Cantilever type battery taking manipulator

Abstract

The utility model relates to the technical field of material assembly, and discloses a cantilever type battery material taking manipulator which comprises a fixed stand column, a first suspension joint is rotatably connected to the stand column, a second suspension joint is rotatably connected to the first suspension joint, a multi-stage telescopic rod is rotatably connected to the second suspension joint, and the multi-stage telescopic rod is rotatably connected to the stand column. And the telescopic end of the multi-stage telescopic rod is fixedly connected with a battery taking hand. The free movement of the battery taking hand on the xy axis and the y axis is realized through the first suspension joint and the second suspension joint, and the automatic movement of the battery taking hand on the z axis is realized through the multi-stage telescopic rod, so that the battery taking hand can take the vertical column as the axis line, the sum of the lengths of the first suspension joint and the second suspension joint as the radius and the vertical column as the axis line. The multi-stage telescopic rod and the second-stage telescopic rod can freely move in a cylindrical area with the telescopic distance being the height, so that the flexibility of material taking and unloading is higher, and the multi-stage telescopic rod and the second-stage telescopic rod can better adapt to complex and changeable production line layouts.

Description

TECHNICAL FIELD

[0001] The utility model relates to material assembly technical field, concretely is a kind of cantilever form's battery material taking manipulator. BACKGROUND

[0002] On modern automated production line, especially new energy automobile, energy storage system and portable electronic device manufacturing field, the battery material taking manipulator existing in current market is mostly adopted linear guide or multi-axis mechanical arm structure, these schemes are realized automation in certain extent, but still there is some limitation.For example, linear guide type manipulator is limited in flexibility and operation range, it is difficult to adapt to complex and changeable production line layout;While multi-axis mechanical arm is high in flexibility, but its high cost and complex maintenance process limit its popularization in certain cost-sensitive application.

[0003] Therefore, a cantilever form battery material taking manipulator is proposed to solve the above problems. UTILITY MODEL CONTENT

[0004] (I) technical problem solved

[0005] In view of the deficiencies of the prior art, the utility model provides a cantilever form battery material taking manipulator, which has the advantages of easy operation, high flexibility and lower cost than multi-axis mechanical arm, solves the problem that linear guide type manipulator is limited in flexibility and operation range and is difficult to adapt to complex and changeable production line layout, and the problem that multi-axis mechanical arm is high in flexibility but high in cost and complex in maintenance.

[0006] (II) technical scheme

[0007] In order to realize the above-mentioned purposes of easy operation, high flexibility and lower cost than multi-axis mechanical arm, the utility model provides the following technical scheme: a cantilever form battery material taking manipulator, comprising a position-fixed stand, a first suspension joint rotatably connected to the stand, a second suspension joint rotatably connected to the first suspension joint, a multi-stage telescopic rod rotatably connected to the second suspension joint, and a battery material taking hand fixedly connected to the telescopic end of the multi-stage telescopic rod;The battery material taking hand comprises a limiting piece fixedly connected to the multi-stage telescopic rod, and a mounting seat fixedly connected to the telescopic end of the multi-stage telescopic rod, the opposite sides of the mounting seat are rotatably connected with two grippers respectively, the two grippers are in "eight" shape, two limiting rods are fixedly installed on the limiting piece and located on the opposite sides of the two grippers respectively, the grippers are in contact with the limiting rods and drive the two grippers to approach each other in the process of moving upward under the driving of the telescopic end of the multi-stage telescopic rod, the bottom of each of the two grippers is curved towards the approaching side, and an operating rod is connected to the end rod of the multi-stage telescopic rod.

[0008] Preferably, a two-stage telescopic rod is fixedly installed on the driving end of the multi-stage telescopic rod, the two-stage telescopic rod comprises a grabbing control rod, the mounting seat is fixedly installed on the grabbing control rod, and the limiting piece is fixed on a non-driving rod part of the two-stage telescopic rod.

[0009] Preferably, the two-stage telescopic rod further comprises a connecting piece, the connecting piece comprises a fixing piece fixed on a non-driving rod part of the two-stage telescopic rod, two upper connecting rods are rotatably connected to the fixing piece through bolts, a lower connecting rod is rotatably connected to each upper connecting rod through a bolt, two upper connecting rods and two lower connecting rods form a rhombus, and the limiting piece is rotatably connected to the two lower connecting rods through bolts.

[0010] Preferably, the upper part of the mounting seat is connected to the two grippers, and the two grippers have a larger angle of the '8' shape.

[0011] Preferably, the two grippers are fixedly connected to the mounting seat, and the two grippers have flexibility.

[0012] Preferably, the grabbing control rod is fixedly connected to the mounting seat through the limiting piece, and a groove matched with the grabbing control rod is formed in the top of the gripper.

