Variable-pitch feeding manipulator for battery cells

Abstract

The utility model discloses a battery cell variable-pitch feeding mechanical arm which comprises a mechanical arm body, a variable-pitch fixing plate frame, a variable-pitch clamping jaw assembly, a variable-pitch driving piece, a bottom wrapping mechanism, a pressing and holding mechanism, a carrier carrying clamping jaw, a visual assembly, a distance measuring component and a control unit. A fixed clamping jaw component is installed in the middle of the side, away from the acting end of the manipulator body, of the variable-pitch fixing plate frame, the variable-pitch clamping jaw assembly comprises a plurality of variable-pitch clamping jaw components installed on the variable-pitch fixing plate frame in a sliding mode, and the bottom holding mechanism, the pressing and holding mechanism, the visual assembly and the distance measuring component are all installed on the variable-pitch fixing plate frame. The carrier carrying clamping jaw is installed on the side, away from the pressing and holding mechanism, of the variable-pitch fixing plate frame. According to the utility model, by introducing the fixed clamping jaw component and the variable-pitch clamping jaw component and accurately linking the bottom holding mechanism and the pressing mechanism, the battery cell carrying efficiency and accuracy are improved, the requirements of accurate positioning and variable pitch of the battery cell are met, and the risk that the battery cell is damaged during carrying is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of new energy lithium battery production, in particular to a variable-distance feeding manipulator for battery cells. Background Art

[0002] In the field of new energy lithium battery production technology, the handling of battery cells is a key link in the battery pack assembly line. With the rapid development of the new energy industry, the efficiency and accuracy of battery cell handling are of great significance to improving overall production efficiency and reducing production costs. However, the traditional battery cell handling method mainly relies on manual operation, which has many shortcomings:

[0003] 1. Inefficiency: During the cell handling process, manual loading and feeding is inefficient, which not only consumes a lot of time and physical effort, but also limits the overall production capacity of the production line, making it difficult to meet the needs of large-scale production lines;

[0004] 2. Easily damaged cells: As the core component of the battery, the surface and internal structure of the cell are relatively fragile. During manual handling, improper operation can easily cause scratches on the surface and damage to the interior of the cell, thus affecting the performance and life of the battery.

[0005] 3. It is difficult to meet the requirements of precise positioning and variable spacing of battery cells: During the battery pack assembly process, battery cells need to be arranged according to specific spacing and positions to ensure the performance and stability of the battery pack. However, manual operation often finds it difficult to achieve this precision requirement, thus affecting the overall performance of the battery pack. Utility Model Content

[0006] In view of this, the present invention aims to address the deficiencies in the existing technology, and its main purpose is to provide a battery cell variable-pitch loading robot, which solves the technical problems that traditional battery cell handling methods are inefficient, easy to damage battery cells, and difficult to meet the requirements of precise positioning and variable pitch of battery cells.

[0007] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0008] The utility model provides a variable-distance feeding manipulator for battery cells, comprising:

[0009] Manipulator body;

[0010] A variable pitch fixed plate frame is installed at the action end of the manipulator main body, and a fixed clamping claw component is installed in the middle of the side of the variable pitch fixed plate frame away from the action end of the manipulator main body;

[0011] A pitch-changing jaw assembly is symmetrically arranged on both sides of the fixed jaw component, and the pitch-changing jaw assembly includes a plurality of pitch-changing jaw components, and the plurality of pitch-changing jaw components are all slidably mounted on the pitch-changing fixed plate frame;

[0012] a pitch-changing driving member, mounted on the pitch-changing fixed plate frame, for adjusting the position of the pitch-changing clamping jaw member on the pitch-changing fixed plate frame;

[0013] A bottom support mechanism is installed on the variable pitch fixed plate frame and is used to provide bottom support for the battery cells during transportation;

[0014] A holding mechanism is installed on both sides of the variable pitch fixed plate frame and is arranged above the bottom support mechanism, and is used to hold the battery cell carrier during the transportation of the battery cell;

[0015] A carrier transporting jaw is installed on a side of the variable-pitch fixed plate frame away from the holding mechanism, and is used to transport the unloaded battery cell carrier. The fixed jaw member, the variable-pitch jaw member, the holding mechanism and the carrier transporting jaw are all connected to a pneumatic drive member;

[0016] A visual component, mounted on the variable-pitch fixed plate frame, for addressing and scanning the battery cell carrier and identifying the placement position of the battery cell;

[0017] A distance measuring component is installed on the variable distance fixed plate frame and is used to measure the distance of the battery cell material in the Z-axis direction;

[0018] The control unit is electrically connected to the manipulator body, the bottom support mechanism, the variable pitch drive component, the pneumatic drive component, the visual component and the distance measuring component.

[0019] As a preferred solution, every two of the variable-distance jaw components are movably connected via a first stroke limiting component, and the variable-distance jaw component close to the fixed jaw component is also movably connected to the fixed jaw component via a second stroke limiting component.

