Manipulator for battery pack transfer hoisting line

Abstract

The utility model discloses a manipulator for a battery pack transfer hoisting line, which relates to the technical field of battery pack transfer hoisting lines and comprises a transmission mechanism and an adjusting frame in sliding connection with the top end in the transmission mechanism, and the bottom end of the adjusting frame is fixedly connected with a mounting frame. A limiting mechanism used for fixing the battery pack is arranged at the output end of the pneumatic telescopic rod and comprises a movable plate, and the movable plate is fixedly connected to the output end of the pneumatic telescopic rod. According to the battery pack transferring and hoisting line manipulator, when a battery pack is limited through a plug pin, a movable plate is pushed downwards through the output end of a pneumatic telescopic rod, so that the plug pin can be inserted into a limiting hole of the battery pack, and the effect of limiting the position of the battery pack is achieved; and the battery pack is prevented from deflecting in angle in the operation process, and meanwhile, after the position of the battery pack is limited, the clamping jaw can conveniently support, fix and hoist the battery pack for position transfer.

Description

Technical Field

[0001] The utility model relates to the technical field of battery pack subcontracting hoisting lines, in particular to a battery pack subcontracting hoisting line manipulator. Background Art

[0002] The battery pack is the core component of electric vehicles, and the assembly of the battery pack is the most important link in the production of electric vehicles. During the vehicle assembly process, the battery pack needs to be grabbed by a robot and adjusted in position on the production line so that the battery pack can undergo subsequent different production processes.

[0003] In the prior art, a Chinese patent with authorization announcement number CN113942930A discloses a high-stability compact lifting manipulator for heavy trucks, comprising a fixed base connected to an external battery exchange device and a first two-way grasping manipulator and a second two-way grasping manipulator installed on the left and right sides of the bottom surface of the fixed base. A balanced heavy-load center axis is arranged in the middle part of the fixed base, and the first two-way grasping manipulator and the second two-way grasping manipulator are movably connected to the balanced heavy-load center axis through a connecting piece. A spring rod for automatic calibration and leveling is also respectively arranged between the first two-way grasping manipulator and the second two-way grasping manipulator and the fixed base. In actual application, the battery pack can be grasped better by the first two-way grasping manipulator and the second two-way grasping manipulator, and the structural characteristics of the spring rod and the balanced heavy-load center axis are combined to achieve leveling of the battery pack and solve the problems of disturbance and tilt.

[0004] The above-mentioned mechanism utilizes two bidirectional grasping manipulators to grasp the battery pack and then realize leveling of the battery pack. However, in actual use, during transportation, the manipulator cannot fix the battery pack during the battery pack transfer process, resulting in a decrease in overall work efficiency due to unstable transfer. Utility Model Content

[0005] The utility model aims to provide a battery pack transfer hoisting line robot to solve the problem in the above background technology that the robot cannot fix the battery pack during the battery pack transfer process.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a battery pack transfer hoisting line manipulator, comprising a transmission mechanism and an adjustment frame slidably connected to the top of the transmission mechanism, the bottom end of the adjustment frame is fixedly connected to a mounting frame, and the outer side of the mounting frame is fixedly connected to a connecting plate;

[0007] One end of the connecting plate is fixedly connected to a first driving motor, a clamping claw is provided below the first driving motor, and a variable distance mechanism for adjusting the distance between the clamping claws is provided below the connecting plate;

[0008] One end of the clamp is fixedly connected to a pneumatic telescopic rod, and the output end of the pneumatic telescopic rod is provided with a limiting mechanism for fixing the battery pack, the limiting mechanism includes a movable plate, and the movable plate is fixedly connected to the output end of the pneumatic telescopic rod.

[0009] Furthermore, the output end of the first drive motor is fixedly connected to a first bidirectional threaded rod, the outer side of the first bidirectional threaded rod is threadedly connected to a mounting plate, the bottom end of the mounting plate is fixedly connected to a second drive motor, and the output end of the second drive motor is fixedly connected to a second bidirectional threaded rod via a pulley, and the outer side of the second bidirectional threaded rod is fixedly connected to a clamp via a movable block.

