Battery case metal shielding lift robot

Abstract

The utility model discloses a kind of shielding promotion manipulator on battery shell metal, including support frame, lifting assembly, manipulator assembly and shielding plate, the lifting assembly includes vertical beam, vertical beam side is equipped with the guide rail of sliding cooperation with slider, the vertical beam side is also equipped with rack;Fixed seat side is equipped with speed reducer and motor, the output shaft of speed reducer is fixedly connected with the gear of meshing with rack;Manipulator assembly includes base plate, base plate four corners are equipped with mechanical arm, one end of mechanical arm is equipped with mounting plate, electric permanent magnet jack is installed in mounting plate lower part;Shielding plate is equipped with the metal block corresponding with electric permanent magnet jack position position. The utility model uses electric permanent magnet jack to replace traditional clamping type manipulator, reduces the precision requirement of manipulator to shielding plate position, compensates the parking position deviation of conveying mechanism and the manufacturing tolerance of manipulator assembly, reduces the dependence on conveying mechanism parking precision and manipulator manufacturing precision.

Description

Technical Field

[0001] This utility model belongs to the field of battery casing powder coating production equipment, and specifically relates to a battery casing metal shielding and lifting robot. Background Technology

[0002] In the manufacturing process of power batteries, the battery casing, as the core load-bearing and protective component of the battery, often requires a spray coating process to achieve functions such as corrosion prevention, insulation, or aesthetic enhancement. To ensure coating accuracy, it is necessary to avoid coating covering key non-coating areas of the battery casing, such as the terminal mounting positions, wiring terminal holes, and sealing grooves. Therefore, the industry commonly adopts a "paper masking" solution, which involves placing paper cutouts of the same shape and size as masking boards in the non-coating areas before the battery casing is transported to the spray coating station, thereby physically preventing coating adhesion.

[0003] The typical operation process of the current battery casing powder coating production line is as follows: the upper and lower metal shielding of the battery casing is conveyed to the battery casing upper station by the conveying mechanism according to the preset rhythm. The shielding lifting robot lifts the upper metal shielding to the preset height. After the battery casing is placed in the lower shielding, the upper shielding is precisely placed (±0.5mm) on top of the battery casing to achieve the shielding purpose, so that the battery casing can enter the subsequent spraying process.

[0004] Currently, the core equipment for lifting shielding panels in the industry is the "clamping robot". Its working principle is to first clamp the edge of the shielding panel or the preset clamping position through the pneumatic gripper, electric gripper or mechanical chuck at the end of the robot, and then drive the gripper to rise through the linear module or multi-axis joint structure of the robot, thereby lifting the shielding panel.

[0005] However, this clamping lifting solution has significant technical drawbacks in practical applications, as follows: First, the gripping robot arm must be precisely aligned with the gripping position of the shielding plate to complete the clamping action. The position of the shielding plate is determined by the position of the battery casings conveyed by the conveyor mechanism. If the conveyor mechanism stops at an excessively low position due to factors such as motor speed fluctuations or conveyor belt slippage, the gripper cannot accurately align with the shielding plate. This can result in the gripper misaligning with the shielding plate, or even worse, the gripper not clamping properly or damaging the surface of the battery casing, requiring manual intervention and adjustment, which seriously affects the production line cycle time.

[0006] Secondly, to ensure the shielding plate remains accurately positioned during clamping and lifting, the gripping robot is highly dependent on its own manufacturing precision, and its manufacturing tolerances must strictly match the stopping position deviation of the conveying mechanism. However, in actual production, the manufacturing tolerances of the robot and the stopping position deviation of the conveying mechanism will accumulate into a cumulative error. Once this error exceeds the adaptation tolerance of the shielding plate clamping position, it can easily lead to the grippers failing to accurately align with the shielding plate clamping position. Utility Model Content