[0020] As a preferred embodiment, the first stroke limiting component includes a first limit plate and a first positioning pin, and the first limit plate and the first positioning pin are respectively arranged on the side where the two variable distance clamping jaw components are close to each other, one end of the first limit plate is installed on the variable distance clamping jaw component close to the fixed clamping jaw component, and the other end has a first guide sliding limit groove adapted for the first positioning pin, one end of the first positioning pin passes through the first guide sliding limit groove and is installed on the variable distance clamping jaw component away from the fixed clamping jaw component. The second stroke limiting component includes a second limit plate and a second positioning pin, the second limit plate and the second positioning pin are respectively arranged on the side where the variable distance clamping jaw component and the fixed clamping jaw component are close to each other, one end of the second limit plate is installed on the fixed clamping jaw component, and the other end has a second guide sliding limit groove adapted for the second positioning pin, and one end of the second positioning pin passes through the second guide sliding limit groove and is installed on the variable distance clamping jaw component.

[0021] As a preferred solution, an adjusting screw is installed on the side where each two of the variable-pitch jaw components are close to each other and on the side where the fixed jaw component and the variable-pitch jaw component are close to each other.

[0022] As a preferred solution, the fixed clamping jaw member is installed on the variable pitch fixed plate frame through a fixed seat, and a variable pitch traverse seat is installed at the end of the variable pitch clamping jaw member close to the manipulator body, and a variable pitch track is also installed on the side of the variable pitch fixed plate frame away from the transmission end of the manipulator body. A first guide slider adapted to the variable pitch track is installed on the side of the variable pitch traverse seat close to the variable pitch fixed plate frame, and the variable pitch traverse seat is slidably installed on the variable pitch track through the first guide slider.

[0023] As a preferred solution, the fixed clamping jaw component and the variable pitch clamping jaw component both include a fixed mounting plate, a floating plate, a clamping jaw and a pneumatic connecting seat, the clamping jaws are movably mounted on both sides symmetrically of one end of the pneumatic connecting seat, the other end of the pneumatic connecting seat is fixedly mounted on the floating plate, a floating spring is provided between the floating plate and the fixed mounting plate, one end of the floating spring is connected to the floating plate, and the other end is connected to the fixed mounting plate, a first sensor is installed on the clamping jaw, a second sensor is installed on one side of the floating plate, and a sensing end of the second sensor is connected to the floating plate A sensing slot is formed between the moving plates, and a floating light shielding plate corresponding to the sensing end of the second sensor is installed on the fixed mounting plate. One end of the floating light shielding plate is movably set on the sensing slot, and a sensing avoidance groove corresponding to the sensing end of the second sensor is also provided on the floating light shielding plate. The pneumatic connecting seat is connected to the pneumatic drive component, the fixed mounting plate of the fixed clamping jaw component is installed on the fixed seat, and the fixed mounting plate of the variable distance clamping jaw component is installed on the variable distance transverse seat. The first sensor and the second sensor are both electrically connected to the control unit.

[0024] As a preferred solution, the clamping claw is installed on the pneumatic connecting seat through a sliding guide block, and the pneumatic connecting seat is also equipped with a parallel clamper corresponding to the sliding guide block one by one, and guide plates are also installed on both symmetrical sides of the clamping claw.

[0025] As a preferred solution, the bottom support mechanism includes a bottom support regulating module and a bottom support rod. The bottom support regulating module is installed on both sides of the variable pitch fixed plate frame. The two bottom support regulating modules are connected by the bottom support rod. The holding mechanism is arranged directly above the bottom support regulating module. The bottom support regulating module includes a transverse fixed plate, a bottom support mounting seat, a lifting cylinder and a transverse cylinder. The transverse fixed plate is installed on the variable pitch fixed plate frame. A transverse guide rail is installed on the transverse fixed plate. The transverse cylinder is movably installed on the transverse guide rail through a second guide slider. The transverse guide rail One end of the cam is also provided with a positioning bracket, which is installed on the transverse fixed plate, and the driving end of the transverse cylinder is installed on the positioning bracket through a transverse floating joint. The bottom mounting seat is fixedly installed on the second guide sliding block, and a vertical guide rail is installed on the bottom mounting seat. The bottom rod is slidably installed on the vertical guide rail through a third guide sliding block. The lifting cylinder is installed on the side of the bottom mounting seat away from the bottom rod, and the transmission end of the lifting cylinder is connected to the third guide sliding block. The lifting cylinder and the transverse cylinder are both electrically connected to the control unit.

[0026] As a preferred solution, the pressing mechanism includes a pneumatic pressing mounting seat, a fourth guide slider and a pressing claw, the pneumatic pressing mounting seat is installed on the variable pitch fixed plate frame, the pneumatic pressing mounting seat is provided with a guide sliding mounting groove, a plurality of parallel guide rods are installed in the guide sliding mounting groove, the fourth guide slider is sleeved and installed on the guide rod and can move back and forth along the length direction of the guide rod, the fourth guide slider is fixedly installed with a guide sliding mounting plate, a positioning support plate is installed on the side of the guide sliding mounting plate close to the fourth guide slider, and a pressing guide rail is installed on the other side, the pressing claw is slidably installed on the pressing guide rail, and a buffer component is also provided between the pressing claw and the positioning support plate.