[0010] Furthermore, the bottom end of the clamp is fixedly connected to a limit plate, and the limit plate is arranged at the lower end of the movable plate.

[0011] Furthermore, the mounting plate is arranged at the lower end of the first bidirectional threaded rod, and the mounting plate is arranged at the upper end of the second bidirectional threaded rod, and the movable block and the mounting plate are slidably connected.

[0012] Furthermore, the cross section of the clamping jaw is an inverted "L" shape, and the clamping jaws are connected to the second bidirectional threaded rod through a movable block.

[0013] Furthermore, the limiting mechanism includes a latch, and the latch is fixedly connected to one end of the movable plate, and the latch is arranged on one side of the limiting plate.

[0014] Furthermore, the lower end of the latch is conical, and the latch is symmetrically distributed about the diagonal line of the connecting plate:

[0015] 1. The joints of the manipulator are designed based on the battery pack transfer. It has four grippers, one with variable pitch on the left and right, and two of the grippers have latches to fix the battery pack. When transferring, the manipulator positions the battery pack through the X-axis and Y-axis on the transmission mechanism, and performs translational motion through the joint connection. When lowered to the battery pack, the distance between the grippers is adjusted to adapt to the battery pack. The two grippers with latches are inserted into the holes of the battery pack to fix it, and the other two grippers are held and fixed, and then lifted and placed in the prepared battery rack for transfer. This process is the synergy of the manipulator, transmission mechanism, motion control system, and actuator to achieve precise control and synergy of the transfer action.

[0016] Furthermore, when the battery pack is limited by the latch, the movable plate is pushed downward by the output end of the pneumatic telescopic rod, so that the latch can be inserted into the limiting hole of the battery pack, thereby limiting the position of the battery pack and preventing the battery pack from angular deflection during operation. At the same time, after the battery pack is limited in position, the clamp can hold and fix the battery pack and lift it for position transfer.

[0017] Furthermore, the moving tracks in two directions on the transmission mechanism can flexibly adjust the position of the adjustment frame and the manipulator below according to the different positions of the battery pack, so that the manipulator can be positioned more accurately when transferring the battery pack, avoiding the situation where the manipulator cannot accurately grasp the battery pack due to the displacement of the battery pack position;

[0018] 2. The rotation of the output end of the first driving motor can drive the first bidirectional threaded rod to rotate, so that the mounting plate below the first bidirectional threaded rod can adjust its own spacing with the rotation of the first bidirectional threaded rod. At the same time, the output end of the second driving motor can drive the second bidirectional threaded rod to rotate through the pulley. During the rotation process, the second bidirectional threaded rod will drive the two clamps to adjust their positions, thereby enabling the clamps to grab and transfer battery packs of different sizes, which is convenient for better transfer operations of battery packs;

[0019] Furthermore, the first bidirectional threaded rod and the second bidirectional threaded rod are both bidirectional threaded rods. When the first bidirectional threaded rod and the second bidirectional threaded rod are driven to rotate by the output ends of the first drive motor and the second drive motor, they can drive the mounting plates and clamps on the outside of the first bidirectional threaded rod and the second bidirectional threaded rod to move in different directions when rotating in the same direction, thereby adjusting the spacing between the clamps. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model;

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the robot arm of the utility model;

[0022] Figure 3 This is a schematic diagram of the three-dimensional structure of the robot arm of the utility model when viewed from above;

[0023] Figure 4 It is a three-dimensional structural schematic diagram of the clamping jaw of the utility model;

[0024] Figure 5 It is a three-dimensional structural schematic diagram of the variable pitch mechanism of the utility model;

[0025] Figure 6It is a top view of the three-dimensional structure of the variable pitch mechanism of the utility model;

[0026] Figure 7 It is a three-dimensional structural schematic diagram of the limiting mechanism of the utility model.

