Collaborative robot for photographing, positioning and grabbing battery cell

Abstract

The utility model belongs to the technical field of collaborative robots, and particularly relates to a collaborative robot for photographing, positioning and grabbing a battery cell, which comprises an ejection multi-stage electric cylinder, the top of the ejection multi-stage electric cylinder is connected with a collaborative robot hand, one end of the collaborative robot hand is connected with a mounting plate, and the other end of the collaborative robot hand is connected with a camera. Two pneumatic suction cup assemblies are distributed at the bottom of the mounting plate, a battery cell U-shaped grabbing clamp is mounted at the bottom of the mounting plate, a fixing frame is connected to the bottom of the ejection multi-stage electric cylinder, a distance measuring instrument is arranged on one side of the fixing frame, and two fixing blocks are connected to the outer walls of the two sides of the distance measuring instrument. According to the utility model, by shifting the shifting block, the movable block drives the limiting clamping pin to contract, then the distance measuring instrument is arranged between the two mounting seats, at the moment, the two ends of the two mounting seats are respectively provided with one fixed block, and then the shifting block is loosened, so that the limiting clamping pin can be popped up and inserted into the limiting clamping groove under the action of the spring; therefore, the range finder can be conveniently mounted at the end part of the cooperative manipulator.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of collaborative robot, concretely relates to a kind of collaborative robot of photographing positioning and grabbing battery. BACKGROUND

[0002] The collaborative robot of photographing positioning and grabbing battery is an important automated equipment in the field of new energy battery manufacturing, which combines technologies such as machine vision, robot motion control and artificial intelligence algorithms, and can realize accurate identification, positioning and grabbing of battery, improve production efficiency and product quality, and accurately extract battery position, angle and size information through real-time image acquisition of battery by high-precision industrial cameras (such as 3D vision camera or high-resolution 2D camera) and image recognition and semantic segmentation using deep learning algorithms (such as YOLO, Mask R-CNN).

[0003] Currently, the existing collaborative robot needs to cooperate with a range finder to measure distance during the process of photographing positioning and grabbing battery, but the range finder on the traditional collaborative robot is usually fixed and assembled by bolts or screws, so the installation needs to use corresponding tools to complete, which not only takes a lot of time, but also is very inconvenient to disassemble when the range finder needs to be maintained, thereby reducing the convenience of subsequent maintenance. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of collaborative robot of photographing positioning and grabbing battery, to solve the problem that the existing collaborative robot needs to cooperate with a range finder to measure distance during the process of photographing positioning and grabbing battery in the prior art, but the range finder on the traditional collaborative robot is usually fixed and assembled by bolts or screws, so the installation needs to use corresponding tools to complete, which not only takes a lot of time, but also is very inconvenient to disassemble when the range finder needs to be maintained, thereby reducing the convenience of subsequent maintenance.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a kind of collaborative robot of photographing positioning and grabbing battery, including ejecting multistage cylinder, the top of the ejecting multistage cylinder is connected with collaborative robot hand, one end of the collaborative robot hand is connected with mounting plate, the bottom of the mounting plate is distributed with two pneumatic suction cup assemblies respectively, and the bottom of the mounting plate is installed with battery U-shaped clamping;

[0006] The bottom of the mounting plate is connected with a fixing frame, one side of the fixing frame is provided with a range finder, the outer walls of the range finder are connected with two fixing blocks, the outer wall of the fixing block is provided with a limiting clamping groove, the outer wall of the fixing frame is connected with two mounting seats, the interiors of the two mounting seats are provided with springs, the ends of the springs are connected with movable blocks, one end of the movable block is connected with a limiting clamping pin, and the outer wall of the limiting clamping pin is connected with a pushing block.

[0007] As the cooperative robot for photographing, positioning and grabbing the electric core of the utility model, the range finder can form an elastic clamping structure with the fixing frame through the fixing block, the limiting clamping groove, the mounting seat, the spring, the movable block, the limiting clamping pin and the pushing block.

[0008] As the cooperative robot for photographing, positioning and grabbing the electric core of the utility model, the two mounting seats are symmetrically distributed on the two sides of the range finder.

[0009] As the cooperative robot for photographing, positioning and grabbing the electric core of the utility model, the limiting clamping groove and the limiting clamping pin are matched in size with one end of the movable block.

[0010] As the cooperative robot for photographing, positioning and grabbing the electric core of the utility model, the outer walls of the two mounting seats are provided with openings, and one end of the pushing block extends to the outside through the opening in the outer wall of the mounting seat.

[0011] As the cooperative robot for photographing, positioning and grabbing the electric core of the utility model, the bottom of the fixing frame is provided with a CCD camera.