[0027] As a preferred solution, the buffer member includes an abutment rod and a first elastic member, the abutment rod is movably mounted on the positioning support plate, and moves back and forth along the length direction of the holding guide rail with the holding claw, the abutment rod abuts against the holding claw through an abutment block, and a limiting pad corresponding to the abutment block is also installed on the side of the positioning support plate close to the holding claw, the first elastic member is sleeved on the abutment rod, one end of the first elastic member is connected to the abutment block, and the other end is connected to the limiting pad.

[0028] Compared with the prior art, the utility model has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical scheme that it mainly improves the efficiency and accuracy of battery cell transportation by introducing a fixed clamping jaw component and a variable-distance clamping jaw component, as well as the precise linkage between the bottom-supporting mechanism and the holding mechanism, meets the needs of precise positioning and variable distance of battery cells, ensures the stability of the transportation process, reduces the risk of battery cells being damaged during transportation, and not only improves the degree of automation of battery cell transportation, but also significantly improves the overall efficiency and product quality of the production line.

[0029] In order to more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the working state of the variable-distance battery cell loading robot in an embodiment of the present application;

[0031] Figure 2 This is an embodiment of the present application Figure 1 A enlarged view;

[0032] Figure 3 This is a schematic diagram of the structure of a variable-distance battery cell loading robot according to an embodiment of the present application;

[0033] Figure 4 This is an embodiment of the present application Figure 3 Enlarged view of point B;

[0034] Figure 5 This is a schematic diagram of the partial structure decomposition of the battery cell variable distance feeding robot according to an embodiment of the present application;

[0035] Figure 6 This is an embodiment of the present application Figure 5 Enlarged view of point C;

[0036] Figure 7 This is a schematic diagram of the partial structure decomposition of the battery cell variable distance feeding robot from another perspective of an embodiment of the present application;

[0037] Figure 8 This is a schematic diagram of the bottom support mechanism structure of an embodiment of the present application;

[0038] Figure 9 This is an embodiment of the present application Figure 8 The enlarged view of point D;

[0039] Figure 10 This is a schematic diagram of the structure of the clamping jaw component of an embodiment of the present application;

[0040] Figure 11 It is a schematic diagram of the structure of the pressing mechanism of an embodiment of the present application.

[0041] Description of reference numerals:

[0042] 10. Robot body;

[0043] 20. Pitch-variable fixed plate frame; 21. Fixed clamping jaw member; 211. Fixed mounting plate; 212. Floating plate; 2121. Second sensor; 2122. Sensor slot; 213. Clamping jaw; 2131. First sensor; 214. Pneumatic connector; 215. Floating spring; 216. Floating shading plate; 2161. Sensor avoidance groove; 217. Sliding guide block; 218. Parallel clamp; 219. Guide plate; 22. Pitch-variable clamping jaw Components; 221, variable pitch clamping member; 23, variable pitch driving member; 24, first stroke limiting member; 241, first limiting plate; 242, first positioning pin; 243, first guide slide limiting groove; 25, second stroke limiting member; 251, second limiting plate; 252, second positioning pin; 253, second guide slide limiting groove; 26, adjusting screw; 27, fixing seat; 28, variable pitch track; 29, variable pitch traverse seat; 291, first guide slide block;

[0044] 30. Bottom support mechanism; 31. Bottom support control module; 311. Transverse fixed plate; 3111. Transverse guide rail; 3112. Second guide slide block; 312. Bottom support mounting seat; 3121. Vertical guide rail; 3122. Third guide slide block; 313. Lifting cylinder; 314. Transverse cylinder; 315. Positioning bracket; 316. Transverse floating joint; 32. Bottom support rod;

[0045] 40. Holding mechanism; 41. Pneumatic holding mounting seat; 411. Guide slide mounting groove; 412. Guide rod; 42. Fourth guide slide; 43. Holding claw; 44. Guide slide mounting plate; 441. Positioning support plate; 442. Holding guide rail; 45. Buffer member; 451. First elastic member; 452. Abutting rod; 453. Abutting block; 454. Positioning pad; 46. Second elastic member;

[0046] 50. Carrier handling gripper;

[0047] 60. Visual components;

[0048] 70. Distance measuring component;

[0049] 80. Battery cell carrier. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0051] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0052] See also Figures 1 to 11 The present invention provides a variable-distance battery cell feeding robot, comprising:

[0053] The manipulator body 10 serves as the support and motion control core of the entire manipulator.

[0054] The variable pitch fixed plate frame 20 is installed at the action end of the manipulator body 10 and is used to fix and support subsequent components. A fixed clamping claw component 21 is installed in the middle of one side of the variable pitch fixed plate frame 20 away from the action end of the manipulator body 10.

[0055] The variable-pitch jaw assembly 22 is symmetrically arranged on both sides of the fixed jaw member 21 to accommodate the clamping of battery cells of different sizes. It also meets the needs of precise positioning and variable pitch of the battery cells. During the battery pack assembly process, the battery cells can be arranged according to specific spacing and positions, and the battery cells can be released at different spacings between the incoming material and the downstream equipment. Specifically, the variable-pitch jaw assembly 22 includes a plurality of variable-pitch jaw members 221, which are all slidably mounted on the variable-pitch fixed plate frame 20 to achieve flexible adjustment of the spacing between the jaw members. The short center distance of the incoming battery cells can be converted to a center distance that meets the needs according to actual needs.

