Special manipulator for battery production

Abstract

The utility model relates to the field of battery production equipment, and discloses a special manipulator for battery production, which comprises a supporting column, a movement mechanism and a clamping mechanism, the movement mechanism is arranged at the upper end of the supporting column and comprises a rotating arm, a first servo motor is arranged at a cavity at the upper end in the supporting column, and a second servo motor is arranged at the lower end of the supporting column. A first servo motor is arranged in a cavity in the supporting column, an output shaft of the first servo motor penetrates through the supporting column and is fixedly connected with a rotating arm, a second servo motor is arranged in the cavity in the rotating arm, an output shaft of the second servo motor penetrates through the rotating arm and is fixedly connected with a main pitching arm, and a third servo motor is arranged in a cavity in one side in the main pitching arm. According to the four-degree-of-freedom manipulator, the manipulator is endowed with four degrees of freedom through the first servo motor, the second servo motor, the third servo motor and the fourth servo motor, the horizontal clamping jaw is driven to move through the sixth servo motor, the fifth servo motor is matched to drive the driving lower tooth jaw and the driven upper tooth jaw to rotate, and the clamping stability is improved.

Description

Technical Field

[0001] The utility model relates to the field of battery production equipment, in particular to a special manipulator for battery production. Background Art

[0002] During the battery production process, it is often necessary to transfer batteries from one workstation to another nearby workstation for processing. At this time, an intermediate device is required for the transfer. The robot arm dedicated to battery production is a special device that can simulate the movement of human arms to clamp and move batteries.

[0003] However, most of the existing battery production robots on the market have few degrees of freedom, which limits the range of motion of the robots and reduces their flexibility. In addition, most of the existing battery production robots on the market have low clamping stability when clamping batteries, which may cause the batteries to shake during movement, which is not conducive to the clamping and handling operations of the robots.

[0004] Therefore, those skilled in the art provide a battery production-specific robot to solve the problems raised in the above background technology. Utility Model Content

[0005] The purpose of the present utility model is to solve the shortcomings of the prior art and to propose a special robot for battery production. The first servo motor, the second servo motor, the third servo motor and the fourth servo motor in the motion mechanism give the robot four degrees of freedom, and the sixth servo motor in the clamping mechanism drives the horizontal clamping claw to move, and cooperates with the fifth servo motor to drive the active lower tooth claw and the driven upper tooth claw to rotate, thereby improving the clamping stability.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A robot arm for battery production, comprising a support column, a motion mechanism and a clamping mechanism, wherein the lower end of the support column is fixedly connected to a fixed seat, the upper end of the support column is provided with a motion mechanism, the motion mechanism includes a rotating arm, a first servo motor is provided in a cavity at the upper end of the support column, the output shaft of the first servo motor passes through the support column and is fixedly connected to the rotating arm, a second servo motor is provided in a cavity inside the rotating arm, the output shaft of the second servo motor passes through the rotating arm and is fixedly connected to the main pitching arm, a third servo motor is provided in a cavity on one side of the main pitching arm, the output shaft of the third servo motor passes through the main pitching arm and is fixedly connected to the secondary pitching arm, a fourth servo motor is provided in a cavity on one side of the secondary pitching arm, the output shaft of the fourth servo motor passes through the secondary pitching arm and is fixedly connected to the rotating seat, a clamping mechanism is provided on one side of the rotating seat, the clamping mechanism includes a clamping seat, a rotating groove is provided in the middle of the upper end and the lower end of the clamping seat, and a fixed block is fixedly connected to the middle of the outer wall of one side of the clamping seat;

[0008] Through the above technical solution, through the support column, rotating arm, main pitch arm and secondary pitch arm in the motion mechanism, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor, the battery production special robot has four degrees of freedom, which improves the flexibility of the robot. The fixed seat fixedly connected to the lower end of the support column enables the staff to firmly fix the battery production special robot on the ground to prevent the robot from tilting and tipping over during movement.

