A kind of robot for power battery fireproof mica plate grabbing

Abstract

The present application relates to the technical field of robots, and particularly relates to a robot for grabbing fireproof mica plate of power battery, which comprises a robot body and a grabbing mechanism; the grabbing mechanism comprises a support; the support is provided with a strip-shaped arm; the strip-shaped arm is provided with a first driving rod and a second driving rod which are arranged in a telescopic sliding mode; the support is provided with a first Y-shaped arm; the first Y-shaped arm is provided with a first left sliding rod and a second left sliding rod which are arranged in a telescopic sliding mode; the first Y-shaped arm further comprises a first left swing shaft and a second left swing shaft; the first left swing shaft and the second left swing shaft are provided with vacuum suction assemblies. In the suction stage, all the vacuum suction assemblies are first moved towards the center to suck the mica plate; after suction, the first driving rod and the second driving rod are controlled to move outward, the first left swing shaft and the second left swing shaft are synchronously swung, and then the first left sliding rod and the second left sliding rod are respectively arranged in a telescopic sliding mode along the first Y-shaped arm, so that the vacuum suction assemblies are evenly diffused to the surroundings, and the warped mica plate is forcibly flattened by using the suction force.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a robot for grasping fireproof mica plates for power batteries. Background Technology

[0002] In the field of power batteries, fire safety performance is one of the key indicators to ensure the stable operation of battery systems. Fireproof mica panels, with their excellent high temperature resistance, insulation and good fire-retardant effect, have become an important fireproof isolation component inside power battery packs. They are widely used in key locations such as between battery modules and between batteries and the casing to effectively block the spread of flames, reduce the risk of thermal runaway, and provide strong protection for the safe use of power batteries.

[0003] To accommodate the compact internal structure of power batteries, fire-resistant mica panels are typically designed to be thin and large in area. In some applications, to further improve the fit between the mica panel and battery components, a more flexible mica substrate is also used. This thin, large-area, and flexible fire-resistant mica panel, due to its thinness, insufficient overall rigidity, and high flexibility, is highly susceptible to warping and deformation under the action of cutting tools and during stress release after cutting.

[0004] In the subsequent automated assembly process, the cut fireproof mica sheet needs to be gripped by a mechanical gripper or vacuum suction cup and accurately placed into the preset installation position of the power battery. However, due to the warping and deformation of the mica sheet, when the gripping mechanism contacts the mica sheet and applies gripping force, the empty space size on the mica sheet will be misaligned, making it impossible to accurately place the fireproof mica sheet. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned shortcomings in the prior art by providing a robot for grasping fireproof mica plates for power batteries.

[0006] The objective of this invention is achieved through the following technical solution: a robot for grasping fireproof mica plates for power batteries, comprising a robot body and a grasping mechanism;

[0007] The gripping mechanism includes a bracket connected to the output end of the robot body; a strip arm is provided in the middle of the bracket; a first drive rod is provided at one end of the strip arm; a second drive rod is provided at the other end of the strip arm.

[0008] One end of the bracket is provided with a first Y-shaped arm; one end of the first Y-shaped arm is provided with a first left sliding rod that is telescopically slidable; the other end of the first Y-shaped arm is provided with a second left sliding rod that is telescopically slidable.

[0009] The gripping mechanism further includes a first left swing shaft and a second left swing shaft; the middle portions of the first and second left swing shafts are coaxially hinged to one end of the bracket; the two ends of the first left swing shaft are respectively provided with a first left sliding sleeve and a second left sliding sleeve for telescopic sliding; the two ends of the second left swing shaft are respectively provided with a third left sliding sleeve and a fourth left sliding sleeve for telescopic sliding; the first left sliding sleeve is hinged to a first drive rod; the second left sliding sleeve is hinged to a second left sliding rod; the third left sliding sleeve is hinged to a second drive rod; and the fourth left sliding sleeve is hinged to the first left sliding rod.

[0010] Both the second left sliding sleeve and the fourth left sliding sleeve are equipped with vacuum adsorption components;

[0011] The gripping mechanism also includes a drive assembly for driving the first drive rod and the second drive rod.

