Overhead traveling crane clamping jaw manipulator

Abstract

An overhead traveling crane clamping jaw manipulator, comprising a mounting plate (1), at least two clamping jaw mechanisms (2), a lifting / lowering mechanism (3) and a clamping jaw variable-pitch assembly (4), wherein the lifting / lowering mechanism (3) is connected to the clamping jaw variable-pitch assembly (4), the clamping jaw variable-pitch assembly (4) is connected to the clamping jaw mechanisms (2), the lifting / lowering mechanism (3) is used for driving the clamping jaw variable-pitch assembly (4) and the clamping jaw mechanisms (2) to move up and down, the clamping jaw variable-pitch assembly (4) is used for adjusting the distance between the clamping jaw mechanisms (2), the clamping jaw mechanisms (2) are used for gripping a soft pack power battery; and a traveling assembly (5) used for driving the overhead traveling crane clamping jaw manipulator to move. The distance between the clamping jaw mechanisms (2) is adjustable within a wide adjustment range, so that the overhead traveling crane clamping jaw manipulator can be applied to products of more specifications.

Description

A crown block clamping jaw manipulator TECHNICAL FIELD

[0001] The utility model relates to power battery production transportation technical field, especially a crown block clamping jaw manipulator. BACKGROUND

[0002] Lithium ion battery has high discharge specific capacity, high discharge voltage, high power and environment friendly advantage, therefore is considered as the most promising energy storage device. With the continuous development of new energy power battery technology in China, the application range is more and more widely, and soft package power battery with large volume and capacity is being developed and produced by rechargeable battery manufacturers. As the main material transfer mechanism in the production process of soft package power battery, the crown block clamping jaw manipulator has been widely researched and applied, and the technology is also constantly being updated. The current crown block clamping jaw manipulator is often only suitable for single-width soft package power battery, and has poor versatility.

[0003] Therefore, the utility model aims to provide a new technical scheme to solve the existing technical problems.

[0004] Utility model content

[0005] In order to overcome the deficiency of prior art, the utility model provides a crown block clamping jaw manipulator, which solves the problem that the existing crown block clamping jaw manipulator is only suitable for single-width soft package power battery clamping and has poor versatility.

[0006] The utility model solves the technical problems by adopting the following technical scheme:

[0007] A crown block clamping jaw manipulator, comprising a mounting plate, at least two groups of clamping jaw mechanisms, a lifting mechanism and a clamping jaw distance adjusting assembly, the lifting mechanism is connected with the clamping jaw distance adjusting assembly, the clamping jaw distance adjusting assembly is connected with the clamping jaw mechanism, the lifting mechanism is used to drive the clamping jaw distance adjusting assembly and the clamping jaw mechanism to move up and down, the clamping jaw distance adjusting assembly is used to adjust the distance between the clamping jaw mechanisms, and the clamping jaw mechanism is used to clamp soft package power battery.

[0008] A walking assembly is used to drive the crown block clamping jaw manipulator to move.

[0009] In the above structure, the walking assembly comprises a walking motor, a walking transmission shaft and a walking gear, the walking motor is fixedly arranged on the mounting plate, a driving gear is fixedly connected with the output shaft of the walking motor, the driving gear is engaged with the driving gear on the walking transmission shaft, walking steering gears are connected to the output end of the walking transmission shaft.

[0010] In the above structure, the lifting mechanism comprises a lifting assembly and lifting movable plates, two of which are symmetrically arranged below the mounting plate, the jaw distance changing assembly and the jaw mechanism are connected to the lifting movable plates, and the lifting assembly is arranged on the mounting plate to drive the lifting movable plates to move closer to or away from the mounting plate in the vertical direction.

