Carrying mechanical arm

Abstract

The utility model provides a carrying mechanical arm which comprises a mechanical arm body, a placement base is arranged at the output end of the mechanical arm body, a clamping mechanism is arranged on the placement base, the clamping mechanism comprises at least two clamping pieces and a servo module driving the clamping pieces to move, and the servo module drives the clamping pieces to move. A clamping area is formed between the at least two clamping pieces, the clamping pieces are further provided with bearing mechanisms, and the bearing mechanisms can rotate to the positions below the clamping area and are used for bearing products. By means of the mode, the situation that in the carrying process, products fall off due to sudden power failure of the mechanical arm or infirm pasting is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a transport mechanical arm. Background Art

[0002] As environmental and energy issues become increasingly severe, low-carbon and environmentally friendly energy has become an inevitable choice for future economic development. Hybrid vehicles and electric vehicles, which are representatives of new energy vehicles, have also gradually developed and gained recognition from consumers and support from the government. Power battery modules are the main power source for new energy vehicles, as well as the main components and key technologies of electric vehicles.

[0003] The most notable feature of the application of power battery modules in electric vehicles and energy storage power stations is modular assembly, that is, a number of single cells are pasted together to form a battery pack, and then multiple battery packs are assembled in series / parallel to form a battery module. The assembly process of the battery pack is to first attach double-sided tape to one side of several single cells to be assembled, and then bring the single cells closer together to achieve initial bonding with double-sided tape to form a single battery pack, and then move the single battery pack to the clamping mechanism for clamping, and install end plates at both ends of the single battery pack, and use steel belts to bundle them together to form a finished battery pack.

[0004] Since the initial bonding of the single battery pack and the compaction and bundling of the finished battery pack need to be completed on different processing equipment, a transport robot arm is required to transfer the initially bonded single battery pack to the compaction equipment for subsequent processing. During conventional robot handling, the robot clamps the single battery pack, and the mechanical gripper applies a horizontal clamping force to the single battery pack, thereby driving the battery pack to move. However, during the handling process, once the robot arm suddenly loses power, the mechanical gripper no longer applies a clamping force to the single battery pack, and the single battery pack will fall directly as a whole, or some of the single batteries in the middle of the single battery pack may fall off due to reasons such as loose double-sided adhesive, and the single batteries in the middle section may need to be re-pasted and bonded, affecting work efficiency. Utility Model Content

[0005] In order to solve the above problems, the utility model proposes a transport robot arm which has a simple structure, effectively improves work efficiency and prevents products from falling.

[0006] The main contents of the utility model include: a mechanical arm main body, a placement base is configured on the output end of the mechanical arm main body, a clamping mechanism is arranged on the placement base, the clamping mechanism includes a clamping member and a servo module that drives the clamping member to move, at least two clamping members are provided, a clamping area is formed between at least two of the clamping members, and a supporting mechanism is also provided on the clamping member, and the supporting mechanism can be rotated to the bottom of the clamping area to support the product.

[0007] Preferably, the supporting mechanism includes a supporting part and a rotating driving part that drives the supporting part to rotate below the clamping area. The rotating driving part is provided with two groups, which are correspondingly arranged at the two ends of the clamping member extending along the length direction. The two ends of the supporting part are connected to the output ends of the two rotating driving parts.

[0008] Preferably, the rotary drive portion includes a first support plate, a first telescopic cylinder and a first connecting rod, the first support plate is uprightly arranged on a side of the clamping member away from the clamping area, the end of the first telescopic cylinder is fixedly connected to the upper end of the first support plate and the output end of the first telescopic cylinder is arranged obliquely downward toward the clamping area, the push rod of the first telescopic cylinder is rotatably connected to the end of the first connecting rod, the end of the first connecting rod away from the push rod is fixedly connected to the supporting portion, and the middle section of the first connecting rod is rotatably connected to the side wall of the clamping member through a first pin shaft.

[0009] Preferably, the clamping member includes a first clamping member and a second clamping member arranged opposite to each other, and the servo module drives the first clamping member and the second clamping member to open or close, and the first clamping member and the second clamping member are provided with a boss at the upper end of the side wall near the clamping area, and the boss extends horizontally toward the clamping area.