[0012] The present invention is further configured such that a second Y-shaped arm is provided at the other end of the bracket; a first right sliding rod is provided at one end of the second Y-shaped arm; and a second right sliding rod is provided at the other end of the second Y-shaped arm.

[0013] The gripping mechanism further includes a first right swing shaft and a second right swing shaft; the middle portion of the first right swing shaft and the middle portion of the second right swing shaft are coaxially hinged to the other end of the bracket; the two ends of the first right swing shaft are respectively provided with a first right sliding sleeve and a second right sliding sleeve for telescopic sliding; the two ends of the second right swing shaft are respectively provided with a third right sliding sleeve and a fourth right sliding sleeve for telescopic sliding; the first right sliding sleeve and the first left sliding sleeve are coaxially hinged to a first drive rod; the second right sliding sleeve and the second right sliding rod are hinged; the third right sliding sleeve and the third left sliding sleeve are coaxially hinged to a second drive rod; the fourth right sliding sleeve and the first right sliding rod are hinged.

[0014] Both the second right sliding sleeve and the fourth right sliding sleeve are equipped with vacuum adsorption components.

[0015] The present invention is further configured such that one end of the strip arm, the other end of the strip arm, one end of the first Y-shaped arm, the other end of the first Y-shaped arm, one end of the second Y-shaped arm, and the other end of the second Y-shaped arm are all provided with strip-shaped limiting holes; the first driving rod, the second driving rod, the first left sliding rod, the second left sliding rod, the first right sliding rod, and the second right sliding rod are all provided with limiting bosses that cooperate with the strip-shaped limiting holes.

[0016] The present invention is further configured such that the drive assembly includes a cylinder body disposed at the top of the strip arm; the cylinder body is provided with a first air chamber and a second air chamber disposed along the length direction of the strip arm; a first piston is slidably and sealed in the first air chamber; a second piston is slidably and sealed in the second air chamber; the first piston is provided with a first connecting rod; the first connecting rod protrudes out of the first air chamber and is connected to a first drive rod; the second piston is provided with a second connecting rod; the second connecting rod protrudes out of the second air chamber and is connected to a second drive rod.

[0017] The cylinder body is provided with an abutment wall between the first air chamber and the second air chamber.

[0018] The invention is further configured such that the abutting wall is provided with a through hole; the through hole is connected to the first air chamber and the second air chamber respectively; a return spring is provided between the first piston and the second piston; the return spring passes through the through hole; and the cylinder body is provided with a cylinder channel connected to the through hole.

[0019] The invention is further configured such that: a valve body is provided at the top of the cylinder; a control air chamber is provided inside the valve body; a valve core is slidably and sealed inside the control air chamber; an air extraction hole is provided through one end of the valve body and communicates with one end of the control air chamber; a lower through hole is provided at the bottom of the valve body and communicates with the cylinder channel; the lower through hole communicates with the control air chamber; an air extraction channel is provided on the valve core and one end of the control air chamber; and an air extraction spring is provided between the valve core and one end of the control air chamber, so that the air extraction channel and the lower through hole remain connected under the action of the air extraction spring.

[0020] The invention is further configured such that the other end of the control air chamber is connected to the atmosphere; the top of the valve body is provided with an upper through hole that communicates with the control air chamber; the upper through hole is located between the lower through hole and the air extraction hole.

[0021] The present invention is further configured such that a connecting block is provided at the top of the valve body; the connecting block is provided with an adsorption hole communicating with the upper through hole; each vacuum adsorption assembly includes an adsorption seat and an adsorption shaft provided on the adsorption seat; a suction nozzle is connected to the bottom of the adsorption shaft; a connecting tube is provided between the adsorption shaft and the connecting block; one end of the connecting tube is connected to the adsorption hole; and the other end of the connecting tube is connected to the adsorption shaft.

[0022] The present invention is further configured such that the adsorption seat has a circular cavity; a disc component is movably disposed within the circular cavity; the adsorption shaft is disposed at the center of the disc component; and a flexible deformation component is disposed between the adsorption shaft and the circular cavity.