[0056] The variable-pitch drive 23, mounted on the variable-pitch fixed plate 20, is used to adjust the position of the variable-pitch clamping jaws 221 on the variable-pitch fixed plate 20, ensuring that each clamping jaw aligns precisely with the battery cell to be clamped, thereby achieving precise clamping. Specifically, the variable-pitch drive 23 is mounted on opposite sides of the variable-pitch fixed plate 20 in a parallel, staggered arrangement.

[0057] The bottom support mechanism 30 is installed on the variable pitch fixed plate frame 20 and is used to provide bottom support for the battery cells during transportation, effectively preventing the battery cells from shaking or falling during transportation.

[0058] The holding mechanism 40 is installed on both sides of the variable-pitch fixed plate frame 20 and is arranged above the bottom support mechanism 30. It is used to hold the battery cell carrier 80 during the transportation of the battery cells to ensure that the battery cells placed on the incoming battery cell carrier 80 can be stably clamped and detached.

[0059] The carrier handling jaw 50, mounted on the side of the variable-pitch fixed plate frame 20 away from the holding mechanism 40, is used to handle unloaded battery cell carriers 80, improving the robot's overall handling efficiency. The fixed jaw assembly 21, variable-pitch jaw assembly 221, holding mechanism 40, and carrier handling jaw 50 are all connected to pneumatic actuators for fast and accurate motion response.

[0060] The visual component 60 is installed on the variable-distance fixed plate frame 20 and is used to address and scan the battery cell carrier 80 and identify the placement position of the battery cells, ensuring that the robot can accurately clamp the battery cells from the incoming battery cell carrier 80 and accurately place the clamped battery cells at a specific spacing and position.

[0061] The distance measuring component 70 is installed on the variable distance fixed plate frame 20 and is used to measure the distance of the battery cell incoming in the Z-axis direction to provide data support for the precise movement of the manipulator.

[0062] The control unit, the manipulator body 10, the bottom support mechanism 30, the variable pitch drive 23, the pneumatic drive, the visual component 60 and the distance measuring component 70 are all electrically connected to the control unit to realize the intelligent control and coordinated operation of the entire manipulator, ensure the stability and efficiency of the handling process, realize automation, avoid damage to the battery cells caused by human factors, and improve product quality.

[0063] In this example, see Figure 6 and Figure 7 Each two variable-distance jaw components 221 are movably connected through a first stroke limiting component 24, and the variable-distance jaw component 221 close to the fixed jaw component 21 is also movably connected to the fixed jaw component 21 through a second stroke limiting component 25. The setting of the first stroke limiting component 24 and the second stroke limiting component 25 ensures that each jaw component can maintain a stable linkage relationship during the distance change process, thereby improving the stability and reliability of the overall structure.

[0064] The first stroke limiting member 24 includes a first limiting plate 241 and a first positioning pin 242, which work together. The first limiting plate 241 and the first positioning pin 242 are respectively arranged on the side where the two variable-distance clamping jaw members 221 are close to each other to achieve precise stroke control and guidance, ensuring that the relative movement between the variable-distance clamping jaw members 221 is smooth and error-free. One end of the first limiting plate 241 is installed on the variable-distance clamping jaw member 221 close to the fixed clamping jaw member 21, and the other end is provided with a first guide sliding limiting groove 243 adapted to the first positioning pin 242. Through the groove and pin cooperation, the relative movement trajectory between the variable-distance clamping jaw members 221 is limited and guided. One end of the first positioning pin 242 passes through the first guide sliding limiting groove 243 and is installed on the variable-distance clamping jaw member 221 away from the fixed clamping jaw member 21, ensuring the stability of the structure and the controllability of the movement. The second stroke limiting component 25 includes a second limiting plate 251 and a second positioning pin 252, which also work together. The second limiting plate 251 and the second positioning pin 252 are respectively arranged on the side where the distance changing jaw component 221 and the fixed jaw component 21 are close to each other, so as to ensure the stable connection and precise distance changing between the distance changing jaw component 221 and the fixed jaw component 21. One end of the second limiting plate 251 is installed on the fixed jaw component 21, and the other end is provided with a second guide sliding limiting groove 253 which is adapted to the second positioning pin 252. Similarly, through the precise groove pin matching, high-precision stroke control and guidance can be achieved. One end of the second positioning pin 252 passes through the second guide sliding limiting groove 253 and is installed on the distance changing jaw component 221, thereby ensuring that the distance changing process of the entire manipulator is both stable and efficient.

[0065] Further, see Figure 6 Adjustment screws 26 are installed on the side where each two variable-pitch clamping members 221 are close to each other and on the side where the fixed clamping member 21 and the variable-pitch clamping member 221 are close to each other, so as to fine-tune the distance between each clamping member, ensure the stability and adaptability of the battery cell clamping, and improve the versatility and flexibility of the manipulator.

