Transporting robot and aluminum shell stretching device

Abstract

The utility model relates to a kind of conveying manipulator and aluminium shell stretching device, including two drive arms, and the clamping block fixed on each drive arm by fixed seat, the clamping block fixed on one drive arm and the clamping block fixed on the other drive arm are symmetrically distributed, drive arm drives clamping block movement along the direction of first axis and second axis, fixed seat includes upper fixed plate and lower fixed plate, and upper fixed plate is connected with lower fixed plate by along the first position adjusting structure of first axis distribution, and upper fixed plate and clamping block are connected by along the second position adjusting structure of second axis distribution, and lower fixed plate is equipped with the stroke limiting structure of the stroke of upper fixed plate in the direction of first axis limit movement, it is moved. Advantage lies in by adjustable fixed seat and stroke limiting structure, the position of clamping block can be fine calibration, solve the clamping deviation etc. Problem that occurs in the process that manipulator is transported aluminium shell, avoid the resulting tool deformation and frequent debugging, improve the operation reliability and production efficiency of equipment.

Description

Technical Field

[0001] This utility model belongs to the field of battery processing, and in particular relates to a conveying robot and an aluminum shell stretching device. Background Technology

[0002] In existing technology, the robotic arm in the aluminum shell stretching device grasps the aluminum shell and moves it towards the next mold cavity. During this movement, loosening and misalignment of the gripper often occur. Once misalignment occurs, the robotic arm is prone to hitting the aluminum shell, causing tooling deformation and requiring readjustment. Utility Model Content

[0003] The purpose of this utility model is to address the above-mentioned problems by providing a transport robot and an aluminum shell stretching device that can solve the above-mentioned technical problems.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A transport robot includes two parallel drive arms and at least one gripping block fixed to each drive arm via a mounting base. The gripping blocks fixed to one drive arm and the gripping blocks fixed to the other drive arm are symmetrically distributed. The two drive arms drive the gripping blocks to move along a first axis and a second axis. The mounting base includes an upper mounting plate and a lower mounting plate fixedly connected to the drive arms. The upper mounting plate and the lower mounting plate are connected by a first position adjustment structure distributed along the first axis, and the upper mounting plate and the gripping blocks are connected by a second position adjustment structure distributed along the second axis. The lower mounting plate is provided with a travel limiting structure that restricts the travel of the upper mounting plate in the first axis direction.

[0005] Furthermore, the travel limiting structure includes: side fixing plates spaced apart on both ends of the upper fixing plate perpendicular to the first axis, and locking members are respectively inserted into the side fixing plates, the locking members being at least partially connected to the upper fixing plate.

[0006] Furthermore, the second position adjustment structure includes an adjustment guide groove disposed on the upper fixed plate and extending along the second axis direction, and a connecting plate fixedly connected to the clamping block, wherein the connecting plate is slidably connected relative to the adjustment guide groove.

[0007] Furthermore, the transport robot also includes a fine-tuning screw, which is threadedly connected to the upper fixed plate, and its screw end is inserted into the connecting plate.

[0008] Furthermore, the connecting plate is fixed in the adjusting guide groove by a locking member.

[0009] Furthermore, a sensing element, namely a position sensor, is also provided on the clamping block.

[0010] Furthermore, the sensing element is embedded in the clamping surface of the clamping block.

[0011] Furthermore, the clamping block is any one of a nylon clamping block, a polyurethane clamping block, or a rubber clamping block.

[0012] Furthermore, the lower fixing plate is connected to the drive arm via a concave-convex assembly, at least a portion of which is disposed on the lower fixing plate, and the remaining portion of which is disposed on the drive arm.

[0013] As one application, this application also provides an aluminum shell stretching device, including a frame and a stretching robotic arm disposed on the frame, wherein the conveying robotic arm is disposed on the frame, and the stretching robotic arm is positioned above the conveying robotic arm and spaced apart from the conveying robotic arm.

[0014] Compared with existing technologies, the advantages of this application are as follows: This improved solution, through a finely adjustable fixed seat and stroke limiting structure, enables the position of the clamping block to be precisely calibrated and kept stable, fundamentally solving the problem of clamping misalignment and loosening that easily occurs when the robot is transporting aluminum shells. This effectively avoids collisions, tooling deformation and frequent adjustments caused by these issues, and significantly improves the operational reliability and production efficiency of the equipment. Attached Figure Description

[0015] Figure 1 A schematic diagram of the assembled main components of the transport robot of this utility model; Figure 2 for Figure 1 Explosion-proof diagram of the main components of the transport robot assembly; Figure 3 This is a schematic diagram of the assembled conveying robot of this utility model; Figure 4 for Figure 3 A magnified diagram of the main components in area A; Figure 5 for Figure 3 Two enlarged schematic diagrams of the main components in area A; Figure 6 This is a schematic diagram of the assembled aluminum shell stretching device of this utility model.