[0023] The present invention is further configured such that the flexible deformable member includes a plurality of spring pieces arranged circumferentially on the inner wall of a circular cavity; one end of each spring piece is provided with a connecting portion connected to the inner wall of the circular cavity; and the other end of each spring piece is provided with a contact portion that abuts against the adsorption shaft.

[0024] The beneficial effects of this invention are as follows: In the adsorption stage, all vacuum adsorption components are first brought together to the center to fit the warped area of ​​the mica plate and form a multi-point stable adsorption. After adsorption, the first driving rod and the second driving rod are moved outward by the driving component, thereby driving the first left swing shaft and the second left swing shaft to swing synchronously, and then pushing the first left sliding rod and the second left sliding rod to slide along the first Y-shaped arm, so that the vacuum adsorption components are evenly diffused in all directions, and the adsorption force is used to forcibly flatten the warped mica plate. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the gripping mechanism of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the gripping mechanism of the present invention after concealing the valve body, the connecting block, and the connecting pipe;

[0028] Figure 4 This is a schematic diagram of the structure of the first left swing shaft, the second left swing shaft, the first right swing shaft, the first right swing shaft, and the vacuum adsorption component of the present invention.

[0029] Figure 5 This is a cross-sectional view of the gripping mechanism of the present invention;

[0030] Figure 6 yes Figure 5 A magnified view of part A in the middle;

[0031] Figure 7 This is a cross-sectional view of the gripping mechanism of the present invention from another perspective;

[0032] Figure 8 yes Figure 6 A magnified view of part B in the middle;

[0033] Figure 9 This is a schematic diagram of the structure of the vacuum adsorption component of the present invention;

[0034] Figure 10 This is a cross-sectional view of the vacuum adsorption component of the present invention;

[0035] The components are as follows: 11. Robot body; 12. Support frame; 2. Strip arm; 21. First drive rod; 22. Second drive rod; 23. Strip-shaped limiting hole; 24. Limiting boss; 3. First Y-shaped arm; 31. First left sliding rod; 32. Second left sliding rod; 41. First left swing axis; 42. Second left swing axis; 43. First left sliding sleeve; 44. Second left sliding sleeve; 45. Third left sliding sleeve; 46. Fourth left sliding sleeve; 5. Second Y-shaped arm; 51. First right sliding rod; 52. Second right sliding rod; 61. First right swing axis; 62. Second right swing axis; 63. First right sliding sleeve; 64. Second right sliding sleeve; 65. Third right sliding sleeve; 6 6. Fourth right sliding sleeve; 7. Cylinder body; 71. First air chamber; 72. Second air chamber; 73. First piston; 74. Second piston; 75. First connecting rod; 76. Second connecting rod; 77. Return spring; 78. Abutment wall; 791. Cylinder passage; 792. Connecting hole; 8. Valve body; 81. Control air chamber; 82. Valve core; 83. Suction hole; 84. Lower through hole; 85. Suction passage; 86. Suction spring; 87. Upper through hole; 88. Connecting block; 89. Adsorption hole; 9. Adsorption seat; 91. Adsorption shaft; 92. Suction nozzle; 93. Connecting pipe; 94. Circular cavity; 95. Circular disc; 96. Spring; 97. Connecting part; 98. Abutment part. Detailed Implementation

[0036] The present invention will be further described in conjunction with the following embodiments.

[0037] Depend on Figures 1 to 10 As can be seen, the robot for grasping fireproof mica plates for power batteries described in this embodiment includes a robot body 11 and a grasping mechanism.

[0038] The gripping mechanism includes a bracket 12 connected to the output end of the robot body 11; a strip arm 2 is provided in the middle of the bracket 12; a first drive rod 21 is provided at one end of the strip arm 2; and a second drive rod 22 is provided at the other end of the strip arm 2.

[0039] One end of the bracket 12 is provided with a first Y-shaped arm 3; one end of the first Y-shaped arm 3 is provided with a first left sliding rod 31 that is telescopically slidable; the other end of the first Y-shaped arm 3 is provided with a second left sliding rod 32 that is telescopically slidable.