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a battery casing metal shielding lifting robot to solve the above-mentioned technical problems.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A battery casing metal shielding lifting robot includes: A support frame, wherein a crossbeam is provided at the upper end of the support frame, a fixed seat is fixedly connected to one side of the crossbeam, a slider is provided on the fixed seat, and a protective cover is provided on one side of the fixed seat; A lifting assembly is used to drive the lifting and lowering action of the robotic arm assembly. The lifting assembly includes a vertical beam, a guide rail that slides with a slider on one side of the vertical beam, and a rack on one side of the vertical beam. A reducer and a motor are installed on one side of the fixed base, and a gear that meshes with the rack is fixedly connected to the output shaft of the reducer. A robotic arm assembly for grasping a shielding plate includes a base plate, robotic arms at the four corners of the base plate, a mounting plate at one end of each robotic arm, and an electro-permanent magnet lifter mounted on the lower part of the mounting plate. A shielding plate covers the upper part of the battery casing, and the shielding plate is provided with a metal block corresponding to the position of the electro-permanent magnet lifter.

[0009] Furthermore, the lower part of the support frame is provided with a sleeve, and the support frame is intermittently inserted into the sleeve. Both the sleeve and the support frame are provided with cross braces. A lifting cylinder is fixedly connected to the cross brace of the sleeve. The piston rod end of the lifting cylinder is connected to the cross brace of the support frame for adjusting the overall height of the support frame.

[0010] Furthermore, a limit switch is provided at both the upper and lower ends of the vertical beam to limit the travel of the vertical beam's lifting and lowering movement.

[0011] Furthermore, a fixing plate is provided on one side of the fixing base, and a drag chain bracket is installed on the fixing plate. The drag chain is also included for storing and protecting the power cord of the electro-permanent magnet lifter. One end of the drag chain is connected to the drag chain bracket, and the other end of the drag chain is connected to the vertical beam.

[0012] Furthermore, a stud is fixedly connected to the lower part of the substrate, and a base is provided on the outside of the stud. A through hole adapted to the stud is opened on the base. After the stud passes through the through hole, it forms a threaded engagement with the external thread of the stud through at least one locking nut, so as to realize the angle adjustment of the base on the stud.

[0013] Furthermore, a telescopic arm is slidably connected inside the robotic arm, and a telescopic drive mechanism is installed on the robotic arm. The telescopic end of the telescopic drive mechanism is connected to the telescopic arm and is used to adjust the length of the robotic arm.

[0014] Furthermore, the telescopic drive mechanism is a pneumatic cylinder, hydraulic cylinder, or electric cylinder.

[0015] Furthermore, one end of the robotic arm is movably connected to the base via a pin, and the base has side plates on both sides. A V-shaped spring is fixedly connected to the inner side of the side plate, and one side of the spring abuts against the robotic arm.

[0016] Furthermore, a pin seat plate is fixedly connected to each side of the substrate, and a U-shaped frame is fixedly connected to one side of the substrate. A side arm is provided on one side of the U-shaped frame, and a cylinder is installed on the side arm. A parallel opening and closing gripper is connected to the piston rod of the cylinder. The parallel opening and closing gripper includes a first gripper, a first connecting rod connected to one side of the first gripper, a linkage connecting rod connected to one side of the first connecting rod, a second connecting rod connected to the other end of the linkage connecting rod, and a second gripper connected to one side of the second connecting rod. The first gripper and the second gripper correspond to the positions of the pin seat plates on both sides of the substrate, respectively. Two perforated plates are fixedly connected to the battery casing. The vertical projection of the two perforated plates is located outside the two pin seat plates, and when the electro-permanent magnet lifter attracts the metal block, the through holes of the perforated plates correspond to the pin holes of the pin seat plates.

[0017] Furthermore, one end of the U-shaped frame is connected to an end plate, and one end of the linkage rod passes through the end plate and is in clearance fit with the end plate. The end plate limits the parallel opening and closing grippers.

[0018] The beneficial effects of this utility model are: (1) This utility model uses an electro-permanent magnet lifter to replace the traditional clamping manipulator, which reduces the accuracy requirements of the manipulator on the position of the shielding plate, compensates for the parking position deviation of the conveying mechanism and the manufacturing tolerance of the manipulator components, and reduces the dependence on the parking accuracy of the conveying mechanism and the manufacturing accuracy of the manipulator.