[0066] See also Figure 7 and Figure 8The fixed clamping jaw member 21 is installed on the variable pitch fixed plate frame 20 through the fixed seat 27 to ensure the stability and reliability of the fixed clamping jaw member 21. The variable pitch transverse seat 29 is installed at the end of the variable pitch clamping jaw member 221 close to the manipulator body 10, providing a stable support structure for the lateral movement of the variable pitch clamping jaw member 221. The variable pitch fixed plate frame 20 is also installed on the side away from the transmission end of the manipulator body 10 with a variable pitch rail 28 to guide the precise movement of the variable pitch clamping jaw member 221. The variable pitch transverse seat 29 is installed on the side close to the variable pitch fixed plate frame 20 with a first guide slider 291 adapted to the variable pitch rail 28. The variable pitch transverse seat 29 is slidably installed on the variable pitch rail 28 through the first guide slider 291. Through the precise cooperation between the first guide slider 291 and the variable pitch rail 28, the smooth sliding of the variable pitch clamping jaw member 221 is achieved, ensuring the stability and accuracy of the pitch change process and improving the overall performance of the manipulator.

[0067] Specifically, see Figure 10 The fixed clamping jaw component 21 and the variable pitch clamping jaw component 221 both include a fixed mounting plate 211, a floating plate 212, a clamping jaw 213 and a pneumatic connecting seat 214. The clamping jaw 213 is movably mounted on both sides symmetrically at one end of the pneumatic connecting seat 214 to achieve reliable clamping of the battery cell. The other end of the pneumatic connecting seat 214 is fixedly mounted on the floating plate 212. A floating spring 215 is provided between the floating plate 212 and the fixed mounting plate 211. One end of the floating spring 215 is connected to the floating plate 212, and the other end is connected to the fixed mounting plate 211. By setting the floating spring 215, the floating adjustment of the clamping jaw 213 is achieved, thereby enhancing the adaptability and stability of the clamping. A first sensor 2131 is installed on the clamping jaw 213 for real-time monitoring of the clamping state of the clamping jaw 213 to detect whether the battery cell is clamped. A second sensor 2121 is installed on one side of the floating plate 212. The sensing end of the second sensor 2121 is connected to the floating plate 212 A sensor slot 2122 is formed, and a floating light shielding plate 216 corresponding to the sensing end of the second sensor 2121 is installed on the fixed mounting plate 211. One end of the floating light shielding plate 216 is movably set on the sensor slot 2122 to block or release the sensor signal. The floating light shielding plate 216 is also provided with a sensor avoidance groove 2161 corresponding to the sensing end of the second sensor 2121. When the floating light shielding plate 216 moves beyond the preset stroke, the sensor avoidance groove 2161 can ensure the conduction and transmission of the sensor signal to prevent the manipulator from moving too far and damaging the battery cell. The pneumatic connecting seat 214 is connected to the pneumatic drive component to realize the drive of pneumatic clamping. The fixed mounting plate 211 of the fixed clamping jaw component 21 is installed on the fixed seat 27, and the fixed mounting plate 211 of the variable-distance clamping jaw component 221 is installed on the variable-distance transverse seat 29. The first sensor 2131 and the second sensor 2121 are both electrically connected to the control unit to realize intelligent control and monitoring of the clamping process.

[0068] The clamping claw 213 is installed on the pneumatic connecting seat 214 through the sliding guide block 217 to ensure the smooth sliding clamping of the clamping claw 213. The pneumatic connecting seat 214 is also equipped with a parallel clamper 218 corresponding to the sliding guide block 217. Through the coordinated action of the parallel clamper 218, the smooth clamping and release of the battery cell is achieved. Guide plates 219 are also installed on the symmetrical sides of the clamping claw 213 to guide the accurate placement and removal of the battery cell, thereby improving the operating accuracy and efficiency of the manipulator.

[0069] See also Figure 8 and Figure 9 The bottom support mechanism 30 includes a bottom support regulating module 31 and a bottom support rod 32. This design ensures the stability and safety of the battery cell during transmission. The bottom support regulating module 31 is installed on both sides of the variable pitch fixed plate frame 20. The two bottom support regulating modules 31 are connected by the bottom support rod 32 to form a stable support structure to achieve the balance and stability of the bottom support mechanism 30. The pressing mechanism 40 is set just above the bottom support regulating module 31 to optimize the spatial layout, so that the pressing force is uniform and the stability of the battery cell clamping is improved. The module 31 includes a transverse fixed plate 311, a bottom support mounting seat 312, a lifting cylinder 313 and a transverse cylinder 314. The transverse fixed plate 311 is installed on the variable pitch fixed plate frame 20 to provide a stable installation foundation for the bottom support control module 31. A transverse guide rail 3111 is installed on the transverse fixed plate 311. The transverse cylinder 314 is movably installed on the transverse guide rail 3111 through a second guide slider 3112 to realize the transverse movement of the bottom support mechanism 30. One end of the transverse guide rail 3111 is also provided with a positioning support The bracket 315 is used to fix the driving end of the transverse cylinder 314 to ensure the accuracy and stability of the transverse movement. The positioning bracket 315 is installed on the transverse fixed plate 311. The driving end of the transverse cylinder 314 is installed on the positioning bracket 315 through the transverse floating joint 316 to achieve flexible transmission of the driving force. The bottom mounting seat 312 is fixedly installed on the second guide slider 3112 to provide a stable installation platform for the lifting cylinder 313 and the bottom rod 32. The vertical guide rail 31 is installed on the bottom mounting seat 312. 21. To ensure the smooth lifting and lowering of the bottom support rod 32, the bottom support rod 32 is slidably installed on the vertical guide rail 3121 through the third guide slider 3122. The lifting cylinder 313 is installed on the side of the bottom support mounting seat 312 away from the bottom support rod 32 to provide power for the lifting and lowering of the bottom support rod 32. The transmission end of the lifting cylinder 313 is connected to the third guide slider 3122 to ensure stable power transmission. The lifting cylinder 313 and the transverse cylinder 314 are both electrically connected to the control unit to realize intelligent control and adjustment of the bottom support mechanism 30.