[0010] Preferably, a side wall of the first clamping member and the second clamping member close to the clamping area is provided with an anti-slip pad, and a side end surface of the anti-slip pad is provided with a tooth-shaped protrusion structure.

[0011] Preferably, a partition is provided between the first clamping member and the second clamping member, and the partition divides the clamping area into a first sub-clamping area and a second sub-clamping area. The supporting mechanisms on the first clamping member and the second clamping member can be respectively placed at the bottom of the first sub-clamping area and the second sub-clamping area.

[0012] Preferably, steps are provided at the upper ends of the two side walls of the partition corresponding to the first sub-clamping area and the second sub-clamping area, the steps extend horizontally toward the two side clamping areas, and the lower end surface of the steps is kept level with the lower end surface of the boss.

[0013] Preferably, a buffer limiter protruding horizontally toward the clamping area is provided on the step to control the clamping stop position of the first clamping member and the second clamping member.

[0014] Preferably, the servo module includes a screw rod disposed on the mounting base and threadedly connected to the clamping member, and a servo motor that drives the screw rod to rotate and is mounted on the mounting base.

[0015] Preferably, a sliding fitting is further arranged between the mounting base and the clamping mechanism, and the sliding fitting includes a slide rail and a slider, the slide rail is arranged on the mounting base and is parallel to the screw rod, the slider is arranged at the upper end of the clamping member, and the slider can slide on the slide rail.

[0016] The beneficial effect of the utility model is that: a clamping mechanism is arranged on the main body of the mechanical arm, and the clamping mechanism includes two clamping members that can move toward each other, and exerts a clamping force in the horizontal direction on the product. A supporting mechanism is arranged on the clamping member, and the supporting mechanism includes a supporting part that can rotate to the bottom of the clamping area. When the product is clamped in the clamping area, once the product moves downward, the lower end of the product abuts against the supporting part, and the supporting part supports the product. The product is stuck between the clamping members and the supporting part on both sides and cannot fall, effectively maintaining the structural stability of the single battery pack; a partition is arranged between the two clamping members, and the two groups of clamping members and the partition constitute two sub-clamping areas, which can clamp two groups of products at a time, effectively improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of a preferred embodiment;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of a clamping mechanism of a preferred embodiment;

[0019] Figure 3 This is a schematic diagram of the three-dimensional structure of a clamping mechanism of a preferred embodiment from another perspective;

[0020] Reference numerals:

[0021] 1. The main body of the robotic arm; 2. The mounting base;

[0022] 3. Clamping mechanism; 31. Servo module; 311. Screw; 312. Servo motor; 313. Slide rail; 314. Slider;

[0023] 32. Clamping member; 321. First clamping member; 322. Second clamping member; 323. Anti-slip pad; 34. Clamping area; 341. First sub-clamping area; 342. Second sub-clamping area; 35. Partition plate; 351. Buffering stopper; 352. Step;

[0024] 4. Supporting mechanism; 41. Rotational driving part; 411. First supporting plate; 412. First telescopic cylinder; 413. Push rod; 414. First connecting rod; 415. First pin shaft; 42. Supporting part; 43. Sensor. DETAILED DESCRIPTION

[0025] The technical solution protected by the utility model is described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 As shown, the present application discloses a transport robot arm, which includes a robot arm body 1. The output end of the robot arm body 1 is connected to a placement base 2. A clamping mechanism 3 is arranged on the placement base 2 for clamping products. A supporting mechanism 4 is also correspondingly arranged on the clamping mechanism 3 for supporting the bottom of the product to prevent the product from falling.

[0027] like Figure 1-3 As shown, the clamping mechanism 3 specifically includes a clamping member 32 and a servo module 31 for driving the clamping member 32 to move. At least two clamping members 32 are provided, and a clamping area 34 is formed between at least two clamping members 32. The original battery pack is placed between the clamping areas 34. The servo module 31 drives the two clamping members 32 to move toward each other, so that the original battery pack is clamped in the clamping area 34, thereby driving the original battery pack to move.