[0019] (2) A sleeve is installed at the bottom of the support frame, and the support frame is lifted as a whole by using a lifting cylinder to meet the working space requirements of different production equipment for the battery casing.

[0020] (3) A base is set at the bottom of the substrate and the base is fastened with studs and locking nuts, which realizes the angle adjustment of the base on the studs, thereby realizing the angle adjustment of the robotic arm, so that the robotic arm can adapt to the metal blocks at different distribution positions on the shielding plate, and improves the compatibility of the equipment with shielding plates of different specifications of battery cases; in addition, by setting a telescopic arm inside the robotic arm, the adaptability of the robotic arm assembly to metal blocks at different positions is further enhanced.

[0021] (4) Side plates are set on both sides of the base, and springs are set on the inner side of the side plates. When there is a positional deviation between the electro-permanent magnet lifter and the metal block of the shielding plate, the adsorption force generated by the electro-permanent magnet lifter can overcome the pre-tightening force of the V-shaped spring, and drive the robotic arm to adaptively deflect in the direction of decreasing deviation along the pin axis until the electro-permanent magnet lifter and the metal block are precisely aligned and adsorption is completed. This can automatically compensate for the displacement of the conveying mechanism parking position and the manufacturing tolerance of the robotic arm, and improve the stability of the shielding plate lifting.

[0022] (5) When the electro-permanent magnet lifter adsorbs the metal block, the cylinder extends and drives the first and second claws of the parallel opening and closing gripper to enter the two perforated plates respectively, forming a mechanical limit and realizing double anti-fall protection after the shielding plate is lifted. Attached Figure Description

[0023] Figure 1 This is a diagram showing the usage state of a battery casing metal shielding lifting robot according to this utility model.

[0024] Figure 2 This is a schematic diagram of the assembly of the lifting and hoisting components.

[0025] Figure 3 This is a schematic diagram of the component structure.

[0026] Figure 4 This is a schematic diagram of the robotic arm component structure.

[0027] Figure 5 This is a schematic diagram of a parallel opening and closing gripper.

[0028] Figure 6 This is a bottom view of the robotic arm assembly.

[0029] Figure 7 This is a schematic diagram of the base structure.

[0030] In the diagram, 1. Support frame; 11. Sleeve; 12. Lifting cylinder; 13. Crossbeam; 14. Fixed base; 15. Protective cover; 16. Fixed plate; 17. Cable chain bracket; 18. Horizontal brace; 2. Lifting assembly; 21. Vertical beam; 22. Reducer; 23. Motor; 24. Guide rail; 25. Rack; 26. Limit switch; 27. Cable chain; 3. Robotic arm assembly; 31. Base plate; 32. Robotic arm; 33. Telescopic arm; 34. Telescopic drive mechanism; 35. Mounting plate 36. Electro-permanent magnet lifter; 37. Base; 38. Side plate; 39. Spring; 310. Pin; 311. U-shaped frame; 312. Side arm; 313. Cylinder; 314. End plate; 315. Parallel opening and closing gripper; 3151. First gripper; 3152. Linkage rod; 3153. First link; 3154. Second link; 3155. Second gripper; 316. Pin seat plate; 4. Battery casing; 5. Shielding plate; 51. Metal block; 52. Perforated plate. Detailed Implementation

[0031] The following will be combined with the appendix Figures 1-7 The technical solutions in the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0032] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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.

[0033] like Figure 1 As shown, a battery casing metal shielding lifting robot includes a support frame 1, a lifting assembly 2, a robot assembly 3, and a shielding plate 5. The support frame 1 is used to support the lifting robot, and a crossbeam 13 is provided at the upper end of the support frame 1. Figure 2 , Figure 3 As shown, a fixed seat 14 is fixedly connected to one side of the crossbeam 13. The fixed seat 14 is equipped with a slider, and a protective cover 15 is provided on one side of the fixed seat 14.