[0011] In the above structure, the lifting assembly comprises a lifting motor, a lifting transmission shaft and a lifting lead screw, the lifting motor is fixedly arranged on the mounting plate, the output shaft of the lifting motor is fixedly connected with a rotating gear, the lifting transmission shaft is sleeved with a lifting gear engaged with the rotating gear, the two ends of the lifting transmission shaft are connected with lifting diverters, two lifting lead screws are respectively connected to the two lifting diverters, two lifting fixing frames are symmetrically fixed to the side of the mounting plate facing the lifting movable plates, one end of the lifting lead screw away from the lifting diverter is rotatably connected to the corresponding lifting fixing frame, a lead screw nut is rotatably connected to the lifting lead screw, and the lead screw nut is fixedly connected to the lifting movable plate.

[0012] A guide shaft is fixedly connected to the lifting fixing frame, one end of the guide shaft away from the lifting fixing frame is fixedly connected to the mounting plate, and a linear bearing is fixedly connected to the lifting movable plate, and the guide shaft penetrates through the linear bearing.

[0013] In the above structure, the jaw distance changing assembly comprises a top distance changing plate, a distance changing motor, a bidirectional lead screw and a distance changing transmission shaft, two bidirectional lead screws are symmetrically arranged on the two lifting movable plates, one end of the bidirectional lead screw is connected with a distance changing diverter, the output shaft of the distance changing motor is connected to one end of the bidirectional lead screw away from the distance changing diverter, the distance changing transmission shaft is connected to the distance changing diverters on both sides, two distance changing nuts capable of moving closer to or away from each other are sleeved on the bidirectional lead screw, two top distance changing plates are arranged between the two bidirectional lead screws, and the two ends of the top distance changing plate are respectively connected to the distance changing nuts on the two bidirectional lead screws, and the distance changing motor drives the two top distance changing plates to slide on the lifting movable plates in the direction of moving closer to or away from each other.

[0014] In the above structure, a distance changing sliding rail extending along the length direction of the lifting movable plate is fixedly connected to the lifting movable plate, distance changing sliding blocks are fixedly connected to the two ends of the top distance changing plate, the distance changing sliding blocks are slidingly connected to the distance changing sliding rail, and a connecting plate is fixedly connected to the distance changing nut, and the top distance changing plate is fixedly connected to the connecting plate.

[0015] In the above structure, the clamping jaw mechanism comprises an opening and closing driving assembly and a clamping jaw assembly, a plurality of clamping jaw assemblies are arranged on the top variable pitch plate, the clamping jaw assembly comprises a clamping jaw shaft, a first upper hinge and a second upper hinge hinged to the bottom end of the clamping jaw shaft, the first upper hinge is hinged with a first lower hinge away from one end of the clamping jaw shaft, the second upper hinge is hinged with a second lower hinge away from one end of the clamping jaw shaft, and the middle part of the first lower hinge is hinged with the middle part of the second lower hinge, the lower end of the first lower hinge and the second lower hinge is fixedly connected with a clamping jaw plate, and the opening and closing driving assembly is used to drive the opening and closing action of the clamping jaw assembly.

[0016] In the above structure, the opening and closing driving assembly comprises an opening and closing motor, a movable part and a fixed U-shaped plate, the opening and closing motor is fixedly arranged on the top variable pitch plate, a plurality of clamping jaw assemblies are arranged on the movable part, the opening and closing motor is connected with an opening and closing screw rod, one end of the opening and closing screw rod is rotatably connected to the top variable pitch plate, and the other end is rotatably connected to the fixed U-shaped plate, an opening and closing nut is rotatably connected to the opening and closing screw rod, the opening and closing nut is fixedly installed on the movable part, one end of the clamping jaw shaft is fixedly connected to the movable part, and the other end of the clamping jaw shaft is slidably connected to the fixed U-shaped plate, the middle part of the first lower hinge and the middle part of the second lower hinge are provided with a hinge shaft, both ends of the hinge shaft are connected to the fixed U-shaped plate, a compression spring is sleeved on the clamping jaw shaft, and a locking nut is fixedly connected to the end of the clamping jaw shaft close to the movable part, one end of the compression spring abuts against the locking nut, and the other end abuts against the fixed U-shaped plate.