[0009] Furthermore, a sliding groove is provided in the middle of the outer wall of one side of the fixed block, and the upper ends of the front end of the rotating groove and the rear end inner wall are rotatably connected to the driven upper tooth claw, and a fifth servo motor is provided in the cavity in the middle of the rear end of the clamping seat, and the output shaft of the fifth servo motor passes through the clamping seat and is fixedly connected to the active lower tooth claw, and the front end of the rotating groove and the lower ends of the rear end inner wall are rotatably connected to the active lower tooth claw, and a sixth servo motor is provided in the cavity on one side of the middle of the clamping seat, and the output shaft of the sixth servo motor passes through the clamping seat and the fixed block and is fixedly connected to the transmission gear, the upper and lower ends of the sliding groove are slidably connected to the rack, and the side of the rack away from the center of the fixed block is fixedly connected to the horizontal clamping claw;

[0010] Through the above technical solution, the sixth servo motor in the clamping mechanism drives the transmission gear in the slide groove to rotate, so that the two racks engaged with the transmission gear drive the two horizontal clamping claws to move along the slide groove, and cooperate with the fifth servo motor to drive the active lower tooth claw to rotate inside the rotating groove, and the driven upper tooth claw engaged with the active lower tooth claw also rotates inside the rotating groove, thereby clamping the battery horizontally and vertically, improving the stability of the clamping.

[0011] Furthermore, the outer wall of the lower end of the rotating arm is fixedly connected to a first bearing, and the outer wall of the first bearing is fixedly connected to the support column;

[0012] Through the above technical solution, the inner wall of the first bearing is fixedly connected to the outer wall of the rotating arm, and the outer wall is fixedly connected to the inner wall of the support column, so that the rotating arm drives the auxiliary parts on the rotating arm to rotate more smoothly and stably, which is conducive to the manipulator to stably clamp and drive the battery to rotate.

[0013] Furthermore, a second bearing is fixedly connected to the outer wall of the rear end of the main pitch arm, and the outer wall of the second bearing is fixedly connected to the rotating arm;

[0014] Through the above technical solution, the inner wall of the second bearing is fixedly connected to the outer wall of the main pitch arm, and the outer wall is fixedly connected to the inner wall of the rotating arm, so that when the main pitch arm drives the attached parts thereon to perform lifting movement, the friction between the main pitch arm and the rotating arm is reduced, which is conducive to the smooth lifting movement of the manipulator.

[0015] Furthermore, a third bearing is fixedly connected to the outer wall of the front end of the secondary pitch arm, and the outer wall of the third bearing is fixedly connected to the main pitch arm;

[0016] Through the above technical solution, the inner wall of the third bearing is fixedly connected to the outer wall of the secondary pitch arm, and the outer wall is fixedly connected to the inner wall of the main pitch arm, so that the secondary pitch arm can move more stably and smoothly on the main pitch arm, which is beneficial for the secondary pitch arm to assist the main pitch arm to enable the manipulator to further perform pitch movement.

[0017] Furthermore, a fourth bearing is fixedly connected to the other side of the outer wall of the rotating seat, and the outer wall of the fourth bearing is fixedly connected to the secondary pitch arm;

[0018] Through the above technical solution, the inner wall of the fourth bearing is fixedly connected to the outer wall of the rotating seat, and the outer wall is fixedly connected to the inner wall of the secondary pitch arm, so that the friction between the rotating seat and the secondary pitch arm is reduced, which is conducive to the rotating seat stably driving the attached parts to perform rotational motion.

[0019] Furthermore, a connecting plate is fixedly connected to the outer wall of one side of the rotating seat, and the outer wall of one side of the connecting plate is fixedly connected to the clamping seat through a plurality of bolts;

[0020] Through the above technical solution, the clamping seat is fixedly connected to the connecting plate on the rotating seat by multiple bolts, so that the staff can unscrew the bolts and remove the clamping seat and its accessories, which facilitates daily maintenance and replacement work.

[0021] Furthermore, the active lower tooth claw is meshed with the driven upper tooth claw, the transmission gear rotates inside the slide groove, the racks are meshed with the transmission gear, and the horizontal clamping claws slide inside the slide groove;

[0022] Through the above technical solution, through the meshing connection between the active lower claw and the driven upper claw, the fifth servo motor can drive the active lower claw to rotate while causing the driven upper claw to rotate as well, and through the meshing connection between the rack and the transmission gear, the sixth servo motor drives the transmission gear to rotate while the rack can move the horizontal clamp along the slide groove.

[0023] The utility model has the following beneficial effects:

[0024] 1. The utility model proposes a special battery production robot. Through the first servo motor, second servo motor, third servo motor and fourth servo motor in the support column, rotating arm, main pitch arm and secondary pitch arm in the motion mechanism, the special battery production robot has four degrees of freedom, which reduces the restriction on the range of movement of the robot and improves the flexibility of the robot.