[0012] As the cooperative robot for photographing, positioning and grabbing the electric core of the utility model, one side of the fixing frame is connected with a connecting plate, and the bottom of the connecting plate is provided with a light supplementing lamp.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] By pushing the pushing block, the movable block drives the limiting clamping pin to retract, then the range finder is arranged between the two mounting seats, at this time, the two ends of the two mounting seats are respectively provided with a fixing block, then the pushing block is loosened, so that the limiting clamping pin can be inserted into the limiting clamping groove under the action of the spring, so that the range finder can be conveniently installed at the end of the cooperative robot hand, and when disassembling, the limiting clamping pin is retracted by pushing the pushing block, at this time, one end of the limiting clamping pin is separated from the limiting clamping groove in the outer wall of the fixing block, at this time, the range finder can be disassembled from the end of the cooperative robot hand by pulling it outward, thereby improving the convenience of subsequent maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are used to provide further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation to the present application. In the drawings:

[0016] Figure 1 It is a front view structural schematic diagram of the present application;

[0017] Figure 2 It is a bottom view structural schematic diagram of the present application;

[0018] Figure 3 It is a bottom view disassembled sectional structural schematic diagram of the present application;

[0019] Figure 4 It is an A enlarged structural schematic diagram of the present application.

[0020] In the drawing: 1, ejection multi-stage electric cylinder; 2, collaborative robot hand; 3, mounting plate; 4, pneumatic suction disc assembly; 5, electric core U-shaped clamping; 6, fixed frame; 7, range finder; 8, fixed block; 9, limiting clamping groove; 10, mounting seat; 11, spring; 12, movable block; 13, limiting clamping pin; 14, dial block; 15, CCD camera; 16, connecting plate; 17, light supplementing lamp. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] Please refer to Figures 1-4 The present application provides the following technical scheme: a collaborative robot for photographing positioning and grabbing an electric core, comprising an ejection multi-stage electric cylinder 1, the top of the ejection multi-stage electric cylinder 1 is connected with a collaborative robot hand 2, one end of the collaborative robot hand 2 is connected with a mounting plate 3, the bottom of the mounting plate 3 is respectively distributed with two pneumatic suction disc assemblies 4, and the bottom of the mounting plate 3 is installed with an electric core U-shaped clamping 5.

[0023] The bottom of the mounting plate 3 is connected with a fixed frame 6, one side of the fixed frame 6 is provided with a range finder 7, both sides of the range finder 7 are connected with two fixed blocks 8, a limiting clamping groove 9 is formed in the outer wall of the fixed block 8, the outer wall of the fixed frame 6 is connected with two mounting seats 10, the inside of the two mounting seats 10 is provided with springs 11, the end of the spring 11 is connected with a movable block 12, one end of the movable block 12 is connected with a limiting clamping pin 13, and the outer wall of the limiting clamping pin 13 is connected with a dial block 14.

[0024] Preferably, the distance meter 7 is elastically clamped with the fixed frame 6 through the fixed block 8, the limiting clamping groove 9, the mounting seat 10, the spring 11, the movable block 12, the limiting clamping pin 13 and the push block 14.

[0025] In specific use, the distance meter 7 is installed at the end of the collaborative robot hand 2 by pushing the push block 14 to make the movable block 12 drive the limiting clamping pin 13 to retract, then setting the distance meter 7 between the two mounting seats 10, at this time, the two ends of the two mounting seats 10 are respectively provided with a fixed block 8, then releasing the push block 14, so that the limiting clamping pin 13 can be popped out and inserted into the limiting clamping groove 9 under the action of the spring 11, thereby conveniently installing the distance meter 7 at the end of the collaborative robot hand 2.

[0026] It should be noted that the interface of the distance meter 7 needs to be connected with the corresponding connecting line after installation.

[0027] Preferably, the two mounting seats 10 are symmetrically distributed on both sides of the distance meter 7, the limiting clamping groove 9 and the limiting clamping pin 13 are adapted in size at the end away from the movable block 12, the outer wall of the two mounting seats 10 is provided with an opening, and one end of the push block 14 extends to the outside through the opening in the outer wall of the mounting seat 10.

[0028] In specific use, the distance meter 7 is disassembled by pushing the push block 14 to make the movable block 12 drive the limiting clamping pin 13 to retract, at this time, one end of the limiting clamping pin 13 will be separated from the limiting clamping groove 9 in the outer wall of the fixed block 8, at this time, the distance meter 7 can be disassembled from the end of the collaborative robot hand 2 by pulling it outward, thereby improving the convenience of subsequent maintenance.

[0029] It should be noted that the interface of the distance meter 7 needs to be connected with the corresponding connecting line after installation.

[0030] Preferably, the bottom of the fixed frame 6 is provided with a CCD camera 15, and one side of the fixed frame 6 is connected with a connecting plate 16, and the bottom of the connecting plate 16 is provided with a light supplementing lamp 17.