[0034] Lifting component 2 is used to drive the lifting and lowering motion of robotic arm component 3, such as... Figure 2 , Figure 3 As shown, the lifting assembly 2 includes a vertical beam 21, a guide rail 24 that slides with the slider on one side of the vertical beam 21, and a rack 25 on one side of the vertical beam 21; a reducer 22 and a motor 23 are installed on one side of the fixed base 14, and a gear (not shown in the figure) that meshes with the rack 25 is fixedly connected to the output shaft of the reducer 22. When the motor 23 rotates, it drives the gear to rotate through the reducer 22, and the gear drives the rack 25 and the vertical beam 21 to move vertically up and down.

[0035] Robotic arm component 3 is used to grasp shielding plate 5, such as Figure 4 As shown, the robotic arm assembly 3 includes a base plate 31, with robotic arms 32 located at the four corners of the base plate 31. One end of the robotic arm 32 is provided with a mounting plate 35, and an electro-permanent magnet lifter 36 is mounted on the lower part of the mounting plate 35.

[0036] like Figure 1 As shown, the shielding plate 5 covers the upper part of the battery casing 4, and the shielding plate 5 is provided with a metal block 51 corresponding to the position of the electro-permanent magnet lifter 36.

[0037] The battery casing 4 runs on the conveying mechanism to the bottom of the device. After reaching the preset designated position, the electro-permanent magnet lifter of the robot arm is de-energized. The lifting component 2 descends, driving the robot arm component 3 to descend and move the robot arm to the position where it can be attracted to the shielding plate 5. At this time, the electro-permanent magnet lifter 36 corresponds to the position of the metal block 51 on the shielding plate 5. Then, the electro-permanent magnet lifter 36 is energized. After the electromagnetic attraction forms a stable attraction with the metal block 51, the lifting component 2 drives the robot arm to return along the original path.

[0038] In this solution, the alignment accuracy requirement of the electro-permanent magnet lifter 36 for the metal block is significantly reduced, allowing for a positional deviation within ±5mm. Stable adsorption can be achieved without precise alignment of the clamping position, compensating for the stopping position deviation of the conveying mechanism and the manufacturing tolerance of the robot arm component 3, and reducing the dependence on the stopping accuracy of the conveying mechanism and the manufacturing accuracy of the robot arm.

[0039] like Figure 1 As shown, the lower part of the support frame 1 is provided with a sleeve 11, and the support frame 1 is intermittently inserted into the sleeve 11. Both the sleeve 11 and the support frame 1 are provided with cross braces 18. A lifting cylinder 12 is fixedly connected to the cross brace 18 of the sleeve 11. The piston rod end of the lifting cylinder 12 is connected to the cross brace 18 of the support frame 1 to adjust the overall height of the support frame 1 so as to meet the working space requirements of different production equipment for the inside of the battery casing 4.

[0040] like Figure 3 As shown, a limit switch 26 is provided at the upper and lower ends of the vertical beam 21 to limit the travel of the vertical beam 21 in raising and lowering.

[0041] like Figure 2 As shown, a fixing plate 16 is provided on one side of the fixing base 14. A drag chain bracket 17 is installed on the fixing plate 16, and a drag chain 27 is also included for storing and protecting the power cord of the electro-permanent magnet lifter 36. One end of the drag chain 27 is connected to the drag chain bracket 17, and the other end of the drag chain 27 is connected to the vertical beam 21.

[0042] like Figure 6 , Figure 7As shown, a stud is fixedly connected to the lower part of the base plate 31. A base 37 is provided on the outside of the stud. A through hole adapted to the stud is opened on the base 37. After the stud passes through the through hole, it forms a threaded engagement with the external thread of the stud through at least one locking nut, so as to realize the angle adjustment of the base 37 on the stud. When it is necessary to adjust the angle of the robotic arm 32, the locking nut is loosened and the base 37 is rotated to adjust the circumferential angle of the robotic arm 32. After the electro-permanent magnet lifter 36 at the end of the robotic arm 32 is aligned with the target metal block 51 on the shielding plate 5, the locking nut is tightened again to fix the position of the base 37, so that the robotic arm 32 can adapt to the metal blocks 51 with different distribution positions on the shielding plate 5, thereby improving the compatibility of the equipment with different specifications of battery shells 4 and shielding plates 5.