[0027] In the figure: 1. transmission mechanism; 2. adjustment frame; 3. mounting frame; 4. connecting plate; 5. first drive motor; 6. first bidirectional threaded rod; 7. movable block; 8. clamping claw; 9. limit plate; 10. second bidirectional threaded rod; 11. mounting plate; 12. second drive motor; 13. pneumatic telescopic rod; 14. movable plate; 15. latch. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] Embodiment 1:

[0030] like Figure 1-7 The technical solution shown is to solve the problem that the manipulator cannot fix the battery pack during the battery pack transfer process: the battery pack transfer lifting line manipulator discloses a limiting mechanism, including a transmission mechanism 1 and an adjustment frame 2 slidably connected to the top of the transmission mechanism 1, one end of the clamp 8 is fixedly connected to a pneumatic telescopic rod 13, and the output end of the pneumatic telescopic rod 13 is provided with a limiting mechanism for fixing the battery pack, the limiting mechanism includes a movable plate 14, and the movable plate 14 is fixedly connected to the output end of the pneumatic telescopic rod 13, the limiting mechanism includes a latch 15, and the latch 15 is fixedly connected to one end of the movable plate 14, and the latch 15 is arranged on one side of the limiting plate 9, the lower end of the latch 15 is conical, and the latch 15 is symmetrically distributed about the diagonal of the connecting plate 4.

[0031] In this example, the joints of the manipulator are designed based on the battery pack transfer, and have four clamps 8, one left and right variable pitch, and two of the clamps 8 have pins 15, which have the function of fixing the battery pack. When transferring, the manipulator positions the battery pack through the X-axis and Y-axis on the transmission mechanism 1, and performs translational movement through the joint connection. When lowered to the battery pack, the variable pitch adjusts the distance of the clamps 8 to adapt to the battery pack, and the two clamps 8 with the pins 15 are inserted into the holes of the battery pack to fix them, and the other two clamps 8 are supported and fixed, and then lifted and placed in the prepared battery rack for transfer. This process is the coordinated action of the manipulator with the transmission mechanism 1, the motion control system, and the actuator to achieve precise control and coordinated action of the transfer.

[0032] Embodiment 2:

[0033] like Figure 1 The technical solution shown is to solve the problem that the battery pack transfer hoisting line robot discloses a transmission mechanism, the bottom end of the adjustment frame 2 is fixedly connected to the mounting frame 3, and the outer side of the mounting frame 3 is fixedly connected to the connecting plate 4.

[0034] In this example, the moving tracks in two directions on the transmission mechanism 1 can flexibly adjust the position of the adjustment frame 2 and the manipulator below according to the different positions of the battery pack, so that the manipulator can position the battery pack more accurately when transferring the battery pack, avoiding the situation where the manipulator cannot accurately grasp the battery pack due to the offset of the battery pack position.

[0035] Embodiment three:

[0036] like Figure 1 , Figure 2 , Figure 3 and Figure 4The technical solution shown in the figure is to solve the problem that the battery pack transfer hoisting line manipulator discloses a pitch-changing mechanism, one end of the connecting plate 4 is fixedly connected to the first drive motor 5, a clamping claw 8 is arranged below the first drive motor 5, and a pitch-changing mechanism for adjusting the distance between the clamping claws 8 is arranged below the connecting plate 4, the output end of the first drive motor 5 is fixedly connected to the first bidirectional threaded rod 6, the outer side of the first bidirectional threaded rod 6 is threadedly connected to the mounting plate 11, the bottom end of the mounting plate 11 is fixedly connected to the second drive motor 12, and the output of the second drive motor 12 is fixedly connected to the first bidirectional threaded rod 6, and the output of the second drive motor 12 is fixedly connected to the second drive motor 12. The output end is fixedly connected to the second bidirectional threaded rod 10 through a pulley, and the outer side of the second bidirectional threaded rod 10 is fixedly connected to a clamping jaw 8 through a movable block 7. The bottom end of the clamping jaw 8 is fixedly connected to a limiting plate 9, and the limiting plate 9 is arranged at the lower end of the movable plate 14, the mounting plate 11 is arranged at the lower end of the first bidirectional threaded rod 6, and the mounting plate 11 is arranged at the upper end of the second bidirectional threaded rod 10, the movable block 7 and the mounting plate 11 are slidably connected, the cross-section of the clamping jaw 8 is an inverted "L" shape, and the clamping jaws 8 are connected to the second bidirectional threaded rod 10 through the movable block 7.