[0013] Preferably, a plurality of vertical rods are fixedly installed at the bottom of the mounting seat, and electric suction cups are fixedly installed at the bottom of the vertical rods.

[0014] Preferably, a third connecting piece is fixedly installed on the end rod of the two-stage telescopic rod, and an operating rod is rotatably connected to the third connecting piece.

[0015] (Three) beneficial effects

[0016] Compared with the prior art, the utility model provides a cantilever type battery taking manipulator, has the following beneficial effects:

[0017] 1、 the cantilever type battery taking manipulator, through first suspension joint and second suspension joint realize the free movement of battery taking hand on xy axle, through the multi-stage telescopic rod realizes the automatic movement of battery taking hand on z axle, with the length of the first suspension joint and second suspension joint for radius, the telescopic distance of the multi-stage telescopic rod and two-stage telescopic rod is height, the battery taking hand can move freely in the cylindrical region with the column as the axis, so that the flexibility of taking and unloading material is higher, and the complex and changeable production line layout is better adapted to.

[0018] 2、The cantilever type battery taking manipulator realizes the movement of the battery taking manipulator on the x-y axis through mechanical connection, that is, realizes the movement of the battery taking manipulator on the x-y axis through manual control, realizes the movement of the battery taking manipulator on the z axis through electric control, realizes the movement on three degrees of freedom of translation through rotation between the second suspension joint and the multi-stage telescopic rod, realizes the movement on one degree of freedom of rotation through manual and electric combination, and meets the use requirement of battery assembly, effectively reduces the equipment cost, and is simple to maintain, so that each rotating connection is kept lubricated. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 It is a structural schematic view of the utility model;

[0020] Fig. 2 It is a structural schematic view of the battery taking manipulator in the utility model.

[0021] In the drawing: 1, stand; 11, first connecting piece; 2, first suspension joint; 21, second connecting piece; 3, second suspension joint; 4, multi-stage telescopic rod; 5, operating rod; 51, third connecting piece; 6, connecting piece; 61, fixed piece; 62, upper connecting rod; 63, lower connecting rod; 7, battery taking manipulator; 71, limiting piece; 72, limiting rod; 73, protection rod; 74, mounting seat; 75, gripper; 76, vertical rod; 77, electric suction cup; 8, two-stage telescopic rod; 81, grabbing control rod. DETAILED DESCRIPTION

[0022] The technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0023] Please refer to Figs. 1-2 The utility model provides a technical scheme: a cantilever type battery taking manipulator, comprising a position-fixed stand 1, the stand 1 is rotationally connected with a first suspension joint 2, the first suspension joint 2 is rotationally connected with a second suspension joint 3, the second suspension joint 3 is rotationally connected with a multi-stage telescopic rod 4, and the telescopic end of the multi-stage telescopic rod 4 is fixedly connected with a battery taking manipulator 7.

[0024] The battery material taking hand 7 comprises a limiting piece 71 fixed with the multi-stage telescopic rod 4, a mounting seat 74 fixed with the telescopic end of the multi-stage telescopic rod 4, and two grabbers 75 rotatably connected to the opposite sides of the mounting seat 74, wherein the two grabbers 75 are in the shape of an "eight" character, two limiting rods 72 are fixed on the limiting piece 71 and located on the opposite sides of the two grabbers 75, the grabbers 75 are in contact with the limiting rods 72 and drive the two grabbers 75 to move close to each other during the upward movement of the grabbers 75 driven by the telescopic end of the multi-stage telescopic rod 4, and the bottom of each of the two grabbers 75 is curved to the side close to each other, and the end rod of the multi-stage telescopic rod 4 is connected with the operating rod 5.

[0025] The end rod of the multi-stage telescopic rod 4 is first retracted during the retraction process, and the non-end rod of the multi-stage telescopic rod 4 is first extended during the extension process.

[0026] In the embodiment, the first connecting piece 11 is fixedly installed on the top of the stand column 1, the first connecting piece 11 is a rotating shaft, the first suspension joint 2 is inserted into the first connecting piece 11 to realize the rotating connection between the first suspension joint 2 and the first connecting piece 11, and the first suspension joint 2 can rotate around the stand column 1.

[0027] In the embodiment, the second connecting piece 21 is fixedly installed on the end of the first suspension joint 2 away from the stand column 1, the second connecting piece 21 is in the shape of a U, the second connecting piece 21 is fixedly connected with the first suspension joint 2, and the second suspension joint 3 is rotatably sleeved with the second connecting piece 21 to realize the rotating connection between the second suspension joint 3 and the first suspension joint 2.

[0028] The length of the second suspension joint 3 is equal to the distance between the second connecting piece 21 and the stand column 1, so that the battery material taking hand 7 can move to be in contact with the stand column 1, the movable range of the battery material taking hand 7 covers the area near the stand column 1, and the blind area is reduced.