[0017] In the above structure, the output shaft of the opening and closing motor is fixedly connected with an opening and closing gear, a bearing seat is installed on the top variable pitch plate, a rotating bearing is installed in the bearing seat, the opening and closing screw rod is rotatably connected to the top variable pitch plate through the rotating bearing, and a screw rod gear meshing with the opening and closing gear is fixedly sleeved on the top end of the opening and closing screw rod.

[0018] In the above structure, the PCB docking mechanism arranged on both sides of the crown block clamping jaw manipulator comprises a rotary motor, a laser ranging element, a restraint head and a linear module, the rotary motor is installed on the linear module and can move close to or away from the mounting plate in the vertical direction, the restraint head is fixedly connected to the output shaft of the rotary motor, and the laser ranging element is used to detect the distance between the restraint head and the battery clamp.

[0019] The utility model discloses a beneficial effect is: the related structure optimization of overhead crane clamping jaw manipulator is more satisfied with the use demand of soft package power battery transfer, and stability and compatibility have been strengthened, and the working efficiency of overhead crane clamping jaw manipulator has been improved, can better assist unmanned automation production, and the application range is wider. BRIEF DESCRIPTION OF DRAWINGS

[0020] The utility model is further illustrated below in combination with the drawings and examples.

[0021] Fig. 1 is the overall structure schematic diagram of the utility model;

[0022] Fig. 2 is the overhead structure schematic diagram of the utility model;

[0023] Fig. 3 is the lifting mechanism structure schematic diagram of the utility model;

[0024] Fig. 4 is the clamping jaw mechanism schematic diagram of the utility model;

[0025] Fig. 5 is the clamping jaw distance changing assembly structure schematic diagram of the utility model;

[0026] Fig. 6 is the clamping jaw assembly structure schematic diagram of the utility model;

[0027] Fig. 7 is the opening and closing drive assembly sectional schematic diagram of the utility model;

[0028] Fig. 8 is the fixed U-shaped plate structure schematic diagram of the utility model;

[0029] Fig. 9 is the intelligent side structure schematic diagram of the utility model.

[0030] Reference signs:

[0031] 1, mounting plate, 12, walking fixed plate, 121, walking protective cover, 13, lifting fixed plate, 131, lifting protective cover, 14, lifting fixed support, 141, guide shaft, 15, walking wheel assembly;

[0032] 2, clamping jaw mechanism, 21, clamping jaw assembly, 211, clamping jaw shaft, 2111, locking nut, 212, first upper hinge, 213, second upper hinge, 214, first lower hinge, 215, second lower hinge, 216, articulated shaft, 217, clamping jaw plate, 218, compression spring, 22, opening and closing drive assembly, 221, opening and closing motor, 2211, opening and closing gear, 222, movable piece, 223, fixed U-shaped plate, 224, opening and closing screw rod, 2241, screw rod gear, 225, positioning shaft, 226, limiting piece;

[0033] 3, lifting mechanism; 31, lifting assembly; 311, lifting motor; 312, lifting transmission shaft; 313, lifting screw; 3131, screw nut; 314, rotating gear; 315, lifting gear; 32, lifting movable plate; 321, variable distance sliding rail; 322, support seat; 323, variable distance sliding block; 33, lifting diverter;

[0034] 4, jaw variable distance assembly; 41, top variable distance plate; 411, connecting plate; 412, bearing seat; 413, rotating bearing; 42, variable distance motor; 43, bidirectional screw; 44, variable distance transmission shaft; 45, variable distance diverter;

[0035] 5, walking assembly; 51, walking motor; 511, driving gear; 52, walking transmission shaft; 521, driving gear; 53, walking gear; 54, walking diverter;

[0036] 6, PCB docking mechanism; 61, linear module; 62, rotating motor; 63, restraint head; 64, laser ranging piece. DETAILED DESCRIPTION

[0037] The utility model will be further described below in combination with the attached drawings 1-9.