[0043] like Figure 4 As shown, a telescopic arm 33 is slidably connected inside the robotic arm 32, and a telescopic drive mechanism 34 is installed on the robotic arm 32. The telescopic end of the telescopic drive mechanism 34 is connected to the telescopic arm 33 and is used to adjust the length of the robotic arm 32, which further enhances the adaptability of the robotic arm assembly 3 to the metal block 51 in different positions.

[0044] The telescopic drive mechanism 34 is a pneumatic cylinder, hydraulic cylinder, or electric cylinder, such as... Figure 4 As shown, in this embodiment, the telescopic drive mechanism 34 is an electric cylinder.

[0045] like Figure 7 As shown, one end of the robotic arm 32 is movably connected to the base 37 via a pin 310. The base 37 has side plates 38 on both sides, and a V-shaped spring piece 39 is fixedly connected to the inner side of the side plate 38. One side of the spring piece 39 abuts against the robotic arm 32. The pin 310 provides the robotic arm 32 with rotational freedom around the pin 310, while the V-shaped spring piece 39 on the inner side of the side plate 38 of the base 37 is kept in contact with the robotic arm 32 by a pre-tightening force, forming an initial positioning reference. When there is a positional deviation between the electro-permanent magnet lifter 36 and the metal block 51 of the shielding plate 5, the attraction force generated by the electro-permanent magnet lifter 36 when energized can overcome the pre-tightening force of the V-shaped spring piece 39, driving the robotic arm 32 to adaptively deflect along the pin 310 in the direction of reducing the deviation, until the electro-permanent magnet lifter 36 and the metal block 51 are precisely aligned and adsorbed. This can automatically compensate for the displacement of the conveying mechanism's stopping position and the manufacturing tolerance of the robotic arm 32, improving the stability of the lifting of the shielding plate 5.

[0046] like Figures 4-6As shown, a pin seat plate 316 is fixedly connected to each side of the base plate 31. A U-shaped frame 311 is fixedly connected to one side of the base plate 31. A side arm 312 is provided on one side of the U-shaped frame 311. A cylinder 313 is mounted on the side arm 312. A parallel opening and closing gripper 315 is connected to the piston rod of the cylinder 313. The parallel opening and closing gripper 315 includes a first gripper 3151. A first connecting rod 3153 is connected to one side of the first gripper 3151. A linkage connecting rod 3152 is connected to one side of the first connecting rod 3153. A second connecting rod 3154 is connected to the other end of the linkage connecting rod 3152. A second gripper 3155 is connected to one side of the second connecting rod 3154. The first gripper... The first and second grippers 3151 and 3155 correspond to the positions of the pin seats 316 on both sides of the base plate 31, respectively. Two perforated plates 52 are fixedly connected to the battery casing 4. The vertical projection of the two perforated plates 52 is located outside the two pin seats 316. When the electro-permanent magnet lifter 36 adsorbs the metal block 51, the through holes of the perforated plates 52 correspond to the pin holes of the pin seats 316. When the electro-permanent magnet lifter 36 adsorbs the metal block 51, the cylinder 313 extends and drives the first gripper 3151 and the second gripper 3155 of the parallel opening and closing gripper 315 to pass into the two perforated plates 52, forming a mechanical limit and realizing double anti-fall protection after the shielding plate 5 is lifted.

[0047] like Figure 4 As shown, one end of the U-shaped frame 311 is connected to an end plate 314, and one end of the linkage rod 3152 passes through the end plate 314 and is in clearance fit with the end plate 314. The end plate 314 limits the parallel opening and closing gripper 315, ensuring the movement trajectory of the parallel opening and closing gripper 315, thereby ensuring that the parallel opening and closing gripper 315 accurately enters the hole.

[0048] The above content is merely an example and illustration of the structure of this utility model. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the scope defined by the structure of the utility model, they should all fall within the protection scope of this utility model.