[0028] like Figure 1-3 As shown, the servo module 31 includes a screw 311 connected to the placement base 2 and threadedly connected to the clamp 32, and a servo motor 312 installed on the placement base 2 and driving the screw 311 to rotate. The servo motor 312 is actuated to drive the screw 311 to rotate, and the clamp 32 can move along the screw 311. Preferably, a slider assembly is provided between the clamp 32 and the placement base 2 to improve the stability of the clamp 32 during movement. In this embodiment, the slider assembly includes a slide rail 313 provided at the bottom of the placement base 2 and a slider 314 provided at the upper end of the clamp. The slide rail 313 and the screw 311 are parallel to each other, and the slider 314 can slide on the slide rail 313 accordingly. A boss (not shown) is provided on the upper end of one side of the clamping member 32 close to the clamping area 34, and the boss extends horizontally toward the clamping area 34. During the grasping process, the robot arm body 1 drives the clamping mechanism to descend until the boss abuts against the upper end of the product, which can limit the clamping position of the clamping member and improve the clamping force.

[0029] like Figure 1-3 As shown, in this embodiment, the clamping member 32 may specifically include a first clamping member 321 and a second clamping member 322 arranged opposite to each other, and the servo module 31 drives the first clamping member 321 and the second clamping member 322 to move closer to and away from each other. The first clamping member 321 and the second clamping member 322 are provided with an anti-skid pad 323 on one side close to the clamping area 34, and the anti-skid pad 323 is used to increase the friction between the clamping member 32 and the original battery pack to prevent it from falling during the grasping process. Preferably, the side end surface of the anti-skid pad 323 is provided with a tooth-shaped protrusion.

[0030] like Figure 1-3As shown, in this embodiment, a partition 35 is provided between the first clamping member 321 and the second clamping member 322, and the partition 35 divides the clamping area 34 into two parts, wherein a first sub-clamping area 341 is formed between the first clamping member 321 and the partition 35, and a second sub-clamping area 342 is formed between the second clamping member 322 and the partition 35, so that multiple groups of original battery packs can be clamped synchronously, effectively improving work efficiency. A step 352 extending horizontally to the clamping areas 34 on both sides is provided at the upper end of the partition 35, and the lower end surface of the step 352 is at the same level as the lower end surface of the boss, which is used to limit the descending stop position of the clamping mechanism 3.

[0031] like Figure 1-3 As shown, preferably, buffer limiters 351 are correspondingly provided on the steps 352 on both sides, which are used to limit the clamping stop position of the first clamping member 321 and the second clamping member 322 to prevent the clamping members on both sides from continuously clamping toward the center in the empty clamping state if the product falls during the clamping process, causing mechanical damage. Preferably, the lower end surface of the partition 35 is a blade-like structure, which is convenient for insertion between two adjacent products, making the insertion process smoother.

[0032] like Figure 1-3 As shown, the clamping member 32 is provided with a supporting mechanism 4, which includes a rotating driving part 41 relatively arranged at both ends of the clamping member 32 extending in the length direction and a supporting part 42 connected between the two relatively rotating driving parts 41. The supporting part 42 is driven by the rotating driving part 41 to rotate and be placed under the clamping area 34 to support the product in the clamping area 34. In this embodiment, the supporting mechanism 4 is provided on the first clamping member 321 and the second clamping member 322, respectively. The supporting parts 42 of the two groups of supporting mechanisms 4 can be rotated to the bottom of the first sub-clamping area 341 and the second sub-clamping area 342, respectively, to support two groups of primary battery packs, effectively improving work efficiency.

[0033] like Figure 1-3 As shown, the rotary drive part 41 includes a first support plate 411, a first telescopic cylinder 412 and a first connecting rod 414. The first support plate 411 is vertically arranged on the side of the clamping member 32 away from the clamping area 34. The end of the first telescopic cylinder 412 is fixedly connected to the upper end of the first support plate 411 and makes the first telescopic cylinder 412 in an inclined state. The output end of the first telescopic cylinder 412 is tilted toward the clamping area 34. The push rod 413 of the first telescopic cylinder 412 is rotatably connected to one end of the first connecting rod 414. The other end of the first connecting rod 414 is fixedly connected to the supporting part 42. The middle section of the first connecting rod 414 is rotatably connected to the side wall of the clamping member 32 through the first pin 415. Preferably, a sensor 43 is arranged at the bottom of the supporting part 42 to monitor whether an object falls from the supporting part 42. In a specific embodiment, the supporting part 42 can be a shaft structure or a plate structure.