[0038] The concept, specific structure and technical effects of the utility model will be described clearly and completely in combination with the embodiments and drawings, so as to fully understand the purpose, features and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all embodiments, based on the embodiments of the utility model, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model. In addition, all the coupling / connection relations involved in the patent do not mean that the components are directly connected, but that a better coupling structure can be composed by adding or reducing coupling auxiliary components according to the specific implementation situation. The various technical features in the utility model creation can be interactively combined without mutual contradiction and conflict.

[0039] The utility model provides a kind of headgear jaw manipulator, the soft package power battery can be transported by the headgear jaw manipulator once, and soft package battery does not fall in the process of transporting, realizes efficiently, safely transporting soft package battery.

[0040] Referring to FIG. 1 to FIG. 9, a trolley gripper manipulator includes a mounting plate 1, a gripper mechanism 2, a lifting mechanism 3, a gripper distance changing assembly 4 and a walking assembly 5. The mounting plate 1 is a mounting base of the whole device, used to carry each component. At least two sets of gripper mechanisms 2 are connected to the mounting plate 1. The gripper mechanism 2 is the main working mechanism of the trolley gripper manipulator, used to hold the soft-pack power battery. The lifting mechanism 3 is the Y-axis lifting unit of the trolley gripper manipulator, used to drive the gripper mechanism 2 to move towards or away from the mounting plate 1 in the vertical direction, so as to realize the lifting of the whole gripper mechanism 2. The gripper distance changing assembly 4 is the Z-axis distance changing unit of the trolley gripper manipulator, used to adjust the distance between the gripper mechanisms 2. The walking assembly 5 is connected to the track for the trolley gripper manipulator to move, used to drive the trolley gripper manipulator to move, thereby realizing the carrying of the soft-pack power battery.

[0041] Referring to FIG. 1 and FIG. 2, the walking assembly 5 is used to drive the trolley gripper manipulator to move. Specifically, the walking assembly 5 includes a walking motor 51, a walking transmission shaft 52 and a walking gear. The walking motor 51 is fixedly arranged on the mounting plate 1. The output shaft of the walking motor 51 is fixedly connected with a driving gear 511. The walking transmission shaft 52 is sleeved with a driven gear 521. The driven gear 521 is engaged with the driving gear 511. The walking transmission shaft 52 is arranged along the length direction of the mounting plate 1. Walking direction changers 54 are arranged at both ends of the walking transmission shaft 52. A walking gear 53 is connected to the output end of the walking direction changer 54. The walking gear 53 is engaged with the walking rack of the track for the trolley gripper manipulator to move. The track for the trolley gripper manipulator to move refers to the prior art, and the connection structure and working principle of the track are not described here. The walking direction changer 54 changes the mechanical energy output by the walking motor 51. The walking motor 51 outputs the rotation around the axial direction of the walking transmission shaft 52, which is converted into the rotation around the direction perpendicular to the axial direction of the transmission shaft, so as to drive the walking gears 53 arranged on both sides of the mounting plate 1 to walk along the track arranged on both sides of the mounting plate 1. The mounting plate 1 is also provided with a current collector assembly and a slide wire and other conventional structures to supply power to the machine table.

[0042] In the embodiment, the walking fixed plate 12 is fixedly connected to the mounting plate 1, the walking motor 51 is fixedly mounted to the walking fixed plate 12, the output shaft of the walking motor 51 penetrates through the walking fixed plate 12, and the walking transmission shaft 52 is rotatably connected to the walking fixed plate 12. The walking fixed plate 12 supports the installation of the walking motor 51 and the walking transmission shaft 52, effectively ensuring the connection reliability. The driving gear 521 is sleeved on the walking transmission shaft 52 close to the walking fixed plate 12. The walking fixed plate 12 is fixedly connected with the walking protection cover 121, and the driving gear 521 and the driving gear 521 are located in the walking protection cover 121. The walking protection cover 121 protects the driving gear 521 and the driving gear 511, effectively reducing the possibility of foreign matter being wrapped in the driving gear 511 or the driving gear 521.