[0029] In the embodiment, the second-stage telescopic rod 8 is fixedly installed on the driving end of the multi-stage telescopic rod 4, the second-stage telescopic rod 8 comprises a grabbing control rod 81, the mounting seat 74 is fixedly installed on the grabbing control rod 81, the limiting piece 71 is fixed on the non-driving rod part of the second-stage telescopic rod 8, the extension and retraction of the second-stage telescopic rod 8 are controlled separately, so that the grabbing or unloading of the battery material by the battery material taking hand 7 is realized, and the electrical control is more simple and convenient.

[0030] In another embodiment, the second suspension joint 3 is fixedly connected with the multi-stage telescopic rod 4, and the second-stage telescopic rod 8 is rotatably connected with the driving end of the multi-stage telescopic rod 4.

[0031] As shown in the first suspension joint 2, further comprising a connecting seat 6, the connecting seat 6 comprises a fixed part 61 fixed with the non-driving rod part of the secondary telescopic rod 8, two upper connecting rods 62 are rotatably connected on the fixed part 61 by bolts, a lower connecting rod 63 is rotatably connected on the upper connecting rod 62 by a bolt, two upper connecting rods 62 and two lower connecting rods 63 form a rhombus, and the limiting part 71 is rotatably connected with the two lower connecting rods 63 by a bolt. In use, by tightening the bolts at each position of the connecting seat 6, the shape of the connecting seat 6 is fixed, so that the relative position of the limiting part 71 and the secondary telescopic rod 8 is fixed, and the relative movement between the gripper 75 and the limiting rod 72 is ensured when the grabbing control rod 81 is telescoped. When different types of battery materials are used, the bolts between the various parts of the connecting seat 6 can be loosened to adjust the shape of the rhombus, thereby adjusting the relative position of the limiting part 71 and the secondary telescopic rod 8, and adjusting the distance between the bottoms of the two grippers 75 to adapt to different battery materials. For example, for battery materials with a wider width, the distance between the bottoms of the two grippers 75 is increased by adjusting the limiting part 71 upward, and vice versa.

[0032] In this embodiment, the upper part of the two grippers 75 and the mounting seat 74 connection forms an "eight" shape with a larger angle, and the center of gravity of the two grippers 75 is located at the upper part of the connection between the gripper 75 and the mounting seat 74, so that the bottoms of the two grippers 75 are at the maximum distance in the natural state, facilitating the entry of battery materials between the two grippers 75. The grabbing control rod 81 is fixedly connected with the limiting part 71 and the mounting seat 74, and a groove is formed in the top of the gripper 75 to match the grabbing control rod 81, so that the gripper 75 is not blocked by the grabbing control rod 81 when rotating. In another embodiment, a torsion spring can be installed between the mounting seat 74 and the gripper 75 to make the bottoms of the two grippers 75 at the maximum distance. In another embodiment, the gripper 75 is fixedly connected with the mounting seat 74, and the gripper 75 is replaced by a part with good toughness, and the bottoms of the two grippers 75 are at the maximum distance by the elastic force of the restoring deformation of the gripper 75 itself.

[0033] In the embodiment, the limiting piece 71 is fixedly provided with two guard rods 73 located on the opposite sides of the two grippers 75, and the guard rods 73 are located above the limiting rods 72 correspondingly, so that the guard rods 73 are spaced from the grippers 75 in normal use. The two guard rods 73 serve as a protection device to protect the two grippers 75 from flying when the limiting rods 72 break, and meanwhile, the structural strength of the limiting piece 71 is enhanced to prevent the bottom of the limiting piece 71 from bending outward.

[0034] In the embodiment, the mounting seat 74 is fixedly provided with a plurality of vertical rods 76 at the bottom, and the vertical rods 76 are fixedly provided with electric suction cups 77 at the bottom. The electric suction cups 77 are symmetrically arranged around the extension line of the grabbing control rod 81 and located on the same horizontal plane, so that the electric suction cups 77 can suck the battery materials when contacting the battery materials, and the battery materials can also be grabbed.

[0035] In the embodiment, the end rod of the secondary telescopic rod 8 is fixedly provided with a third connecting piece 51, and the third connecting piece 51 is rotatably connected with an operating rod 5, so that the operating rod 5 can swing up and down with the third connecting piece 51 as the origin, and the staff can conveniently control it by hand. No matter where the battery taking hand 7 is located, the staff's hand can be at a comfortable height.