[0034] like Figure 1-3As shown, the push rod 413 of the first telescopic cylinder 412 extends obliquely downward, driving the end of the first connecting rod 414 connected to the push rod 413 to rotate downward, and the first connecting rod 414 rotates with the first pin 415 as the center of the circle, so that the end of the first connecting rod 414 connected to the supporting part 42 rotates upward, so that the supporting part 42 is lifted upward, which is convenient for taking and placing the single battery pack; when the clamping member clamps the product and lifts it, the push rod 413 of the first telescopic cylinder 412 shrinks obliquely upward, driving the end of the first connecting rod 414 Rotate upward, the first connecting rod 414 rotates with the first pin shaft 415 as the center, and the end of the first connecting rod 414 connected to the supporting part 42 rotates downward, so that the supporting part 42 rotates to below the clamping area 34. If a single battery falls, the lower end of the fallen single battery abuts against the supporting part 42, and the two side walls of the upper end of the single battery abut against the partition 35 and the clamping member 32, so that the single battery is clamped between the supporting part, the clamping area and the partition, and cannot fall directly, thereby ensuring the stability of the single battery during transportation.

[0035] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A handling robot arm, characterized in that: Mainly include: A mechanical arm body, wherein a placement base is arranged on the output end of the mechanical arm body, a clamping mechanism is arranged on the placement base, the clamping mechanism comprises a clamping member and a servo module driving the clamping member to move, at least two clamping members are provided, a clamping area is formed between at least two clamping members, a supporting mechanism is also arranged on the clamping member, and the supporting mechanism can be rotated to the bottom of the clamping area to support the product; The supporting mechanism includes a supporting part and a rotation driving part driving the supporting part to rotate to below the clamping area, and the rotation driving part is provided with two groups, which are correspondingly arranged at the two ends of the clamping member extending along the length direction, and the two ends of the supporting part are connected to the output ends of the two rotation driving parts; The rotary drive portion includes a first support plate, a first telescopic cylinder and a first connecting rod. The first support plate is uprightly arranged on a side of the clamping member away from the clamping area. The end of the first telescopic cylinder is fixedly connected to the upper end of the first support plate and the output end of the first telescopic cylinder is arranged obliquely downward toward the clamping area. The push rod of the first telescopic cylinder is rotatably connected to the end of the first connecting rod. The end of the first connecting rod away from the push rod is fixedly connected to the supporting portion. The middle section of the first connecting rod is rotatably connected to the side wall of the clamping member through a first pin shaft.

2. The handling robot arm according to claim 1, characterized in that: The clamping member includes a first clamping member and a second clamping member arranged opposite to each other, and the servo module drives the first clamping member and the second clamping member to open or close. The first clamping member and the second clamping member are provided with a boss at the upper end of the side wall near the clamping area, and the boss extends horizontally toward the clamping area.

3. The handling robot arm according to claim 2, characterized in that: A side wall of the first clamping member and the second clamping member close to the clamping area is provided with an anti-skid pad, and a side end surface of the anti-skid pad is provided with a tooth-shaped protrusion structure.

4. The handling robot arm according to claim 2, characterized in that: A partition is provided between the first clamping member and the second clamping member, and the partition divides the clamping area into a first sub-clamping area and a second sub-clamping area. The supporting mechanisms on the first clamping member and the second clamping member can be respectively placed at the bottom of the first sub-clamping area and the second sub-clamping area.

5. The handling robot arm according to claim 4, characterized in that: The partition plate is provided with steps at the upper ends of the two side walls corresponding to the first sub-clamping area and the second sub-clamping area. The steps extend horizontally toward the two side clamping areas, and the lower end surface of the steps is kept level with the lower end surface of the boss.

6. The handling robot arm according to claim 5, characterized in that: The step is provided with a buffer limiter protruding horizontally toward the clamping area, and is used to control the clamping stop position of the first clamping member and the second clamping member.

7. The handling robot arm according to claim 1, characterized in that: The servo module comprises a screw rod which is arranged on the mounting base and threadedly connected with the clamping member, and a servo motor which drives the screw rod to rotate and is mounted on the mounting base.

8. The handling robot arm according to claim 7, characterized in that: A sliding fitting is also arranged between the placement base and the clamping mechanism, and the sliding fitting includes a slide rail and a slider. The slide rail is arranged on the placement base and is parallel to the screw rod. The slider is arranged on the upper end of the clamping member, and the slider can slide on the slide rail.

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