures that the bracket 221 remains horizontal during lifting, and avoids collision or damage of the battery cell caused by inclination.

[0054] Please refer to Figure 2 and Figure 7 In an embodiment of the present application, the second synchronous lifting device further comprises four lifting commutators 2232 and two horizontal commutators 2233; each lifting commutator 2232 is arranged on a column 2221, and each lead screw 2231 is drivingly connected to the output end of a lifting commutator 2232; the four lifting commutators 2232 are drivingly connected to the two horizontal commutators 2233.

[0055] Through distributed transmission by double shaft couplings, such as sharing one coupling by every two driving members, and then coupling the power of the four lifting commutators 2232 into synchronous output through the cooperation of the two horizontal commutators 2233, the phase difference caused by stretching deformation of the traditional chain or belt transmission is avoided. Experimental data show that this design makes the synchronization error of the four shafts ≤0.02°, and the height difference of the four corners of the bracket 221 is controlled within ±0.03mm.

[0056] It can be understood that the first driving member 242 can be a hydraulic cylinder, a servo motor, or a gas cylinder. In an embodiment of the present application, the first driving member 242 is a servo motor.

[0057] The servo motor is installed on the side wall of the lifting frame 21 through a flange, and its output shaft is directly connected to the commutator 244 through a shaft coupling 241. The servo motor is provided with a built-in encoder, which can feed back the rotation speed and position signals to the control system in real time. The rated power range of the servo motor is 0.5-3kW, the output torque is 2-15N*m, and the response time is milliseconds. The protection grade of the servo motor is IP65, which is suitable for high-dust environments.

[0058] Specifically, after receiving the pulse signal of the control system, the servo motor drives the commutator 244 to rotate through the output shaft, and the commutator 244 transmits power to the rotating shaft 243, thereby synchronously driving the commutator 244 on the other side to rotate, and finally realizing the same angular velocity of the two ball screws 23. The servo motor dynamically adjusts the output torque through closed-loop control to compensate for the speed fluctuation caused by load changes, so that the carriage 221 maintains a horizontal state during lifting. Further, the high-resolution encoder of the servo motor can detect the angular deviation of the ball screw 23, and when the deviation exceeds the set threshold, the control system automatically corrects the motor speed to eliminate the displacement difference between the two ball screws 23. Therefore, the repeat positioning accuracy of the carriage 221 moving in the vertical direction can be controlled within ±0.1 mm, while avoiding the wear problem of the sliding rail 211 and the sliding groove caused by uneven stress.

[0059] The servo motor is used as the driving part, which can realize high-precision control of the lifting movement of the carriage 221. The servo motor has the characteristics of fast response and precise positioning, and can accurately control the rotation of the ball screw 23, so that the movement of the carriage 221 in the vertical direction is more stable and accurate, effectively improving the positioning accuracy and running stability of the heavy high-precision carrying robot 1000, and is particularly suitable for scenes that need to accurately carry heavy battery cells.

[0060] Please refer to Figure 1 , Figure 2 , Figure 5 and Figure 6 In an embodiment of the present application, the lifting frame 21 is formed with two sliding rails 211 corresponding to each ball screw 23, and the four sliding rails 211 are arranged in the vertical direction; the carriage 221 is formed with a sliding groove corresponding to each sliding rail 211, and the groove wall of each sliding groove is slidingly connected to a sliding rail 211 to limit the movement of the carriage 221 in the horizontal direction when the carriage 221 moves vertically.

[0061] Among them, the cross-sectional shape of the sliding rail 211 is rectangular or T-shaped, and a self-lubricating bushing is arranged on the inner wall of the sliding groove. The sliding rail 211 is arranged in parallel with the ball screw 23, and the two groups of sliding rails 211 are respectively located on both sides of the ball screw 23, forming a symmetrical support structure. The opening direction of the sliding groove is perpendicular to the extension direction of the sliding rail 211, and the gap in the groove is controlled within the range of 0.05-0.1 millimeters.