[0040] The gripping mechanism further includes a first left swing shaft 41 and a second left swing shaft 42; the middle part of the first left swing shaft 41 and the middle part of the second left swing shaft 42 are coaxially hinged to one end of the bracket 12; the two ends of the first left swing shaft 41 are respectively provided with a first left sliding sleeve 43 and a second left sliding sleeve 44 for telescopic sliding; the two ends of the second left swing shaft 42 are respectively provided with a third left sliding sleeve 45 and a fourth left sliding sleeve 46 for telescopic sliding; the first left sliding sleeve 43 is hinged to the first drive rod 21; the second left sliding sleeve 44 is hinged to the second left sliding rod 32; the third left sliding sleeve 45 is hinged to the second drive rod 22; the fourth left sliding sleeve 46 is hinged to the first left sliding rod 31.

[0041] Both the second left sliding sleeve 44 and the fourth left sliding sleeve 46 are equipped with vacuum adsorption components;

[0042] The gripping mechanism also includes a drive assembly for driving the first drive rod 21 and the second drive rod 22.

[0043] Specifically, in this embodiment, the robot for grasping fireproof mica plates for power batteries, before vacuum adsorbing the fireproof mica plates, first controls the first drive rod 21 and the second drive rod 22 to move inward through the drive assembly. This, under the combined limiting action of the first left swing shaft 41, the first left sliding sleeve 43, and the second left sliding sleeve 44, drives the second left sliding rod 32 and its connected vacuum adsorption assembly towards the overall center. Similarly, under the combined limiting action of the second left swing shaft 42, the third left sliding sleeve 45, and the fourth left sliding sleeve 46, the first left sliding rod 31 and its connected vacuum adsorption assembly are driven towards the overall center. At this time, all the vacuum adsorption assemblies converge towards the center. The vacuum adsorption assembly then performs vacuum adsorption on the periphery of the fireproof mica plate of the power battery. After adsorption is completed, the first drive rod 21 and the second drive rod 22 are moved outward by the drive assembly, thereby driving the second left sliding rod 32 and its connected vacuum adsorption assembly to move outward under the linkage limiting action of the first left swing shaft 41, the first left sliding sleeve 43 and the second left sliding sleeve 44. Similarly, under the linkage limiting action of the second left swing shaft 42, the third left sliding sleeve 45 and the fourth left sliding sleeve 46, the first left sliding rod 31 and its connected vacuum adsorption assembly are driven to move outward. At this time, all vacuum adsorption assemblies are in an outward expansion state, thereby flattening the fireproof mica plate of the power battery.

[0044] The robot described in this embodiment for grasping fireproof mica plates for power batteries has a second Y-shaped arm 5 at one end of the support 12; a first right sliding rod 51 is provided at one end of the second Y-shaped arm 5; and a second right sliding rod 52 is provided at the other end of the second Y-shaped arm 5.

[0045] The gripping mechanism further includes a first right swing shaft 61 and a second right swing shaft 62; the middle part of the first right swing shaft 61 and the middle part of the second right swing shaft 62 are coaxially hinged to the other end of the bracket 12; the two ends of the first right swing shaft 61 are respectively provided with a first right sliding sleeve 63 and a second right sliding sleeve 64 for telescopic sliding; the two ends of the second right swing shaft 62 are respectively provided with a third right sliding sleeve 65 and a fourth right sliding sleeve 66 for telescopic sliding; the first right sliding sleeve 63 and the first left sliding sleeve 43 are coaxially hinged to the first drive rod 21; the second right sliding sleeve 64 is hinged to the second right sliding rod 52; the third right sliding sleeve 65 and the third left sliding sleeve 45 are coaxially hinged to the second drive rod 22; the fourth right sliding sleeve 66 is hinged to the first right sliding rod 51.

[0046] Both the second right sliding sleeve 64 and the fourth right sliding sleeve 66 are equipped with vacuum adsorption components.