[0016] In the figure, there are: drive arm 1, clamping block 2, fixed seat 3, upper fixed plate 31, adjusting guide groove 311, locking piece 312, lower fixed plate 32, side fixed plate 33, bottom fixed plate 34, connecting plate 4, fine-tuning screw 5, sensing element 6, concave-convex assembly 7, frame 8, first axis X, and second axis Y. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0018] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0019] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0020] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0021] Example 1

[0022] like Figures 1-3 As shown, the transport robot includes two parallel drive arms 1 and at least one clamping block 2 fixed to each drive arm 1 by a fixing seat 3. The clamping block 2 fixed to one drive arm 1 and the clamping block 2 fixed to the other drive arm 1 are symmetrically distributed. The two drive arms 1 drive the clamping block 2 to move along the first axis X and the second axis Y, thereby driving the workpiece to move between adjacent workstations. In this embodiment, the clamping block 2 is any one of nylon clamping block, polyurethane clamping block or rubber clamping block.

[0023] The lower fixing plate 32 is connected to the drive arm 1 via a concave-convex assembly 7. At least a portion of the concave-convex assembly 7 is located on the lower fixing plate 32, and the remaining portion is located on the drive arm 1. The concave-convex assembly 7, through its mutually cooperating protrusion and groove structure, provides a positioning reference for the connection between the lower fixing plate 32 and the drive arm 1, ensuring that the position of the lower fixing plate 32 relative to the drive arm 1 is basically determined before fixing, thereby avoiding installation misalignment. During installation, simply aligning and fitting the concave-convex assembly 7 can achieve quick and accurate pre-positioning, greatly improving assembly efficiency and precision.

[0024] In existing technologies, robotic arms often experience loosening and jaw misalignment when gripping aluminum shells during movement. Once misalignment occurs, the robotic arm is prone to impacting the aluminum shell, causing tooling deformation and requiring readjustment. In this embodiment, the fixed base 3 includes an upper fixed plate 31 and a lower fixed plate 32 fixedly connected to the drive arm 1. The upper fixed plate 31 and the lower fixed plate 32 are connected by a first position adjustment structure distributed along the first axis X. The upper fixed plate 31 and the clamping block 2 are connected by a second position adjustment structure distributed along the second axis Y. The lower fixed plate 32 is provided with a travel limiting structure that restricts the movement of the upper fixed plate 31 in the first axis X direction.

[0025] Through the first and second position adjustment structures, the operator can fine-tune the position of the clamping block 2 in the first axis X and the second axis Y directions, thereby ensuring that the clamping block 2 maintains precise alignment when gripping the workpiece, avoiding loosening or misalignment caused by installation errors or cumulative movement deviations. To further prevent the clamping block 2 from shifting during processing, in this embodiment, the travel limiting structure includes: side fixing plates 33 spaced apart on both ends of the upper fixing plate 31 perpendicular to the first axis X, and locking elements are respectively inserted on the side fixing plates 33, with the locking elements at least partially connected to the upper fixing plate 31. The side fixing plates 33 and the locking elements on the side fixing plates 33 can effectively limit the movement range of the upper fixing plate 31 in the first axis X direction, preventing overshoot or offset during high-speed movement or load changes, further enhancing clamping stability.

[0026] Specifically, such as Figure 4 and Figure 5 The first position adjustment structure shown above is a slide rail structure, wherein at least a portion of the slide rail mechanism is disposed on the upper fixed plate 31, and the remaining portion of the slide rail mechanism is disposed on the lower fixed plate 32. The at least portion and the remaining portion are mutually engaged and extend along the first axis X direction; as shown above. Figure 2 As shown, the second position adjustment structure includes an adjustment guide groove 311 disposed on the upper fixed plate 31 and extending along the second axis Y direction, and a connecting plate 4 fixedly connected to the clamping block 2. The connecting plate 4 is slidably connected relative to the adjustment guide groove 311, as shown. Figures 2-3The upper fixed plate is fixedly connected to the bottom fixed plate 34. The connecting plate 4 is adjusted in the second axis Y direction by a fine-tuning screw 5 threadedly connected to the bottom fixed plate 34. Furthermore, a locking member 312 is inserted into the upper fixed plate 31 and abuts against the connecting plate 4 located in the adjustment guide groove 311. When it is necessary to adjust the position of the clamping block in the second axis Y direction, simply loosen the locking member 312 and rotate the fine-tuning screw 5, so that the connecting plate 4 can drive the clamping block 2 to slide within the range of the adjustment guide groove 311. After the position is adjusted to the optimal position, tightening the locking member 312 will firmly lock the connecting plate 4 and the clamping block 2 in the target position, realizing the reliable fine-tuning function of the clamping block 2 in the second axis Y direction.

[0027] Furthermore, a sensor 6 is provided on the clamping block 2. The sensor 6 is a position sensor. The sensor 6 is embedded in the clamping surface of the clamping block 2. The sensor 6 is used to detect the actual contact state or relative position between the clamping block 2 and the workpiece (such as an aluminum shell) in real time.