[0070] For further information, see Figure 11The pressing mechanism 40 includes a pneumatic pressing mounting seat 41, a fourth guide slider 42 and a pressing claw 43. The pneumatic pressing mounting seat 41 is installed on the variable pitch fixed plate frame 20 to provide a stable installation foundation for the pressing mechanism 40. The pneumatic pressing mounting seat 41 is provided with a guide sliding mounting groove 411 for installing and fixing the guide structure. A plurality of parallel guide rods 412 are installed in the guide sliding mounting groove 411. The fourth guide slider 42 is sleeved and installed on the guide rod 412 and can reciprocate along the length direction of the guide rod 412. A guide sliding mounting plate 44 is fixedly installed on the fourth guide sliding block 42 to provide stable support for the installation and sliding of the pressing claw 43. A positioning support plate 441 is installed on the side of the guide sliding mounting plate 44 close to the fourth guide sliding block 42, and a pressing guide rail 442 is installed on the other side. The pressing claw 43 is slidably installed on the pressing guide rail 442 to achieve reliable pressing of the battery cell. A buffer component 45 is also provided between the pressing claw 43 and the positioning support plate 441 to absorb the impact force during the pressing process and protect the integrity of the battery cell and the manipulator.

[0071] The buffering member 45 includes an abutment rod 452 and a first elastic member 451. The abutment rod 452 is movably mounted on the positioning support plate 441 and reciprocates along the length direction of the pressing guide rail 442 with the pressing claw 43 to realize dynamic adjustment of the buffering member 45. The abutment rod 452 abuts against the pressing claw 43 through the abutment block 453 to ensure stable transmission of the buffering force. A limiting pad 454 corresponding to the abutment block 453 is also installed on the side of the positioning support plate 441 close to the pressing claw 43. The first elastic member 451 is sleeved and mounted on the abutment rod 452. One end of the first elastic member 451 is connected to the abutment block 453, and the other end is connected to the limiting pad 454. It absorbs the impact force during the pressing process through elastic deformation to ensure stable and reliable operation of the buffering member 45.

[0072] In addition, when the height of the side of the pneumatic pressing mount 41 away from the pressing claw 43 exceeds the installation height of the abutment rod 452, a second elastic member 46 is provided on the side of the positioning support plate 441 away from the pressing claw 43. The second elastic member 46 is used to elastically abut against the pneumatic pressing mount 41 to avoid damage to the equipment due to instantaneous rigid contact.

[0073] Working principle:

[0074] 1. The upstream equipment transports the multi-layer battery cell carrier 80 to the designated location. The battery cell variable distance loading robot moves to the top of the battery cell carrier 80. The distance measuring component 70 measures the distance of the battery cell carrier 80 based on the triangulation positioning method to obtain the placement status of the battery cell carrier 80 and determine whether it is placed crookedly.

[0075] 2. After determining that the battery cell carrier 80 is correctly placed, the battery cell variable distance loading robot scans and addresses the battery cell carrier 80 through the visual component 60 to identify the position of the battery cell and the battery cell carrier 80.

[0076] 3. The variable-pitch cell loading robot moves to the first row of cell positions, and the first sensor 2131 detects whether there are cell positions. If it is determined that there are cell positions, the fixed clamping member 21 and the variable-pitch clamping member 221 close to grab the cell positions, and then the pressing mechanism 40 operates to press the cell carrier 80 downward.

[0077] 4. The variable-distance loading robot for the battery cell moves upward to the preset position, the battery cell is completely separated from the battery cell carrier 80, the holding mechanism 40 is closed, and the bottom support mechanism 30 is opened. The bottom support rod 32 provides bottom support for the battery cell to prevent the battery cell from falling during transportation and movement.

[0078] 5. The variable-pitch loading robot for battery cells moves to a preset position above the downstream equipment, and the bottom support mechanism 30 closes to prevent the battery cells from hitting the downstream equipment when being placed. At the same time, the variable-pitch clamping claw member 221 is adjusted to achieve variable distance between the clamped battery cells, preparing for the release of the battery cells to the downstream equipment to meet the arrangement requirements of specific spacing and positions.

[0079] 6. After the variable-pitch battery cell loading robot moves to the designated battery cell placement position of the downstream equipment, it releases the battery cell, completing a working cycle of grabbing the battery cell.

[0080] 7. The variable-pitch cell loading robot moves to the next row of cells on the cell carrier 80 and moves the cells on the cell carrier 80 according to steps 3-6 until all the cells on the cell carrier 80 are clamped.