[0047] Specifically, the first drive rod 21 is coaxially hinged to both the first left sliding sleeve 43 on the left and the first right sliding sleeve 63 on the right, and the second drive rod 22 is coaxially hinged to both the third left sliding sleeve 45 on the left and the third right sliding sleeve 65 on the right. When the drive assembly drives the first drive rod 21 and the second drive rod 22 to slide, the first left swing shaft 41, the second left swing shaft 42, the first right swing shaft 61, and the second right swing shaft 62 rotate synchronously. The first left sliding rod 31 and the second left sliding rod 32 slide along the first Y-shaped arm 3, and the first right sliding rod 51 and the second right sliding rod 52 slide along the second Y-shaped arm 5.

[0048] The vacuum adsorption components of the second left sliding sleeve 44, the fourth left sliding sleeve 46, the second right sliding sleeve 64, and the fourth right sliding sleeve 66 simultaneously complete the actions of moving towards the overall center and expanding outwards, forming a four-point symmetrical adsorption structure that covers the four edge areas of the mica plate. The four-point symmetrical adsorption makes the mica plate more evenly stressed and reduces the flatness error after flattening.

[0049] This embodiment describes a robot for grasping fireproof mica plates for power batteries. One end of the strip arm 2, the other end of the strip arm 2, one end of the first Y-shaped arm 3, the other end of the first Y-shaped arm 3, one end of the second Y-shaped arm 5, and the other end of the second Y-shaped arm 5 are all provided with strip-shaped limiting holes 23. The first drive rod 21, the second drive rod 22, the first left sliding rod 31, the second left sliding rod 32, the first right sliding rod 51, and the second right sliding rod 52 are all provided with limiting bosses 24 that cooperate with the strip-shaped limiting holes 23. These features enhance the stability of the overall structure.

[0050] This embodiment describes a robot for grasping fireproof mica plates for power batteries. The drive assembly includes a cylinder 7 located at the top of a strip arm 2. The cylinder 7 contains a first air chamber 71 and a second air chamber 72 arranged along the length of the strip arm 2. A first piston 73 is slidably sealed within the first air chamber 71. A second piston 74 is slidably sealed within the second air chamber 72. The first piston 73 has a first connecting rod 75. The first connecting rod 75 protrudes from the first air chamber 71 and connects to a first drive rod 21. The second piston 74 has a second connecting rod 76. The second connecting rod 76 protrudes from the second air chamber 72 and connects to a second drive rod 22. The cylinder 7 has an abutment wall 78 between the first air chamber 71 and the second air chamber 72. The robot described in this embodiment is used for grasping fireproof mica plates for power batteries. The abutment wall 78 is provided with a through hole 792. The through hole 792 is connected to the first air chamber 71 and the second air chamber 72 respectively. A return spring 77 is provided between the first piston 73 and the second piston 74. The return spring 77 passes through the through hole 792. The cylinder body 7 is provided with a cylinder channel 791 that is connected to the through hole 792.

[0051] Specifically, in this embodiment, the robot used for grasping fireproof mica plates for power batteries, before evacuation, is positioned with the first piston 73 and the second piston 74 moving away from each other under the action of the return spring 77. The first piston 73 is connected to the first drive rod 21 via the first connecting rod 75, and the second piston 74 is connected to the second drive rod 22 via the second connecting rod 76. At this time, both the first drive rod 21 and the second drive rod 22 are located at the far end of the strip arm 2, and all vacuum adsorption components are in a state of outward expansion. When evacuation is performed at the cylinder channel 791, the first piston 73 and the second piston 74 gradually overcome the action of the return spring 77 and gradually move closer to the wall 78, causing the first drive rod 21 and the second drive rod 22 to move closer to the near end of the strip arm 2, thereby causing all vacuum adsorption components to move towards the center.