[0062] Specifically, when the bracket 221 is driven to move vertically by the ball screw 23, the sliding groove and the sliding rail 211 form four sets of guiding constraints. The vertical extension of the sliding rail 211 forces the sliding groove to move in a single direction, eliminating the horizontal degree of freedom through the surface contact of the groove wall and the rail surface. Under the action of the rated load, the rigid contact between the sliding rail 211 and the sliding groove can offset the lateral offset torque caused by the transmission gap of the ball screw 23, and the symmetrical arrangement of the sliding rail 211 can balance the force difference on both sides. Further, the inner wall of the sliding groove and the surface of the sliding rail 211 form a stable friction pair through linear contact, and the friction coefficient is kept within the range of 0.01-0.03 under lubrication conditions, which ensures smooth movement and avoids gap shaking. This structure makes the vertical movement trajectory error of the bracket 221 controlled within ±0.02 millimeters, meeting the high-precision battery carrying requirements.

[0063] When the bracket 221 is driven to move vertically by the ball screw 23, the sliding groove slides along the sliding rail 211. Due to the cooperation of the sliding rail 211 and the sliding groove, the bracket 221 is restricted to move in the vertical direction, avoiding horizontal shaking or deviation. This structural design ensures the stability and accuracy of the bracket 221 during lifting. The cooperation of the sliding rail 211 and the sliding groove effectively limits the movement of the bracket 221 in the horizontal direction, reducing shaking and deviation, thereby improving the accuracy during carrying. This structural design is particularly suitable for heavy battery carrying scenarios that require high-precision positioning, and can meet the stability and accuracy requirements of the production line for carrying equipment.

[0064] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 In an embodiment of the present application, the ground rail mechanism 1 includes a track 11 and a helical rack 12, the helical rack 12 is arranged on the track 11, and the helical rack 12 is arranged along the moving direction of the lifting frame 21; the robot body mechanism 2 further includes a helical gear 25 and a second driving member 26, the second driving member 26 is arranged on the lifting frame 21, the helical gear 25 is drivingly connected to the output end of the second driving member 26, and the helical gear 25 is in meshing transmission with the helical rack 12.

[0065] Among them, the track 11 supports the helical rack 12 as a bearing structure, the helical rack 12 is fixedly installed along the horizontal movement path of the lifting frame 21, and the tooth surface inclination angle matches the tooth shape of the helical gear 25.

[0066] Specifically, the track 11 can adopt a steel structure frame, on which the helical rack 12 is installed. The helical rack 12 can be made of high-strength alloy material, having good wear resistance and strength. The helical rack 12 extends along the horizontal direction, parallel to the moving track of the lifting frame 21. The helical gear 25 can be made of the same material and tooth shape as the helical rack 12, to ensure the stability and precision of meshing transmission. The output shaft of the second driving member 26 is fixedly connected with the helical gear 25. The helical gear 25 meshes with the helical rack 12, and when the second driving member 26 drives the helical gear 25 to rotate, the entire lifting frame 21 can be driven to move in the horizontal direction. Due to the meshing transmission of the helical rack 12 and the helical gear 25, compared with the traditional chain wheel or steel wire rope transmission, the transmission gap is greatly reduced, and the positioning precision is improved. At the same time, the meshing area of the helical gear 25 and the helical rack 12 is large, and the carrying capacity is strong, which is suitable for heavy load carrying.

[0067] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 In an embodiment of the present application, the ground rail mechanism 1 further comprises a lubricating device 13, which is arranged on the lifting frame 21 and is used for lubricating the helical gear 25 and the helical rack 12.

[0068] The lubricating device 13 comprises a lubricant supply part and a distribution part. The lubricant supply part is fixed on the lifting frame 21, and the distribution part is in communication with the supply part through a pipeline. The outlet of the distribution part faces the meshing area of the helical gear 25 and the helical rack 12. The lubricant supply part can adopt an automatic oil injection pump, and the distribution part can comprise a plurality of nozzles which are distributed at intervals along the extension direction of the helical rack 12. The lubricating device 13 further comprises a control module which triggers the lubricant supply according to the moving distance or working time of the helical gear 25.

[0069] Specifically, the lubricant is uniformly sprayed to the meshing surface of the helical gear 25 and the helical rack 12 through the nozzles, forming an oil film to reduce the frictional resistance of the contact surface. The lubricant supply part adjusts the lubricating area synchronously through the movement of the lifting frame 21, ensuring that the helical gear 25 and the helical rack 12 are lubricated in the full stroke range. The control module starts the oil injection pump according to the displacement sensor signal of the helical gear 25 or the preset time interval, realizing quantitative and timed lubrication. In this way, the wear rate of the helical gear 25 and the helical rack 12 is reduced, the transmission precision is maintained, and pollution caused by excessive lubricant is avoided.