[0025] 2. The utility model proposes a special robot for battery production, which drives the transmission gear in the slide groove to rotate through the sixth servo motor in the clamping mechanism, so that the two racks engaged with the transmission gear drive the two horizontal clamping claws to move along the slide groove, and cooperates with the fifth servo motor to drive the active lower tooth claw to rotate inside the rotating groove, and makes the driven upper tooth claw engaged with the active lower tooth claw also rotate inside the rotating groove, thereby clamping the battery horizontally and vertically, improving the stability of clamping, and facilitating the clamping and handling operations of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the main structure of a special battery production robot proposed in this utility model;

[0027] Figure 2 This is an exploded view of a special robot for battery production proposed in this utility model;

[0028] Figure 3 This is an axial cross-sectional view of a special robot for battery production proposed in the utility model;

[0029] Figure 4 This is an exploded view of the rotating seat, clamping seat and fixed block of a special battery production robot proposed in the utility model;

[0030] Figure 5 This is an axial cross-sectional view of a clamping seat of a special robot for battery production proposed by the utility model.

[0031] Legend:

[0032] 1. Support column; 2. Fixed seat; 3. Motion mechanism; 301. First servo motor; 302. Rotating arm; 303. Second servo motor; 304. Main pitch arm; 305. Third servo motor; 306. Second pitch arm; 307. Fourth servo motor; 308. Rotating seat; 4. First bearing; 5. Second bearing; 6. Third bearing; 7. Fourth bearing; 8. Clamping mechanism; 801. Clamping seat; 802. Rotating groove; 803. Fixed block; 804. Slide groove; 805. Driven upper tooth claw; 806. Active lower tooth claw; 807. Fifth servo motor; 808. Sixth servo motor; 809. Transmission gear; 810. Rack; 811. Horizontal clamping jaw; 9. Connecting plate. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the specific embodiments of the present invention to clearly and completely describe the technical solutions in the specific embodiments of the present invention. Obviously, the specific embodiments described are only part of the specific embodiments of the present invention, not all of the specific embodiments. Based on the specific embodiments of the present invention, all other specific embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] Reference Figure 1 、 Figure 2 and Figure 3 , a specific implementation method provided by the utility model:

[0035] A battery production-specific manipulator includes a support column 1, a motion mechanism 3, and a clamping mechanism 8. The lower end of the support column 1 is fixedly connected to a fixed seat 2. The upper end of the support column 1 is provided with a motion mechanism 3. The motion mechanism 3 includes a rotating arm 302. A first servo motor 301 is provided in the cavity at the upper end of the support column 1. The output shaft of the first servo motor 301 passes through the support column 1 and is fixedly connected to the rotating arm 302. A second servo motor 303 is provided in the cavity inside the rotating arm 302. The output shaft of the second servo motor 303 passes through the rotating arm 302 and is fixedly connected to the main pitch arm 304. The main pitch arm 304 A third servo motor 305 is provided in the cavity on one side of the interior, and the output shaft of the third servo motor 305 passes through the main pitch arm 304 and is fixedly connected to the secondary pitch arm 306. A fourth servo motor 307 is provided in the cavity on one side of the interior of the secondary pitch arm 306, and the output shaft of the fourth servo motor 307 passes through the secondary pitch arm 306 and is fixedly connected to the rotating seat 308. A clamping mechanism 8 is provided on one side of the rotating seat 308, and the clamping mechanism 8 includes a clamping seat 801. A rotating groove 802 is provided in the middle of the upper end and the lower end of the clamping seat 801, and a fixed block 803 is fixedly connected to the middle of the outer wall of one side of the clamping seat 801.