[0052] This embodiment describes a robot for grasping fireproof mica plates for power batteries. The top of the cylinder 7 is provided with a valve body 8; the valve body 8 contains a control air chamber 81; a valve core 82 is slidably and sealed within the control air chamber 81; one end of the valve body 8 has a suction hole 83 communicating with one end of the control air chamber 81; the bottom of the valve body 8 has a lower through hole 84 communicating with a cylinder channel 791; the lower through hole 84 communicates with the control air chamber 81; the valve core 82 has a suction channel 85 communicating with the suction hole 83; a suction spring 86 is provided between the valve core 82 and one end of the control air chamber 81, and under the action of the suction spring 86, the suction channel 85 and the lower through hole 84 remain connected. This embodiment describes a robot for grasping fire-resistant mica sheets for power batteries. The other end of the control air chamber 81 is connected to the atmosphere. The top of the valve body 8 has an upper through hole 87 communicating with the control air chamber 81. The upper through hole 87 is located between the lower through hole 84 and the extraction hole 83. In this embodiment, the top of the valve body 8 has a connecting block 88. The connecting block 88 has an adsorption hole 89 communicating with the upper through hole 87. Each vacuum adsorption assembly includes an adsorption seat 9 and an adsorption shaft 91 located on the adsorption seat 9. The bottom of the adsorption shaft 91 is connected to a suction nozzle 92. A connecting pipe 93 is provided between the adsorption shaft 91 and the connecting block 88. One end of the connecting pipe 93 is connected to the adsorption hole 89, and the other end of the connecting pipe 93 is connected to the adsorption shaft 91.

[0053] Specifically, in this embodiment, the robot used for grasping fireproof mica plates for power batteries maintains communication between the air extraction channel 85 and the lower through hole 84 under the action of the air extraction spring 86 before the air extraction is performed. Under the action of the return spring 77, the first piston 73 and the second piston 74 move away from each other. The first piston 73 is connected to the first drive rod 21 through the first connecting rod 75, and the second piston 74 is connected to the second drive rod 22 through the second connecting rod 76. At this time, the first drive rod 21 and the second drive rod 22 are both located at the far end of the strip arm 2, and all vacuum adsorption components are in a state of outward expansion.

[0054] When it is necessary to grasp the fireproof mica plate of the power battery, the robot body 11 first moves to the top of the fireproof mica plate, and then the external vacuum device is activated. At this time, the air extraction port 83, air extraction channel 85, lower through hole 84, cylinder channel 791, connecting hole 792, first air chamber 71 and second air chamber 72 are connected. The vacuum device extracts the gas between the first piston 73 and the wall 78 and the second piston 74 and the wall 78. Since the rigidity of the air extraction spring 86 is greater than the rigidity of the return spring 77, the return spring 77 deforms first, causing the first piston 73 and the second piston 74 to gradually overcome the deformation of the return spring 77. The robot body 11 gradually moves closer to the wall 78, causing the first drive rod 21 and the second drive rod 22 to move closer to the proximal end of the strip arm 2, thus making all the vacuum adsorption components move towards the center. When the first piston 73 and the second piston 74 can no longer move, the external vacuum pumping device continues to work. At this time, the valve core 82 begins to move towards one end of the control air chamber 81 against the action of the air pumping spring 86. When the lower through hole 84 is misaligned with the air pumping channel 85, the valve core 82 blocks the lower through hole 84, thus keeping all the vacuum adsorption components in a state of moving towards the center. Then, the robot body 11 drives the vacuum adsorption components to adhere tightly to the fireproof mica plate of the power battery. The external vacuum device continues to operate, and the valve core 82 continues to move towards one end of the control air chamber 81 against the action of the vacuum spring 86 until the vacuum channel 85 is connected to the upper through hole 87. At this time, the vacuum hole 83, vacuum channel 85, upper through hole 87, suction hole 89, connecting pipe 93, suction shaft 91, and suction nozzle 92 are connected, thereby performing vacuum treatment between the suction nozzle 92 and the fireproof mica plate of the power battery, and tightly adsorbing the fireproof mica plate of the power battery into the suction nozzle 92. After adsorption is completed, the valve core 82 continues to move towards one end of the control air chamber 81 against the action of the vacuum spring 86, so that the upper through hole 87 is misaligned with the vacuum channel 85, and the valve core 82 closes the upper through hole 87. 7. The suction nozzle 92 keeps the fireproof mica plate of the power battery tightly suctioned. As the valve core 82 moves, the valve core 82 no longer blocks the lower through hole 84. At this time, the lower through hole 84 is connected to the outside atmosphere. Under the action of the return spring 77, the first piston 73 and the second piston 74 move away from each other. The first piston 73 is connected to the first drive rod 21 through the first connecting rod 75, and the second piston 74 is connected to the second drive rod 22 through the second connecting rod 76. At this time, the first drive rod 21 and the second drive rod 22 both move to the far end of the strip arm 2, so that all the vacuum adsorption components are in a state of outward expansion, thereby flattening the fireproof mica plate of the power battery.

