Square lithium battery clamping manipulator device

Abstract

The square lithium battery clamping manipulator device comprises a variable-pitch air cylinder assembly, wherein the variable-pitch air cylinder assembly is connected with an external joint robot through a rectangular variable-pitch fixing plate at the top; the front end and the middle of the right side of the variable-pitch fixing plate are each provided with a tail end plate, and a variable-pitch air cylinder capable of being pushed front and back is arranged between the two tail end plates. A linear guide rail in the front-back direction is arranged at the bottom of the variable-pitch fixing plate, four mounting plates arranged in the front-back direction are arranged on the linear guide rail in a front-back sliding mode, the variable-pitch air cylinder is connected with the four mounting plates through a variable-pitch flange on a piston rod at the rear end of the variable-pitch air cylinder, and every two adjacent mounting plates in the front-back direction are connected through three variable-pitch linkage plates. A lifting air cylinder is arranged at the lower end of each mounting plate, and a clamping jaw assembly for clamping a battery is arranged at the lower end of each lifting air cylinder; and the structure is simple, the flexibility is high, the adaptability is high, direct butt joint with an existing joint robot can be achieved quickly, and the working efficiency of the mechanism is improved.

Description

Technical Field

[0001] The utility model relates to a square lithium battery clamping manipulator device, belonging to the technical field of lithium battery grasping and placing. Background Art

[0002] At present, the application of lithium batteries has become more and more extensive. Compared with traditional batteries, they have the advantages of large capacity, high operating voltage, fast charging speed, wide operating temperature range, long cycle life, small size and light weight. Common types of lithium batteries are cylindrical, soft-pack and square shell. At present, more and more square lithium batteries are used because they have great advantages over other batteries. Existing battery gripping manipulators are all single-axis manipulators, which are cumbersome to operate, inefficient, and cannot selectively place batteries according to the nature of the tray.

[0003] The utility model patent (patent number: CN 214446379 U) involves an ultra-long lithium battery gripping manipulator, in which the lifting plate is driven by a cylinder to move along the lifting guide rail and the transverse plate is driven along the transverse guide rail, so that the gap between the upper and lower clamping strips is greater than the thickness of the battery, and then the two transverse plates are moved closer to each other so that the two ends of the battery are inserted between the two clamping strips on the two transverse plate mechanisms. The two clamping strips at the bottom are used to support the battery; the two clamping strips at the top are used to clamp the battery to prevent the battery from sliding between the clamping strips during transportation; the battery gripping manipulator with this structure can grip longer lithium batteries, and the battery gripping is more stable and not easy to be damaged. Summary of the invention

[0004] In order to make further changes to the above-mentioned problems, the utility model proposes a square lithium battery gripping robot device. The square lithium battery gripping robot device includes a variable pitch cylinder assembly, and the variable pitch cylinder assembly is connected to an external joint robot through a rectangular variable pitch fixing plate on the top; the two opposite sides of the variable pitch fixing plate are defined as the front side and the rear side, and the other two sides are the left side and the right side; a tail end plate is respectively provided at the front end and the middle of the right side of the variable pitch fixing plate, and a variable pitch cylinder that can be pushed forward and backward is provided between the two tail end plates; a linear guide rail in the front and rear directions is provided at the bottom of the variable pitch fixing plate, and four mounting plates arranged front and back are provided on the linear guide rail that can slide back and forth, and the variable pitch cylinder is connected to the four mounting plates through the variable pitch flange on the piston rod at its rear end, and the front and rear adjacent mounting plates are connected in pairs through three variable pitch linkage plates respectively;

[0005] A lifting cylinder is respectively provided at the lower end of the mounting plate, and a clamping claw assembly for clamping the battery is respectively provided at the lower end of the lifting cylinder; the clamping claw assembly comprises an air clamp mounting plate, and mounting through holes are provided at the left and right ends of the air clamp mounting plate; mounting guide columns connected to the lifting cylinder upward are passed through the mounting through holes; a pneumatic clamp that can be pushed left and right is provided at the lower end of the air clamp mounting plate, and a clamping claw block is respectively connected to the left and right ends of the pneumatic clamp, and the clamping claw block can clamp the battery with the pneumatic clamp; a claw nylon block is provided on the side close to each other at the ends of the two clamping claw blocks, and a photoelectric sensor is provided on the side away from each other; an over-pressure nylon block is provided at the bottom of the contact position between the clamping claw block and the pneumatic clamp.