[0070] Further, the lubricating device 13 can include an oil tank, an oil pump and an oil nozzle. The oil tank is fixedly installed on the lifting frame 21 and used for storing lubricating oil. The oil pump is connected with the oil tank and used for pumping lubricating oil out of the oil tank. The oil nozzle is connected with an oil outlet of the oil pump and located near the meshing position of the helical gear 25 and the rack 12. When the oil pump works, the lubricating oil is sprayed to the meshing position of the helical gear 25 and the rack 12 through the oil nozzle, so as to realize lubrication of the helical gear 25 and the rack 12.

[0071] Through the above technical solution, the automatic lubrication of the helical gear 25 and the rack 12 can be realized by arranging the lubricating device 13 on the lifting frame 21. Thus, the friction between the helical gear 25 and the rack 12 is reduced, the service life of the helical gear 25 and the rack 12 is prolonged, and the transmission efficiency is improved. Meanwhile, the automatic lubrication also reduces the workload of manual lubrication and improves the automation degree of the equipment.

[0072] It can be understood that the second driving member 26 can be a hydraulic cylinder, a servo motor or an air cylinder. In an embodiment of the present application, the second driving member 26 is a servo motor.

[0073] The servo motor is installed on the lifting frame 21, and the output shaft thereof is fixedly connected with the helical gear 25 through a mechanical connecting member. The torque is generated between the rotor and the stator of the servo motor through electromagnetic induction, and the encoder is configured to feed back the angular displacement signal of the rotor in real time. The tooth profile parameters of the helical gear 25 are matched with the modulus and pressure angle of the rack 12, and the rotating speed of the servo motor is adjusted through the reducer and then transmitted to the helical gear 25. For example, the rated torque range of the servo motor is 10-50 N*m, the resolution of the encoder is not less than 17 bits, and the reduction ratio of the reducer is set to be between 10:1 and 20:1.

[0074] Specifically, after receiving the pulse signal of the external control system, the servo motor drives the output shaft to rotate by a preset angle. The helical gear 25 is engaged with the rack 12 during the rotation process, and the rotary motion is converted into the linear displacement of the lifting frame 21 along the track mechanism 1. The encoder monitors the actual rotation angle of the output shaft in real time and compares it with the target rotation angle in a closed loop, and adjusts the current output to correct the position error of the rotor. Since the dynamic response time of the servo motor is less than 50 ms, the transmission gap between the helical gear 25 and the rack 12 is controlled to be within 0.01 mm, so that the cumulative deviation of the lifting frame 21 during the horizontal movement due to the control lag or transmission error of the driving member is avoided, and finally the high-precision positioning of the carrying robot under heavy load is realized.

[0075] The second driving member 26 is a servo motor of model MSMF052L1, which is installed on the mounting base of the side wall of the lifting frame 21 through a flange. The output shaft of the servo motor is connected to the transmission shaft of the helical gear 25 through a key groove, and the transmission shaft and the helical gear 25 are assembled in an interference fit. The modulus of the helical gear 25 is 5, and the number of teeth is 24, which matches the tooth profile parameters of the helical rack 12. The servo motor receives pulse signals from an external control system, and feeds back speed and position information in real time through a built-in encoder, so that the helical gear 25 and the helical rack 12 achieve a positioning accuracy of 0.01 mm per pulse during meshing. The high response characteristics and closed-loop control capability of the servo motor eliminate the transmission error caused by the gear clearance of the traditional reduction motor, and at the same time, the speed fluctuation during the meshing of the helical gear 25 and the helical rack 12 is suppressed through precise speed matching. Therefore, when carrying heavy battery cells, the horizontal displacement accuracy of the lifting frame 21 along the ground rail can be stably controlled within ±0.05 mm, effectively solving the positioning deviation problem caused by insufficient accuracy of the driving system under heavy load working conditions.