[0028] Example 2

[0029] The structure and principle of this embodiment are basically the same as those of Embodiment 1. The difference is that, for the conveying robot arm in Embodiment 1, the aluminum shell stretching device in this embodiment includes a conveying robot arm.

[0030] like Figure 6 As shown, the aluminum shell stretching device includes a frame 8 and a stretching robotic arm mounted on the frame 8. A transport robotic arm is mounted on the frame 8, and the stretching robotic arm is positioned above the transport robotic arm and spaced apart from it.

[0031] This arrangement enables the transport robot and the stretching robot to work together in space. The transport robot is responsible for accurately feeding the aluminum blank to be processed into the stretching mold located directly below the stretching robot, and after the stretching process is completed, removing the formed aluminum shell from the mold and transferring it to the next workstation.

[0032] The frame 8 is also equipped with a drive assembly connected to the drive arm 1. The drive assembly includes a transverse drive mechanism (along the first axis X) and a longitudinal drive mechanism (along the second axis Y) provided on the transverse drive mechanism. The transverse drive mechanism is, for example, a screw-driven transverse drive mechanism, and the longitudinal drive mechanism is, for example, any one of a cylinder or a hydraulic cylinder. The above transverse drive mechanism and longitudinal drive mechanism are both existing technologies. Specifically, the transverse drive mechanism includes a first servo motor and two sets of first screw drive structures. The first servo motor is threadedly connected to the screw of the first screw drive structure through a gear transmission structure. The screw sleeve of the first screw drive structure is threadedly connected to the screw, and the screw sleeve and the frame 8 are provided with a guide rail pair in the first axis X direction to ensure that the screw sleeve only undergoes linear movement. The longitudinal drive mechanism is provided on the screw sleeve, which allows the drive assembly of this application to undergo linear reciprocating motion on the first axis X. At the same time, under the drive of the longitudinal drive mechanism, the aluminum shell can be clamped and unclamped, that is, the reciprocating transport of the aluminum shell between two adjacent forming stations is completed.

[0033] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A transporting robot, comprising two parallel drive arms (1) and at least one gripping block (2) fixed to each drive arm (1) by a fixing seat (3), wherein the gripping block (2) fixed to one drive arm (1) and the gripping block (2) fixed to the other drive arm (1) are symmetrically distributed, and the two drive arms (1) drive the gripping blocks (2) to move along a first axis (X) and a second axis (Y), characterized in that, The fixed base (3) includes an upper fixed plate (31) and a lower fixed plate (32) fixedly connected to the drive arm (1). The upper fixed plate (31) and the lower fixed plate (32) are connected by a first position adjustment structure distributed along the first axis (X). The upper fixed plate (31) and the clamping block (2) are connected by a second position adjustment structure distributed along the second axis (Y). The lower fixed plate (32) is provided with a travel limiting structure that restricts the movement of the upper fixed plate (31) in the direction of the first axis (X).

2. The transport robot according to claim 1, characterized in that, The travel limiting structure includes: side fixing plates (33) are distributed at intervals on both ends of the upper fixing plate (31) perpendicular to the first axis (X), and locking members are respectively inserted on the side fixing plates (33), and the locking members are at least partially connected to the upper fixing plate (31).

3. The transport robot according to claim 1, characterized in that, The second position adjustment structure includes an adjustment guide groove (311) disposed on the upper fixed plate (31) and extending along the second axis (Y) direction, and a connecting plate (4) fixedly connected to the clamping block (2), wherein the connecting plate (4) is slidably connected to the adjustment guide groove (311).

4. The transport robot according to claim 3, characterized in that, The transport robot also includes a fine-tuning screw (5), which is threadedly connected to the upper fixed plate (31), and its screw end is inserted into the connecting plate (4).

5. The transport robot according to claim 3, characterized in that, The connecting plate (4) is fixed in the adjusting guide groove (311) by a locking member.

6. The transport robot according to claim 1, characterized in that, A sensing element (6) is also provided on the clamping block (2), and the sensing element (6) is a position sensor.

7. The transport robot according to claim 6, characterized in that, The sensor (6) is embedded in the clamping surface of the clamping block (2).

8. The transport robot according to claim 1, characterized in that, The clamping block (2) is any one of nylon clamping block, polyurethane clamping block or rubber clamping block.

9. The transport robot according to claim 1, characterized in that, The lower fixing plate (32) is connected to the drive arm (1) via a concave-convex assembly (7), at least a portion of which is disposed on the lower fixing plate (32), and the remaining portion of which is disposed on the drive arm (1).

10. An aluminum shell stretching device, comprising a frame (8) and a stretching robotic arm disposed on the frame (8), characterized in that, The frame (8) is provided with a transport robot as described in any one of claims 1-9, and the stretching robot arm is positioned above the transport robot and spaced apart from the transport robot.

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