[0037] In this example, the rotation of the output end of the first drive motor 5 can drive the first bidirectional threaded rod 6 to rotate, so that the mounting plate 11 below the first bidirectional threaded rod 6 can adjust its own spacing as the first bidirectional threaded rod 6 rotates. At the same time, the output end of the second drive motor 12 can drive the second bidirectional threaded rod 10 to rotate through the pulley. During the rotation, the second bidirectional threaded rod 10 will drive the two jaws 8 to adjust their positions, thereby enabling the jaws 8 to grab and transfer battery packs of different sizes, thereby facilitating better transfer operations on the battery packs.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A battery pack transfer hoisting line manipulator, comprising a transmission mechanism (1) and an adjustment frame (2) slidably connected to the top of the transmission mechanism (1), the bottom end of the adjustment frame (2) is fixedly connected to a mounting frame (3), and the outer side of the mounting frame (3) is fixedly connected to a connecting plate (4); Features: One end of the connecting plate (4) is fixedly connected to a first drive motor (5), a clamping jaw (8) is provided below the first drive motor (5), and a variable distance mechanism for adjusting the distance between the clamping jaws (8) is provided below the connecting plate (4); One end of the clamping jaw (8) is fixedly connected to a pneumatic telescopic rod (13), and the output end of the pneumatic telescopic rod (13) is provided with a limiting mechanism for fixing the battery pack, the limiting mechanism comprising a movable plate (14), and the movable plate (14) is fixedly connected to the output end of the pneumatic telescopic rod (13).

2. A battery pack subcontracting and hoisting line robot according to claim 1, characterized in that: The output end of the first driving motor (5) is fixedly connected to a first bidirectional threaded rod (6), the outer side of the first bidirectional threaded rod (6) is threadedly connected to a mounting plate (11), the bottom end of the mounting plate (11) is fixedly connected to a second driving motor (12), and the output end of the second driving motor (12) is fixedly connected to a second bidirectional threaded rod (10) via a pulley, and the outer side of the second bidirectional threaded rod (10) is fixedly connected to a clamping claw (8) via a movable block (7).

3. A battery pack subcontracting hoisting line manipulator according to claim 2, characterized in that: The bottom end of the clamping jaw (8) is fixedly connected to a limiting plate (9), and the limiting plate (9) is arranged at the lower end of the movable plate (14).

4. A battery pack subcontracting hoisting line robot according to claim 3, characterized in that: The mounting plate (11) is arranged at the lower end of the first bidirectional threaded rod (6), and the mounting plate (11) is arranged at the upper end of the second bidirectional threaded rod (10), and the movable block (7) and the mounting plate (11) are slidably connected.

5. A battery pack subcontracting hoisting line robot according to claim 4, characterized in that: The cross section of the clamping jaw (8) is in an inverted "L" shape, and the clamping jaw (8) is connected to the second bidirectional threaded rod (10) through a movable block (7).

6. A battery pack subcontracting and hoisting line robot according to claim 5, characterized in that: The limiting mechanism comprises a latch (15), and the latch (15) is fixedly connected to one end of the movable plate (14), and the latch (15) is arranged on one side of the limiting plate (9).

7. A battery pack subcontracting and hoisting line robot according to claim 6, characterized in that: The lower end of the latch pin (15) is conical, and the latch pin (15) is symmetrically distributed about the diagonal line of the connecting plate (4).

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