[0036] The outer wall of the lower end of the rotating arm 302 is fixedly connected to the first bearing 4, and the outer wall of the first bearing 4 is fixedly connected to the support column 1, and is fixedly connected to the outer wall of the rotating arm 302 through the inner wall of the first bearing 4, and the outer wall is fixedly connected to the inner wall of the support column 1, so that the rotating arm 302 drives the attached parts on the rotating arm 302 to rotate more smoothly and stably, which is conducive to the stable clamping and driving of the battery by the manipulator. The outer wall of the rear end of the main pitch arm 304 is fixedly connected to the second bearing 5, and the outer wall of the second bearing 5 is fixedly connected to the rotating arm 302, and is fixedly connected to the outer wall of the main pitch arm 304 through the inner wall of the second bearing 5, and the outer wall is fixedly connected to the inner wall of the rotating arm 302, so that when the main pitch arm 304 drives the attached parts thereon to perform a lifting movement, the friction between the main pitch arm 304 and the rotating arm 302 is reduced, which is conducive to the smooth lifting movement of the manipulator, and the secondary pitch arm 30 6 The outer wall of the front end is fixedly connected to the third bearing 6, and the outer wall of the third bearing 6 is fixedly connected to the main pitch arm 304, and is fixedly connected to the outer wall of the secondary pitch arm 306 through the inner wall of the third bearing 6. The outer wall is fixedly connected to the inner wall of the main pitch arm 304, so that the secondary pitch arm 306 can move more stably and smoothly on the main pitch arm 304, which is beneficial for the secondary pitch arm 306 to assist the main pitch arm 304 to allow the manipulator to further perform pitching movement. The other side of the outer wall of the rotating seat 308 is fixedly connected to the fourth bearing 7. The outer wall of the fourth bearing 7 is fixedly connected to the secondary pitch arm 306, and is fixedly connected to the outer wall of the rotating seat 308 through the inner wall of the fourth bearing 7. The outer wall is fixedly connected to the inner wall of the secondary pitch arm 306, so that the friction between the rotating seat 308 and the secondary pitch arm 306 is reduced, which is beneficial for the rotating seat 308 to stably drive the attached components thereon to perform rotational movement.

[0037] Reference Figure 1 、 Figure 2 、 Figure 4 and Figure 5 A sliding groove 804 is provided in the middle of the outer wall of one side of the fixed block 803, and the upper ends of the front end and the rear end inner wall of the rotating groove 802 are rotatably connected to the driven upper tooth claw 805. A fifth servo motor 807 is provided in the cavity in the middle of the rear end of the clamping seat 801, and the output shaft of the fifth servo motor 807 passes through the clamping seat 801 and is fixedly connected to the active lower tooth claw 806. The lower ends of the front end and the rear end inner wall of the rotating groove 802 are rotatably connected to the active lower tooth claw 806. A sixth servo motor 808 is provided in the cavity on one side of the middle part of the clamping seat 801, and the output shaft of the sixth servo motor 808 passes through the clamping seat 801 and the fixed block 803 and is fixedly connected to the transmission gear 809. The upper and lower ends of the sliding groove 804 are slidably connected to the rack 810, and the side of the rack 810 away from the center of the fixed block 803 is fixedly connected to the horizontal clamping claw 811.

[0038] The outer wall of one side of the rotating seat 308 is fixedly connected to the connecting plate 9, and the outer wall of one side of the connecting plate 9 is fixedly connected to the clamping seat 801 by multiple bolts. The clamping seat 801 is fixedly connected to the connecting plate 9 on the rotating seat 308 by multiple bolts, so that the staff can unscrew the bolts and remove the clamping seat 801 and its accessories, which is convenient for daily maintenance and replacement. The active lower tooth claw 806 is meshed with the driven upper tooth claw 805, and the transmission gear 809 rotates inside the slide groove 804. The rack 810 is connected to the transmission The gear 809 is meshed and connected, and the horizontal clamping jaws 811 slide inside the slide groove 804. Through the meshing connection between the active lower tooth claw 806 and the driven upper tooth claw 805, the fifth servo motor 807 can drive the active lower tooth claw 806 to rotate while allowing the driven upper tooth claw 805 to rotate as well. Through the meshing connection between the rack 810 and the transmission gear 809, the sixth servo motor 808 drives the transmission gear 809 to rotate while the rack 810 can move the horizontal clamping jaw 811 along the slide groove 804.

[0039] Working principle: When using this battery to produce a special manipulator, the staff first powers the manipulator through an external power supply, and uses an external controller to start the first servo motor 301, the second servo motor 303, the third servo motor 305 and the fourth servo motor 307 in the support column 1, the rotating arm 302, the main pitch arm 304 and the secondary pitch arm 306, so that the manipulator moves to the top of the specified grasping position. Then, the staff starts the sixth servo motor 808 through the external controller to drive the transmission gear 809 to rotate, so that the rack 810 moves with the horizontal clamp 811 to clamp the battery, and uses the external controller to start the fifth servo motor 808. The machine 807 drives the active lower tooth claw 806 to rotate inside the rotating groove 802, and at the same time, the driven upper tooth claw 805 also rotates inside the rotating groove 802 to clamp the battery. Finally, the staff starts the first servo motor 301, the second servo motor 303, the third servo motor 305 and the fourth servo motor 307 through the external controller to move the manipulator to the top of the designated placement position. Then the staff starts the fifth servo motor 807 and the sixth servo motor 808 through the external controller to release the battery by the driven upper tooth claw 805, the active lower tooth claw 806, and the two horizontal clamping jaws 811, completing the battery handling work.