[0006] More specifically, the variable pitch linkage plate is provided with a strip-shaped through hole in the left-right direction, and the lower end of the mounting plate is connected to the strip-shaped through hole of the variable pitch linkage plate via a variable pitch positioning column.

[0007] More specifically, the top of the clamping jaw block is connected with a cargo detection sensor via a cargo detection sensor mounting plate.

[0008] The working steps of the utility model include:

[0009] (1) The external joint robot receives data instructions transmitted by the host computer, and the gripper assembly moves to the specified position (above the lithium battery to be gripped) under the action of the joint robot. Different gripper assemblies change their distances equally according to the given spacing of the restraint trays under the action of the variable distance cylinder.

[0010] (2) After the manipulator is in place, the lifting cylinder starts to descend, and the gripper assembly descends. At this time, the gripper block is in the open state. When the gripper block reaches the specified position (the two ends of the lithium battery), the cylinder stops descending.

[0011] (3) The pneumatic gripper drives the gripper block to grab the battery, and the lifting cylinder starts to rise, thereby separating the lithium battery and the restraint tray.

[0012] (4) The articulated robot transmits instructions through the host computer data again, and the articulated robot runs to the specified position (above the injection molding tray), and the gripper assembly changes the pitch through the variable pitch cylinder assembly.

[0013] (5) The piston rod of the lifting cylinder extends (the four cylinders can be raised and lowered independently), driving the pneumatic gripper to descend, the pneumatic gripper opens, the battery is placed, and the cylinder piston rod retracts.

[0014] Compared with the prior art, the beneficial effects of the utility model are: the square lithium battery clamping manipulator device has a simple structure, high flexibility and strong adaptability, can be directly connected with the existing joint robot quickly, and improves the working efficiency of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1It is a structural diagram of a square lithium battery gripping manipulator device;

[0016] Figure 2 It is the front view of the utility model;

[0017] Figure 3 It is a left view of the utility model;

[0018] Figure 4 This is a bottom structural diagram of the variable pitch cylinder assembly of the utility model;

[0019] Figure 5 It is a structural diagram of the clamping jaw assembly of the utility model. DETAILED DESCRIPTION

[0020] The specific implementation of the embodiment of the utility model is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the utility model, and is not used to limit the embodiment of the utility model.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0023] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0025] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0026] The present invention will be described in detail below with reference to the accompanying drawings and in combination with exemplary embodiments.

[0027] A square lithium battery gripping manipulator device comprises a variable pitch cylinder assembly 1, wherein the variable pitch cylinder assembly 1 is connected to an external joint robot through a rectangular variable pitch fixing plate 11 at the top; the two opposite sides of the variable pitch fixing plate 11 are defined as the front side and the rear side, and the other two sides are defined as the left side and the right side; a tail end plate 14 is respectively provided at the front end and the middle of the right side of the variable pitch fixing plate 11, and a variable pitch cylinder 13 that can be pushed forward and backward is provided between the two tail end plates 14; a linear guide rail 12 in the front and rear directions is provided at the bottom of the variable pitch fixing plate 11, and four mounting plates 15 arranged front and back are provided on the linear guide rail 12 that can slide back and forth, and the variable pitch cylinder 13 is connected to the four mounting plates 15 through a variable pitch flange 151 on the piston rod at its rear end, and the front and rear adjacent mounting plates 15 are respectively connected in pairs through three variable pitch linkage plates 16;

[0028] A lifting cylinder 2 is provided at the lower end of the mounting plate 15, and a clamping jaw assembly 3 for clamping the battery is provided at the lower end of the lifting cylinder 2; the clamping jaw assembly 3 includes an air clamp mounting plate 32, and mounting through holes are provided at the left and right ends of the air clamp mounting plate 32; a mounting guide column 321 connected to the lifting cylinder upward is passed through the mounting through hole; a pneumatic clamp 31 that can be pushed left and right is provided at the lower end of the air clamp mounting plate 32, and a clamping jaw block 33 is connected to the left and right ends of the pneumatic clamp 31, respectively, and the clamping jaw block 33 can be pushed by the pneumatic clamp 31 to clamp the battery; a claw nylon block 34 is provided on the side close to each other at the ends of the two clamping jaw blocks 33, and a photoelectric sensor 36 is provided on the side away from each other; an overpressure nylon block 35 is provided at the bottom of the contact position between the clamping jaw block 33 and the pneumatic clamp 31.