[0036] In summary, the cantilever type battery taking manipulator realizes the free movement of the battery taking hand 7 on the xy axis through the first suspension joint 2 and the second suspension joint 3, and realizes the automatic movement of the battery taking hand 7 on the z axis through the multi-stage telescopic rod 4, so that the battery taking hand 7 can freely move in the cylindrical area with the stand 1 as the axis, the sum of the lengths of the first suspension joint 2 and the second suspension joint 3 as the radius, and the telescopic distance of the multi-stage telescopic rod 4 and the secondary telescopic rod 8 as the height, so that the flexibility of taking and unloading materials is higher, and the production line layout is better adapted to the complex and changeable production line layout. The automatic movement of the battery taking hand 7 on the xy axis is realized through mechanical connection, that is, the free movement of the battery taking hand 7 on the xy axis is realized through manual control, and the movement of the battery taking hand 7 on the z axis is realized through electric control, so that the activities on three translational degrees of freedom are realized, and the activities on one rotational degree of freedom are realized through the rotation between the second suspension joint 3 and the multi-stage telescopic rod 4. The activities on multiple degrees of freedom in the form of manual and electric combination just meet the use requirements of battery assembly, effectively reduce the equipment cost, and are easy to maintain, so that each rotary connection is kept lubricated.

[0037] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it is intended to be limited only by the words recited in the appended claims. The scope of the present application shall be limited only by the claims.

[0038] While the embodiments of the present application have been shown and described with respect to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application. Therefore, the scope of the application should not be limited by the embodiments, but should be defined only in accordance with the following claims and their equivalents.

Claims

1. A battery extraction robot in the form of a cantilever, characterized in that: Including the fixed position column (1), the first suspension joint (2) is rotatably connected on the column (1), the second suspension joint (3) is rotatably connected on the first suspension joint (2), and the multi-stage telescopic rod (4) is rotatably connected on the second suspension joint (3), and the telescopic end of the multi-stage telescopic rod (4) is fixedly connected with the battery material taking hand (7); The battery material taking hand (7) includes a limiting piece (71) fixed with the multi-stage telescopic rod (4), and a mounting seat (74) fixed with the telescopic end of the multi-stage telescopic rod (4), the opposite sides of the mounting seat (74) are rotatably connected with two grippers (75) respectively, the two grippers (75) are in the shape of "eight", the limiting piece (71) is fixedly installed with two limiting rods (72) located on the opposite sides of the two grippers (75) respectively, the grippers (75) are in contact with the limiting rods (72) and drive the two grippers (75) to move closer to each other in the process of moving upward with the telescopic end of the multi-stage telescopic rod (4), the bottoms of the two grippers (75) are curved to the side of each other, and the end rod of the multi-stage telescopic rod (4) is connected with an operating rod (5).

2. A battery retrieval robot in the form of a cantilever according to claim 1, characterized in that: The driving end of the multi-stage telescopic rod (4) is fixedly installed with a two-stage telescopic rod (8), the two-stage telescopic rod (8) includes a grabbing control rod (81), the mounting seat (74) is fixedly installed on the grabbing control rod (81), and the limiting piece (71) is fixed on the non-driving rod part of the two-stage telescopic rod (8).

3. A battery retrieval robot in the form of a cantilever according to claim 2, characterized in that: It also includes a connecting piece (6), the connecting piece (6) includes a fixed piece (61) fixed with the non-driving rod part of the two-stage telescopic rod (8), two upper connecting rods (62) are rotatably connected with the fixed piece (61) through bolts, and lower connecting rods (63) are rotatably connected with the upper connecting rods (62) through bolts, the two upper connecting rods (62) and the two lower connecting rods (63) form a rhombus, and the limiting piece (71) is rotatably connected with the two lower connecting rods (63) through bolts, and the shape of the connecting piece (6) is fixed by tightening the bolts at each position of the connecting piece (6).

4. A battery retrieval robot in the form of a cantilever according to claim 1, characterized in that: The upper part of the two grippers (75) and the mounting seat (74) connection forms an "eight" shape with a larger angle, and the center of gravity of the two grippers (75) is located on the upper part of the connection between the grippers (75) and the mounting seat (74).

5. A battery retrieval robot in the form of a cantilever according to claim 1, characterized in that: The gripper (75) is fixedly connected with the mounting seat (74), and the gripper (75) has flexibility.

6. A battery retrieval robot in the form of a cantilever according to claim 2, characterized in that: The grabbing control rod (81) is fixedly connected with the mounting seat (74) through the limiting piece (71), and a groove matched with the grabbing control rod (81) is formed in the top of the gripper (75).

7. A battery retrieval robot in the form of a cantilever according to claim 6, characterized in that: A plurality of vertical rods (76) are fixedly installed at the bottom of the mounting seat (74), and electric suction cups (77) are fixedly installed at the bottom of the vertical rods (76), a plurality of electric suction cups (77) are symmetrical around the extension line of the grabbing control rod (81) and located on the same horizontal plane.

8. A battery retrieval robot in the form of a cantilever according to claim 2, characterized in that: The end rod of the secondary telescopic rod (8) is fixedly provided with a third connecting piece (51), and the operating rod (5) is rotatably connected to the third connecting piece (51).

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