[0076] It should be noted that the direction in which the driving assembly drives the movement of the tray 2214 is defined as the third direction, the direction in which the bracket 221 moves is defined as the second direction, and the direction in which the lifting frame 21 moves is defined as the first direction; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0077] Please refer to Figure 1 , Figure 7 and Figure 8 In an embodiment of the present application, the bracket 221 includes a guide rail 2211, a driving assembly, a push-pull assembly 2213, and a tray 2214. The guide rail 2211 is provided on the lifting frame 21, each tray 2214 is slidingly connected to the guide rail 2211 and drivingly connected to the push-pull assembly 2213; the driving assembly is drivingly connected to the push-pull assembly 2213, and the driving assembly can drive the push-pull assembly 2213 to move the tray 2214 along the guide rail 2211; the tray 2214 is used to carry battery cells.

[0078] It should be noted that the guide rail 2211 is arranged on the opposite two inner sides of the lifting frame 21 by means of bolt connection, clamping, welding and the like, which is not limited here. The guide rail 2211 is used to provide a fixed path for the sliding of the tray 2214, so as to ensure that the tray 2214 always remains on the predetermined track during horizontal movement, avoiding deviation or shaking. The driving assembly controls the moving direction of the push-pull assembly 2213 by changing the rotating direction of the motor, so as to realize the bidirectional transportation of the tray 2214 in two directions. The push-pull assembly 2213 is used to realize the connection with the tray 2214. In an embodiment, the motor drives the gear rotation through the speed reducer, and the gear is engaged with the rack on the push-pull assembly 2213. The rack is fixed on the push-pull assembly 2213, and the gear is installed on the output shaft of the motor. When the motor rotates, the gear drives the rack to push the push-pull assembly 2213 to move, and then drives the tray 2214 to move along the guide rail 2211. In another embodiment, the driving mode is realized through the hydraulic cylinder, that is, the push-pull assembly 2213 is fixedly connected with the piston rod of the hydraulic cylinder through the connecting piece, and the piston rod of the hydraulic cylinder is fixedly connected with the push-pull assembly 2213 through the connecting piece (such as connecting rod or flange). The extension and retraction action of the hydraulic cylinder is controlled through the hydraulic system, which drives the push-pull assembly 2213 and the tray 2214 to move along the guide rail 2211. This is not limited here.

[0079] Please refer to Figure 1 , Figure 7 and Figure 8 In an embodiment of the present application, the driving assembly comprises a first driving assembly and a second driving assembly; the first driving assembly comprises a support 221211, a first guide driving member 221212, a first guide rail 221213 and a rack mounting seat 221214, the support 221211 is arranged on the lifting frame 21, the first guide rail 221213 is arranged on the support 221211, the output end of the first guide driving member 221212 is in transmission connection with the rack mounting seat 221214, so as to drive the rack mounting seat 221214 to move on the first guide rail 221213; the second driving assembly comprises a second guide driving member 221221 and a second guide rail 221222 arranged on the rack mounting seat 221214, the push-pull assembly 2213 is in transmission connection with the output end of the second guide driving member 221221, and the second guide driving member 221221 can drive the push-pull assembly 2213 to move along the second guide rail 221222.

[0080] It should be noted that in order to ensure that the push-pull assembly 2213 can move between the leftmost and rightmost of the whole structure, the precise movement of the tray 2214 in two directions is realized by two-stage transmission mechanism, the first driving assembly is the first stage transmission mechanism, and the second driving assembly is the second stage transmission mechanism. The support 221211 can be arranged on the lifting frame 21 by bolt connection, clamping, welding and the like. Here, the support 221211 can be a horizontal rod arranged on the lifting frame 21, or two horizontal rods arranged on the lifting frame 21. Hereinafter, the support 221211 is explained and described as two horizontal rods arranged on the lifting frame 21. The type of the first guide driving member 221212 includes but is not limited to a motor, a cylinder and the like, and here the preferred mode is a servo motor. The first guide rail 221213 is arranged on the two horizontal rods by bolt connection, welding and the like. The opposite sides of the rack mounting seat 221214 are provided with racks engaged with the gears. The first guide driving member 221212 drives the rack mounting seat 221214 to move along the first guide rail 221213 by the engagement of the gears and the racks. The gear and rack transmission has good repeat positioning accuracy, and even in multiple back-and-forth movements, it can ensure that the rack mounting seat 221214 can accurately reach the predetermined position each time. It can be understood that the number of gears is not limited, and here four gears are preferably provided, which are arranged on the same side of the first guide driving member 221212. The second guide rail 221222 can be arranged on the rack mounting seat 221214 by bolt connection, clamping and the like. The type of the second guide driving member 221221 includes but is not limited to a motor, a cylinder, a hydraulic cylinder and the like, which is not limited here.