[0031] In specific use, the battery cell material is transported to the working area of the collaborative robot hand 2 by the AGV forklift, then the multi-stage electric cylinder 1 and the collaborative robot hand 2 are controlled, the CCD camera 15, the light supplementing lamp 17 and the distance meter 7 at the end of the collaborative robot hand 2 are used to take pictures, measure distances and position the battery cell material, the suction cup assembly 4 is used to grab the cover of the foam box containing the battery cell, the collaborative robot hand 2 is used to unload the cover of the foam box, and then the battery cell U-shaped clamping 5 is driven by the collaborative robot hand 2 to clamp the battery cell and send it to the belt line for code scanning.

[0032] It should be noted that the pneumatic suction cup assembly 4 is composed of a vacuum generator, a suction cup and a control panel, the vacuum generator generates negative pressure vacuum through compressed air, so that a low pressure area is formed inside the suction cup. The suction cup: after contacting the workpiece surface, the internal low pressure and the external atmospheric pressure form a pressure difference, thereby adsorbing the workpiece. The control panel: through the electromagnetic valve control the on-off of compressed air, realize the adsorption and release of the suction cup.

[0033] The working principle is: first, when installing the range finder 7, the limit pin 13 is retracted by rotating the knob 14, then the range finder 7 is arranged between the two mounting seats 10, at this time the two ends of the two mounting seats 10 are provided with a fixed block 8 respectively, then the knob 14 is loosened, so that the limit pin 13 can be inserted into the limit slot 9 under the action of the spring 11, thereby the range finder 7 can be conveniently installed at the end of the collaborative robot 2, then the battery material is transported to the working area of the collaborative robot 2 by the AGV forklift, then the multi-stage electric cylinder 1 and the collaborative robot 2 are controlled to position the battery material by the CCD camera 15, the light supplementing lamp 17 and the range finder 7 at the end of the collaborative robot 2, the foam box cover containing the battery is grabbed by the pneumatic suction cup assembly 4, and the foam box cover is unloaded by the collaborative robot 2, then the battery is clamped by the U-shaped clamping 5 driven by the collaborative robot 2 and sent to the belt line for code scanning, finally, when disassembling, the limit pin 13 is retracted by rotating the knob 14, at this time one end of the limit pin 13 is separated from the limit slot 9 on the outer wall of the fixed block 8, at this time the range finder 7 can be disassembled from the end of the collaborative robot 2 by pulling it outward, thereby improving the convenience of subsequent maintenance.

[0034] Finally, it should be pointed out that: the above is only the preferred embodiment of the present application and is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A collaborative robot for photographically positioning and gripping an electric cell, comprising a multi-stage electric cylinder (1), characterized in that: The top of the ejection multi-stage electric cylinder (1) is connected with a collaborative robot hand (2), one end of the collaborative robot hand (2) is connected with a mounting plate (3), the bottom of the mounting plate (3) is respectively distributed with two pneumatic suction disc assemblies (4), and the bottom of the mounting plate (3) is provided with an electric core U-shaped clamping (5); The bottom of the ejection mounting plate (3) is connected with a fixing frame (6), one side of the fixing frame (6) is provided with a range finder (7), both sides of the range finder (7) are connected with two fixed blocks (8), the outer wall of the fixed block (8) is provided with a limiting clamping groove (9), the outer wall of the fixing frame (6) is connected with two mounting seats (10), the inside of the two mounting seats (10) is provided with a spring (11), the end of the spring (11) is connected with a movable block (12), one end of the movable block (12) is connected with a limiting clamping pin (13), the outer wall of the limiting clamping pin (13) is connected with a push block (14).

2. The collaborative robot of claim 1, wherein: The range finder (7) can be elastically clamped with the fixing frame (6) through the fixed block (8), the limiting clamping groove (9), the mounting seat (10), the spring (11), the movable block (12), the limiting clamping pin (13) and the push block (14).

3. The collaborative robot of claim 2, wherein: The two mounting seats (10) are symmetrically distributed on both sides of the range finder (7).

4. The collaborative robot of claim 2, wherein: The limiting clamping groove (9) and the limiting clamping pin (13) are matched in size away from one end of the movable block (12).

5. The collaborative robot of claim 2, wherein: The outer wall of the two mounting seats (10) is provided with an opening, and one end of the push block (14) extends to the outside through the opening in the outer wall of the mounting seat (10).

6. The collaborative robot of claim 1, wherein: The bottom of the fixing frame (6) is provided with a CCD camera (15).

7. The collaborative robot of claim 6, wherein: One side of the fixing frame (6) is connected with a connecting plate (16), and the bottom of the connecting plate (16) is provided with a light supplementing lamp (17).

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