[0081] 8. The variable-pitch cell loading robot moves to the designated position of the cell carrier 80 where all cells have been clamped, and the carrier transporting claw 50 works to transport the cell carrier 80 to a preset position for storage, completing a complete cell clamping work cycle on the cell carrier 80.

[0082] 9. The variable-pitch cell loading robot repeats steps 1-8 and works in a cycle to complete the cell loading.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A variable-pitch battery cell feeding robot, characterized in that: include: Manipulator body (10); A variable pitch fixed plate frame (20) is installed at the action end of the manipulator main body (10), and a fixed clamping claw component (21) is installed in the middle of one side of the variable pitch fixed plate frame (20) away from the action end of the manipulator main body (10); A variable pitch clamping jaw assembly (22) is symmetrically arranged on both sides of the fixed clamping jaw component (21), and the variable pitch clamping jaw assembly (22) includes a plurality of variable pitch clamping jaw components (221), and the plurality of variable pitch clamping jaw components (221) are all slidably mounted on the variable pitch fixed plate frame (20); a pitch-changing driving member (23) mounted on the pitch-changing fixed plate frame (20) and used for adjusting the position of the pitch-changing clamping jaw member (221) on the pitch-changing fixed plate frame (20); A bottom support mechanism (30) is mounted on the variable pitch fixed plate frame (20) and is used to provide bottom support for the battery cells during transportation; A holding mechanism (40) is installed on symmetrical sides of the variable pitch fixed plate frame (20) and is arranged above the bottom support mechanism (30) for holding the battery cell carrier (80) during the process of transporting the battery cells; A carrier transporting clamp (50) is installed on a side of the variable-pitch fixed plate frame (20) away from the holding mechanism (40) and is used to transport the unloaded battery cell carrier (80); the fixed clamping jaw component (21), the variable-pitch clamping jaw component (221), the holding mechanism (40) and the carrier transporting clamp (50) are all connected to a pneumatic drive component; A visual component (60) is mounted on the variable-pitch fixed plate frame (20) and is used to perform addressing and scanning on the battery cell carrier (80) and identify the placement position of the battery cell; A distance measuring component (70) is mounted on the variable distance fixed plate frame (20) and is used to measure the distance of incoming battery cores in the Z-axis direction; A control unit is provided, wherein the manipulator body (10), the bottom support mechanism (30), the variable distance drive member (23), the pneumatic drive member, the visual component (60) and the distance measuring member (70) are all electrically connected to the control unit.

2. The variable-pitch battery cell feeding robot according to claim 1, characterized in that: Every two of the variable-pitch clamping jaw components (221) are movably connected via a first stroke limiting component (24), and the variable-pitch clamping jaw component (221) close to the fixed clamping jaw component (21) is also movably connected to the fixed clamping jaw component (21) via a second stroke limiting component (25).

3. The variable-pitch battery cell feeding robot according to claim 2, characterized in that: The first stroke limiting member (24) includes a first limiting plate (241) and a first positioning pin (242). The first limiting plate (241) and the first positioning pin (242) are respectively arranged on the side of the two variable distance clamping jaw members (221) close to each other. One end of the first limiting plate (241) is installed on the variable distance clamping jaw member (221) close to the fixed clamping jaw member (21), and the other end is provided with a first guide sliding limiting groove (243) adapted to the first positioning pin (242). One end of the first positioning pin (242) passes through the first guide sliding limiting groove (243) and is installed on the variable distance clamping jaw member (221) away from the fixed clamping jaw member (21). On the claw member (221), the second stroke limiting member (25) includes a second limiting plate (251) and a second positioning pin (252). The second limiting plate (251) and the second positioning pin (252) are respectively arranged on the side where the variable distance clamping claw member (221) and the fixed clamping claw member (21) are close to each other. One end of the second limiting plate (251) is installed on the fixed clamping claw member (21), and the other end is provided with a second guide sliding limiting groove (253) adapted to the second positioning pin (252). One end of the second positioning pin (252) passes through the second guide sliding limiting groove (253) and is installed on the variable distance clamping claw member (221).

4. The variable-pitch battery cell feeding robot according to any one of claims 1 to 3, characterized in that: An adjusting screw (26) is installed on each side where the two variable-pitch clamping jaw components (221) are close to each other and on the side where the fixed clamping jaw component (21) and the variable-pitch clamping jaw component (221) are close to each other.

5. The variable-pitch battery cell feeding robot according to any one of claims 1 to 3, characterized in that: The fixed clamping jaw member (21) is mounted on the variable pitch fixed plate frame (20) via a fixed seat (27); a variable pitch transverse seat (29) is mounted on one end of the variable pitch clamping jaw member (221) close to the manipulator body (10); a variable pitch track (28) is mounted on the side of the variable pitch fixed plate frame (20) away from the transmission end of the manipulator body (10); a first guide slider (291) adapted to the variable pitch track (28) is mounted on the side of the variable pitch transverse seat (29) close to the variable pitch fixed plate frame (20); and the variable pitch transverse seat (29) is slidably mounted on the variable pitch track (28) via the first guide slider (291).