[0081] The above description is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made according to the technical concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A heavy duty high precision handling robot, characterized in that, The utility model relates to a kind of robot body mechanism and ground rail mechanism. The robot body mechanism includes lifting frame, first synchronous lifting device and rack; the lifting frame is movably connected to the ground rail mechanism in horizontal direction; the first synchronous lifting device includes two ball screws; two ball screws are respectively arranged on opposite sides of the lifting frame, and two ball screws are arranged along vertical direction; the two ends of the rack are respectively drivingly connected to two ball screws, so that the rack moves in vertical direction; the rack is used to carry battery cell. The first synchronous lifting device further includes a coupling corresponding to each ball screw; each coupling is drivingly connected to a ball screw, and two couplings are drivingly connected to each other, so that two ball screws move synchronously. The first synchronous lifting device further includes a first driving member, a rotating shaft and a reverser corresponding to each coupling; each reverser is drivingly connected to a coupling, and two reversers are drivingly connected through the rotating shaft; the first driving member is arranged on the lifting frame and drivingly connected to a reverser.

2. The heavy duty high precision handling robot according to claim 1, characterized in that The rack includes a frame body, a bracket and a second synchronous lifting device; the frame body includes four columns, and four columns are arranged on the lifting frame; the second synchronous lifting device includes four screws; each screw is arranged on a column; the bracket is drivingly connected to four screws, so that the bracket moves in vertical direction; the bracket is used to carry battery cell.

3. The heavy high-precision handling robot according to claim 2, characterized in that The second synchronous lifting device further includes four lifting reversers and two horizontal reversers; each lifting reverser is arranged on a column; each screw is drivingly connected to the output end of a lifting reverser; four lifting reversers are drivingly connected to two horizontal reversers.

4. The heavy duty high precision handling robot according to claim 1, wherein, The lifting frame is formed with two slides corresponding to each ball screw; four slides are arranged along vertical direction; the bracket is formed with a sliding groove corresponding to each slide; the groove wall of each sliding groove is slidingly connected to a slide, so as to limit the movement of the bracket in horizontal direction when the bracket moves vertically.

5. The heavy high-precision handling robot according to claim 4, characterized in that, The ground rail mechanism includes a track and a helical rack; the helical rack is arranged on the track and extends along the moving direction of the lifting frame; the robot body mechanism further includes a helical gear and a second driving member; the second driving member is arranged on the lifting frame; the output end of the second driving member is drivingly connected to the helical gear; the helical gear is drivingly engaged with the helical rack.

6. The heavy duty high precision handling robot according to claim 1, wherein, The ground rail mechanism further includes a lubricating device; the lubricating device is arranged on the lifting frame and used to lubricate the helical gear and the helical rack.

7. The heavy duty high precision handling robot according to claim 1, wherein The bracket includes a guide rail, a driving assembly, a push-pull assembly and a tray; the guide rail is arranged on the lifting frame; each tray is slidingly connected to the guide rail and drivingly connected to the push-pull assembly; the driving assembly is drivingly connected to the push-pull assembly; the driving assembly can drive the push-pull assembly, and then drive the tray to move along the guide rail; the tray is used to carry battery cell.

8. The heavy duty high precision handling robot according to claim 7, characterized in that The driving assembly includes a first driving assembly and a second driving assembly.

9. The heavy duty high precision handling robot according to claim 4 or 5, characterized in that ​ 10. The heavy duty high precision handling robot according to claim 9, characterized in that, ​ The first driving assembly comprises a support, a first guide driving member, a first guide rail and a rack mounting seat, the support is arranged on the lifting frame, the first guide rail is arranged on the support, the output end of the first guide driving member is in transmission connection with the rack mounting seat to drive the rack mounting seat to move on the first guide rail; The second driving assembly comprises a second guide driving member and a second guide rail which are arranged on the rack mounting seat, the push-pull assembly is in transmission connection with the output end of the second guide driving member, and the second guide driving member can drive the push-pull assembly to move along the second guide rail.

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