[0055] This embodiment describes a robot for grasping fireproof mica sheets for power batteries. The adsorption seat 9 has a circular cavity 94; a disc component 95 is movably disposed within the circular cavity 94; an adsorption shaft 91 is located at the center of the disc component 95; and a flexible deformable component is provided between the adsorption shaft 91 and the circular cavity 94. The flexible deformable component includes multiple spring pieces 96 arranged circumferentially on the inner wall of the circular cavity 94; one end of each spring piece 96 has a connecting portion 97 that connects to the inner wall of the circular cavity 94; and the other end of each spring piece 96 has a contact portion 98 that tangentially abuts against the adsorption shaft 91.

[0056] Specifically, in its natural state, the adsorption shaft 91 is positioned in the middle of the circular cavity 94, constrained by multiple spring pieces 96. When the suction nozzle 92 adsorbs the fireproof mica plate of the power battery, the presence of multiple spring pieces 96 can compensate for different degrees of warping in different directions. One end of the spring piece 96 is provided with a connecting part 97 that connects to the inner wall of the circular cavity 94; the other end of the spring piece 96 is provided with a contacting part 98 that tangentially abuts against the adsorption shaft 91, which can form an elastic enclosure for the adsorption shaft 91, so that the adsorption shaft 91 can obtain a stable and continuous elastic force in any direction after being subjected to a load.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A robot for power battery fireproof mica plate grabbing, characterized in that: The robot body and the grabbing mechanism are included; The grabbing mechanism includes a support connected with the output end of the robot body; the middle part of the support is provided with a strip-shaped arm; one end of the strip-shaped arm is provided with a first driving rod which is telescopic and sliding; the other end of the strip-shaped arm is provided with a second driving rod which is telescopic and sliding; One end of the support is provided with a first Y-shaped arm; one end of the first Y-shaped arm is provided with a first left sliding rod which is telescopic and sliding; the other end of the first Y-shaped arm is provided with a second left sliding rod which is telescopic and sliding; The grabbing mechanism further includes a first left swing shaft and a second left swing shaft; the middle parts of the first left swing shaft and the second left swing shaft are coaxially hinged to one end of the support; the two ends of the first left swing shaft are respectively provided with a first left sliding sleeve and a second left sliding sleeve which are telescopic and sliding; the two ends of the second left swing shaft are respectively provided with a third left sliding sleeve and a fourth left sliding sleeve which are telescopic and sliding; the first left sliding sleeve is hinged to the first driving rod; the second left sliding sleeve is hinged to the second left sliding rod; the third left sliding sleeve is hinged to the second driving rod; the fourth left sliding sleeve is hinged to the first left sliding rod; The second left sliding sleeve and the fourth left sliding sleeve are both provided with a vacuum suction assembly; The grabbing mechanism further includes a driving assembly for driving the first driving rod and the second driving rod to move.

2. A robot for grabbing fireproof mica plates of power batteries according to claim 1, characterized in that: The other end of the support is provided with a second Y-shaped arm; one end of the second Y-shaped arm is provided with a first right sliding rod which is telescopic and sliding; the other end of the second Y-shaped arm is provided with a second right sliding rod which is telescopic and sliding; The grabbing mechanism further includes a first right swing shaft and a second right swing shaft; the middle parts of the first right swing shaft and the second right swing shaft are coaxially hinged to the other end of the support; the two ends of the first right swing shaft are respectively provided with a first right sliding sleeve and a second right sliding sleeve which are telescopic and sliding; the two ends of the second right swing shaft are respectively provided with a third right sliding sleeve and a fourth right sliding sleeve which are telescopic and sliding; the first right sliding sleeve is coaxially hinged to the first left sliding sleeve on the first driving rod; the second right sliding sleeve is hinged to the second right sliding rod; the third right sliding sleeve is coaxially hinged to the third left sliding sleeve on the second driving rod; the fourth right sliding sleeve is hinged to the first right sliding rod; The second right sliding sleeve and the fourth right sliding sleeve are both provided with a vacuum suction assembly.