Claims

1. A battery casing metal shielding lifting robot, comprising: A support frame, wherein a crossbeam is provided at the upper end of the support frame, a fixed seat is fixedly connected to one side of the crossbeam, a slider is provided on the fixed seat, and a protective cover is provided on one side of the fixed seat; A lifting assembly is used to drive the lifting and lowering action of the robotic arm assembly. The lifting assembly includes a vertical beam, a guide rail that slides with a slider on one side of the vertical beam, and a rack on one side of the vertical beam. A reducer and a motor are installed on one side of the fixed base, and a gear that meshes with the rack is fixedly connected to the output shaft of the reducer. A robotic arm assembly for grasping a shielding plate, characterized in that the robotic arm assembly includes a base plate, robotic arms are provided at the four corners of the base plate, a mounting plate is provided at one end of the robotic arm, and an electro-permanent magnet lifter is installed at the lower part of the mounting plate. A shielding plate covers the upper part of the battery casing, and the shielding plate is provided with a metal block corresponding to the position of the electro-permanent magnet lifter.

2. The battery casing metal shielding lifting robot according to claim 1, characterized in that, The lower part of the support frame is provided with a sleeve, and the support frame is intermittently inserted into the sleeve. Both the sleeve and the support frame are provided with cross braces. A lifting cylinder is fixedly connected to the cross brace of the sleeve. The piston rod end of the lifting cylinder is connected to the cross brace of the support frame for adjusting the overall height of the support frame.

3. The battery casing metal shielding lifting robot according to claim 1, characterized in that, Each of the upper and lower ends of the vertical beam is equipped with a limit switch to limit the travel of the vertical beam's lifting and lowering movement.

4. The battery casing metal shielding lifting robot according to claim 1, characterized in that, A fixing plate is provided on one side of the fixing base, and a drag chain bracket is installed on the fixing plate. The drag chain is also included for storing and protecting the power cord of the electro-permanent magnet lifter. One end of the drag chain is connected to the drag chain bracket, and the other end of the drag chain is connected to the vertical beam.

5. The battery casing metal shielding lifting robot according to claim 1, characterized in that, A stud is fixedly connected to the lower part of the base plate. A base is provided on the outside of the stud. A through hole adapted to the stud is opened on the base. After the stud passes through the through hole, it forms a threaded engagement with the external thread of the stud through at least one locking nut, so as to realize the angle adjustment of the base on the stud.

6. The battery casing metal shielding lifting robot according to claim 1, characterized in that, The robotic arm has a telescopic arm that is slidably connected inside, and a telescopic drive mechanism is installed on the robotic arm. The telescopic end of the telescopic drive mechanism is connected to the telescopic arm and is used to adjust the length of the robotic arm.

7. A battery casing metal shielding lifting robot according to claim 6, characterized in that, The telescopic drive mechanism is a pneumatic cylinder, hydraulic cylinder, or electric cylinder.

8. A battery casing metal shielding lifting robot according to claim 5, characterized in that, One end of the robotic arm is movably connected to the base via a pin. The base has side plates on both sides, and a V-shaped spring is fixedly connected to the inner side of the side plate. One side of the spring abuts against the robotic arm.

9. A battery casing metal shielding lifting robot according to any one of claims 1-8, characterized in that, A pin seat plate is fixedly connected to each side of the base plate. A U-shaped frame is fixedly connected to one side of the base plate. A side arm is provided on one side of the U-shaped frame. A cylinder is installed on the side arm. A parallel opening and closing gripper is connected to the piston rod of the cylinder. The parallel opening and closing gripper includes a first gripper. A first connecting rod is connected to one side of the first gripper. A linkage connecting rod is connected to one side of the first connecting rod. A second connecting rod is connected to the other end of the linkage connecting rod. A second gripper is connected to one side of the second connecting rod. The first gripper and the second gripper correspond to the positions of the pin seat plates on both sides of the base plate, respectively. Two perforated plates are fixedly connected to the battery shell. The vertical projection of the two perforated plates is located outside the two pin seat plates. When the electro-permanent magnet lifter attracts the metal block, the through holes of the perforated plates correspond to the pin holes of the pin seat plates.

10. A battery casing metal shielding lifting robot according to claim 9, characterized in that, One end of the U-shaped frame is connected to an end plate, and one end of the linkage rod passes through the end plate and is in clearance fit with the end plate. The end plate limits the parallel opening and closing grippers.

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