6. The variable-pitch battery cell feeding robot according to claim 5, characterized in that: The fixed clamping jaw component (21) and the variable pitch clamping jaw component (221) both comprise a fixed mounting plate (211), a floating plate (212), a clamping jaw (213) and a pneumatic connection seat (214). The clamping jaw (213) is movably mounted on two symmetrical sides of one end of the pneumatic connection seat (214). The other end of the pneumatic connection seat (214) is fixedly mounted on the floating plate (212). A floating spring (215) is provided between the floating plate (212) and the fixed mounting plate (211). One end of the floating spring (215) is connected to the floating plate (212), and the other end is connected to the fixed mounting plate (211). A first sensor (2131) is mounted on the clamping jaw (213). A second sensor (2121) is mounted on one side of the floating plate (212). The sensing end of the second sensor (2121) is connected to the floating plate (212). A sensing slot (2122) is formed between the plates (212); a floating shading plate (216) corresponding to the sensing end of the second sensor (2121) is installed on the fixed mounting plate (211); one end of the floating shading plate (216) is movably arranged on the sensing slot (2122); a sensing avoidance groove (2161) corresponding to the sensing end of the second sensor (2121) is also provided on the floating shading plate (216); the pneumatic connecting seat (214) is connected to the pneumatic driving member; the fixed mounting plate (211) of the fixed clamping jaw member (21) is installed on the fixed seat (27); the fixed mounting plate (211) of the variable pitch clamping jaw member (221) is installed on the variable pitch transverse seat (29); and the first sensor (2131) and the second sensor (2121) are both electrically connected to the control unit.

7. The variable-pitch battery cell feeding robot according to claim 6, characterized in that: The clamping claw (213) is mounted on the pneumatic connection seat (214) via a sliding guide block (217); a parallel clamp (218) corresponding to the sliding guide block (217) is also mounted on the pneumatic connection seat (214); and guide plates (219) are also mounted on symmetrical sides of the clamping claw (213).

8. The variable-pitch battery cell feeding robot according to claim 1, characterized in that: The bottom support mechanism (30) includes a bottom support regulating module (31) and a bottom support rod (32). The bottom support regulating module (31) is installed on symmetrical sides of the variable pitch fixed plate frame (20). The two bottom support regulating modules (31) are connected by the bottom support rod (32). The pressing mechanism (40) is arranged directly above the bottom support regulating module (31). The bottom support regulating module (31) includes a transverse fixed plate (311), a bottom support mounting seat (312), a lifting cylinder (313) and a transverse cylinder (314). The transverse fixed plate (311) is installed on the variable pitch fixed plate frame (20). A transverse guide rail (3111) is installed on the transverse fixed plate (311). The transverse cylinder (314) is movably installed on the transverse guide rail (3111) through a second guide slider (3112). One end of the transverse guide rail (3111) is also provided. A positioning bracket (315) is provided, and the positioning bracket (315) is installed on the transverse fixed plate (311). The driving end of the transverse cylinder (314) is installed on the positioning bracket (315) through a transverse floating joint (316). The bottom support mounting seat (312) is fixedly installed on the second guide slider (3112). A vertical guide rail (3121) is installed on the bottom support mounting seat (312). The bottom support rod (32) is slidably installed on the vertical guide rail (3121) through a third guide slider (3122). The lifting cylinder (313) is installed on the side of the bottom support mounting seat (312) away from the bottom support rod (32). The driving end of the lifting cylinder (313) is connected to the third guide slider (3122). The lifting cylinder (313) and the transverse cylinder (314) are both electrically connected to the control unit.

9. The variable-pitch battery cell feeding robot according to claim 1 or 8, characterized in that: The pressing mechanism (40) comprises a pneumatic pressing mounting seat (41), a fourth guide slider (42) and a pressing claw (43). The pneumatic pressing mounting seat (41) is mounted on the variable pitch fixed plate frame (20). A guide slider mounting groove (411) is provided on the pneumatic pressing mounting seat (41). A plurality of parallel guide rods (412) are mounted in the guide slider mounting groove (411). The fourth guide slider (42) is sleeved on the guide rod (412) and can be moved along the guide rod (412). The guide rod (412) moves back and forth in the length direction, and a guide slide mounting plate (44) is fixedly installed on the fourth guide slide block (42). A positioning support plate (441) is installed on one side of the guide slide mounting plate (44) close to the fourth guide slide block (42), and a holding guide rail (442) is installed on the other side. The holding claw (43) is slidably installed on the holding guide rail (442), and a buffer component (45) is also provided between the holding claw (43) and the positioning support plate (441).

10. The battery cell variable-pitch feeding robot according to claim 9, characterized in that: The buffer member (45) includes an abutment rod (452) and a first elastic member (451). The abutment rod (452) is movably mounted on the positioning support plate (441) and reciprocates along the length direction of the holding guide rail (442) along with the holding claw (43). The abutment rod (452) abuts against the holding claw (43) through an abutment block (453). A limiting pad (454) corresponding to the abutment block (453) is also mounted on the side of the positioning support plate (441) close to the holding claw (43). The first elastic member (451) is sleeved and mounted on the abutment rod (452). One end of the first elastic member (451) is connected to the abutment block (453), and the other end is connected to the limiting pad (454).

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