3. A robot for grabbing fireproof mica plates of power batteries according to claim 2, characterized in that: One end of the strip-shaped arm, the other end of the strip-shaped arm, one end of the first Y-shaped arm, the other end of the first Y-shaped arm, one end of the second Y-shaped arm and the other end of the second Y-shaped arm are all provided with a strip-shaped limiting hole; the first driving rod, the second driving rod, the first left sliding rod, the second left sliding rod, the first right sliding rod and the second right sliding rod are all provided with a limiting boss matched with the strip-shaped limiting hole.

4. The robot for grabbing fire-proof mica plate of power battery according to claim 1, characterized in that: The driving assembly includes a cylinder body arranged on the top of the strip-shaped arm; the cylinder body is provided with a first gas cavity and a second gas cavity arranged along the length direction of the strip-shaped arm; a first piston is sealingly and slidingly arranged in the first gas cavity; a second piston is sealingly and slidingly arranged in the second gas cavity; the first piston is provided with a first connecting rod; the first connecting rod is connected with the first driving rod after protruding out of the first gas cavity; the second piston is provided with a second connecting rod; the second connecting rod is connected with the second driving rod after protruding out of the second gas cavity; The cylinder body is provided with an abutting wall between the first air cavity and the second air cavity.

5. A robot for grabbing fire-proof mica plates of power batteries according to claim 4, characterized in that: The abutting wall is provided with a communication hole; the communication hole is in communication with the first air cavity and the second air cavity respectively; the first piston and the second piston are provided with a return spring; the return spring is arranged in the communication hole; the cylinder body is provided with a cylinder passage in communication with the communication hole.

6. A robot for grabbing fire-proof mica plates of power batteries according to claim 5, characterized in that: The top of the cylinder body is provided with a valve body; the valve body is provided with a control air cavity; the valve body is provided with a valve core in the control air cavity; one end of the valve body is provided with a gas extraction hole in communication with one end of the control air cavity; the bottom of the valve body is provided with a lower through hole in communication with the cylinder passage; the lower through hole is in communication with the control air cavity; the valve core is provided with a gas extraction passage in communication with the gas extraction hole; the valve core and one end of the control air cavity are provided with a gas extraction spring, and the gas extraction passage and the lower through hole are kept in communication under the action of the gas extraction spring.

7. A robot for grabbing fire-proof mica plates of power batteries according to claim 6, characterized in that: The other end of the control air cavity is in communication with the atmosphere; the top of the valve body is provided with an upper through hole in communication with the control air cavity; the upper through hole is arranged between the lower through hole and the gas extraction hole.

8. A robot for grabbing fire-proof mica plates of power batteries according to claim 7, characterized in that: The top of the valve body is provided with a communication block; the communication block is provided with a suction hole in communication with the upper through hole; each vacuum suction assembly comprises a suction seat and a suction shaft arranged in the suction seat; the bottom of the suction shaft is communicated with a suction nozzle; the suction shaft and the communication block are provided with a communication pipe; one end of the communication pipe is in communication with the suction hole; the other end of the communication pipe is in communication with the suction shaft.

9. A robot for grabbing fire-proof mica plates of power batteries according to claim 8, characterized in that: The suction seat is provided with a circular cavity; the circular cavity is movably provided with a disc piece; the suction shaft is arranged at the center of the disc piece; the suction shaft and the circular cavity are provided with a flexible deformation piece.

10. A robot for grabbing fire-proof mica plates of power batteries according to claim 9, characterized in that: The flexible deformation piece comprises a plurality of elastic sheets arranged in the inner wall of the circular cavity in a circumferential distribution; one end of the elastic sheet is provided with a connecting portion connected with the inner wall of the circular cavity; the other end of the elastic sheet is provided with an abutting portion tangent to the suction shaft.

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