[0029] More specifically, the variable pitch linkage plate 16 is provided with a strip-shaped through hole in the left-right direction, and the lower end of the mounting plate 15 is connected to the strip-shaped through hole of the variable pitch linkage plate 16 via a variable pitch positioning column 152 .

[0030] More specifically, the top of the clamping jaw block is connected with a cargo detection sensor 37 via a cargo detection sensor mounting plate 371 .

[0031] The working steps of the utility model include:

[0032] (1) The external joint robot receives data instructions transmitted by the host computer, and the gripper assembly moves to the specified position (above the lithium battery to be gripped) under the action of the joint robot. Different gripper assemblies change their distances equally according to the given spacing of the restraint trays under the action of the variable distance cylinder.

[0033] (2) After the manipulator is in place, the lifting cylinder starts to descend, and the gripper assembly descends. At this time, the gripper block is in the open state. When the gripper block reaches the specified position (the two ends of the lithium battery), the cylinder stops descending.

[0034] (3) The pneumatic gripper drives the gripper block to grab the battery, and the lifting cylinder starts to rise, thereby separating the lithium battery and the restraint tray.

[0035] (4) The articulated robot transmits instructions through the host computer data again, and the articulated robot runs to the specified position (above the injection molding tray), and the gripper assembly changes the pitch through the variable pitch cylinder assembly.

[0036] (5) The piston rod of the lifting cylinder extends (the four cylinders can be raised and lowered independently), driving the pneumatic gripper to descend, the pneumatic gripper opens, the battery is placed, and the cylinder piston rod retracts.

[0037] Compared with the prior art, the beneficial effects of the utility model are: the square lithium battery clamping manipulator device has a simple structure, high flexibility and strong adaptability, can be directly connected with the existing joint robot quickly, and improves the working efficiency of the mechanism.

Claims

1. A square lithium battery gripping robot device, characterized in that: It comprises a variable pitch cylinder assembly, which is connected to an external joint robot through a rectangular variable pitch fixing plate on the top; the two opposite sides of the variable pitch fixing plate are defined as the front side and the rear side, and the other two sides are defined as the left side and the right side; a tail end plate is respectively provided at the front end and the middle of the right side of the variable pitch fixing plate, and a variable pitch cylinder that can be pushed forward and backward is provided between the two tail end plates; a linear guide in the front and rear directions is provided at the bottom of the variable pitch fixing plate, and four mounting plates arranged front and back are provided on the linear guide that can slide back and forth, and the variable pitch cylinder is connected to the four mounting plates through the variable pitch flange on the piston rod at its rear end, and the front and rear adjacent mounting plates are respectively connected in pairs through three variable pitch linkage plates; A lifting cylinder is respectively provided at the lower end of the mounting plate, and a clamping claw assembly for clamping the battery is respectively provided at the lower end of the lifting cylinder; the clamping claw assembly comprises an air clamp mounting plate, and mounting through holes are provided at the left and right ends of the air clamp mounting plate; mounting guide columns connected to the lifting cylinder upward are passed through the mounting through holes; a pneumatic clamp that can be pushed left and right is provided at the lower end of the air clamp mounting plate, and a clamping claw block is respectively connected to the left and right ends of the pneumatic clamp, and the clamping claw block can clamp the battery with the pneumatic clamp; a claw nylon block is provided on the side close to each other at the ends of the two clamping claw blocks, and a photoelectric sensor is provided on the side away from each other; an over-pressure nylon block is provided at the bottom of the contact position between the clamping claw block and the pneumatic clamp.

2. The square lithium battery gripping robot device according to claim 1, characterized in that: The variable pitch linkage plate is provided with a strip-shaped through hole in the left and right directions, and the lower end of the mounting plate is connected to the strip-shaped through hole of the variable pitch linkage plate through a variable pitch positioning column.

3. The square lithium battery gripping robot device according to claim 2 is characterized in that: The top of the clamping claw block is connected with a cargo detection sensor via a cargo detection sensor mounting plate.

Images