[0040] Finally, it should be noted that the above is only a preferred specific implementation method of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned specific implementation methods, those skilled in the art can still modify the technical solutions described in the aforementioned specific implementation methods or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A battery production robot, comprising a support column (1), a motion mechanism (3) and a clamping mechanism (8), characterized in that: The lower end of the support column (1) is fixedly connected to a fixing seat (2), the upper end of the support column (1) is provided with a motion mechanism (3), the motion mechanism (3) comprises a rotating arm (302), a first servo motor (301) is provided in a cavity at the upper end of the support column (1), an output shaft of the first servo motor (301) passes through the support column (1) and is fixedly connected to the rotating arm (302), a second servo motor (303) is provided in a cavity inside the rotating arm (302), an output shaft of the second servo motor (303) passes through the rotating arm (302) and is fixedly connected to a main pitch arm (304), a third servo motor (303) is provided in a cavity on one side inside the main pitch arm (304), and a second servo motor (303) is provided in a cavity on one side inside the main pitch arm (304). A motor (305) is provided. The output shaft of the third servo motor (305) passes through the main pitch arm (304) and is fixedly connected to the secondary pitch arm (306). A fourth servo motor (307) is provided in a cavity on one side of the secondary pitch arm (306). The output shaft of the fourth servo motor (307) passes through the secondary pitch arm (306) and is fixedly connected to a rotating seat (308). A clamping mechanism (8) is provided on one side of the rotating seat (308). The clamping mechanism (8) includes a clamping seat (801). A rotating groove (802) is provided in the middle of the upper end and the lower end of the clamping seat (801). A fixed block (803) is fixedly connected to the middle of the outer wall of one side of the clamping seat (801).

2. A battery production robot according to claim 1, characterized in that: A sliding groove (804) is provided in the middle of the outer wall of one side of the fixed block (803), and the upper end of the front end and the rear end inner wall of the rotating groove (802) are both rotatably connected to the driven upper tooth claw (805), and a fifth servo motor (807) is provided in the cavity in the middle of the rear end of the clamping seat (801), and the output shaft of the fifth servo motor (807) passes through the clamping seat (801) and is fixedly connected to the active lower tooth claw (806), and the lower end of the front end and the rear end inner wall of the rotating groove (802) are both rotatably connected to the active lower tooth claw (806). The tooth claw (806) is rotatably connected, and a sixth servo motor (808) is provided in a cavity on one side of the middle part of the clamping seat (801). The output shaft of the sixth servo motor (808) passes through the clamping seat (801) and the fixed block (803) and is fixedly connected to a transmission gear (809). The upper end and the lower end of the slide groove (804) are both slidably connected to a rack (810), and the side of the rack (810) away from the center of the fixed block (803) is fixedly connected to a horizontal clamping claw (811).

3. A battery production robot according to claim 1, characterized in that: The outer wall of the lower end of the rotating arm (302) is fixedly connected to a first bearing (4), and the outer wall of the first bearing (4) is fixedly connected to the support column (1).

4. A battery production robot according to claim 1, characterized in that: The outer wall of the rear end of the main pitch arm (304) is fixedly connected to a second bearing (5), and the outer wall of the second bearing (5) is fixedly connected to the rotating arm (302).

5. The battery production robot according to claim 1, characterized in that: The outer wall of the front end of the secondary pitch arm (306) is fixedly connected to a third bearing (6), and the outer wall of the third bearing (6) is fixedly connected to the main pitch arm (304).

6. A battery production robot according to claim 2, characterized in that: A fourth bearing (7) is fixedly connected to the other side of the outer wall of the rotating seat (308), and the outer wall of the fourth bearing (7) is fixedly connected to the secondary pitch arm (306).

7. The battery production robot according to claim 2, characterized in that: The outer wall of one side of the rotating seat (308) is fixedly connected to a connecting plate (9), and the outer wall of one side of the connecting plate (9) is fixedly connected to the clamping seat (801) via a plurality of bolts.

8. The battery production robot according to claim 2, characterized in that: The active lower tooth claw (806) is meshedly connected with the driven upper tooth claw (805), the transmission gear (809) rotates inside the slide groove (804), the racks (810) are meshedly connected with the transmission gear (809), and the horizontal clamping claws (811) slide inside the slide groove (804).

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