[0043] In addition, since the transmission stroke of the walking transmission shaft 52 is long, in the embodiment, a bearing seat is arranged in the transmission stroke of the walking transmission shaft 52, the bearing seat is fixedly connected to the mounting plate 1, and the walking transmission shaft 52 is rotatably connected to the bearing seat. The bearing seat supports the walking transmission shaft 52 to ensure the transmission stability of the walking transmission shaft 52.

[0044] Further, in order to ensure the stability of the walking assembly 5 in the track movement, the walking wheel assembly 15 and the guide wheel assembly are installed at four corners of the mounting plate 1. The walking wheel assembly 15 and the guide wheel assembly roll on the track for the trolley jaw mechanical hand to move, support and guide the trolley jaw mechanical hand, etc., so as to ensure the stability of the trolley jaw mechanical hand movement.

[0045] Further, the obstacle detection element is installed on the front and rear sides of the travel direction below the mounting plate 1, which is used to detect whether there is an obstacle in front of the travel route of the trolley jaw mechanical hand, so as to ensure the safety of the trolley jaw mechanical hand travel. In addition, the bar code scanning device for accurate positioning and the travel switch device for walking limiting are installed on one side of the mounting plate 1.

[0046] In work, the slide wire is powered, the current collector assembly contacts the slide wire to supply power to the whole machine, the walking motor 51 is powered to drive the walking gear 53 to rotate and cooperate with the walking rack on the track. At the same time, the walking wheel assembly 15 and the guide wheel assembly also move to the corresponding position of the track, driving the whole trolley jaw mechanical hand to move in the X-axis direction.

[0047] Referring to FIG. 1 to FIG. 3, the lifting mechanism 3 is a Y-axis lifting unit of the trolley gripper manipulator, comprising a lifting assembly 31 and two lifting movable plates 32, the two lifting movable plates 32 are arranged below the mounting plate 1 in a lifting manner, and the two lifting movable plates 32 are symmetrically arranged at opposite ends of the mounting plate 1 in the length direction. The gripper pitch changing assembly 4 and the gripper mechanism 2 are connected to the lifting movable plates 32, and the lifting assembly 31 is arranged on the mounting plate 1 to drive the two lifting movable plates 32 on both sides to move close to or away from the mounting plate 1 in the vertical direction, thereby realizing the lifting of the gripper pitch changing assembly 4 and the gripper mechanism 2.

[0048] Further, the lifting assembly 31 comprises a lifting motor 311, a lifting transmission shaft 312 and a lifting lead screw 313. The lifting motor 311 is fixedly arranged on the mounting plate 1. The output shaft of the lifting motor 311 is fixedly connected with a rotating gear 314. The lifting transmission shaft 312 is sleeved with a lifting gear 315. The lifting gear 315 is engaged with the rotating gear 314. The lifting transmission shaft 312 is connected with a lifting diverter 33 at both ends. The two lifting lead screws 313 are respectively connected to the output shafts of the lifting diverters 33 at both ends, and the two lifting lead screws 313 are arranged in the vertical direction. Two lifting fixing frames 14 are fixedly connected to the side of the mounting plate 1 facing the lifting movable plates 32. The two lifting fixing frames 14 are symmetrically arranged and correspond to the two lifting lead screws 313 one by one. The ends of the two lifting lead screws 313 away from the lifting diverters 33 are respectively rotatably connected to the corresponding lifting fixing frames 14. The lifting movable plates 32 are rotatably connected to the lifting lead screws 313. Specifically, the lifting lead screws 313 are rotatably connected with a lead screw nut 3131, and the lead screw nut 3131 is fixedly mounted with the lifting movable plates 32. The lifting movable plates 32 are rotatably connected with the lifting lead screws 313 through the lead screw nut 3131. When the lifting lead screw 313 rotates, the lifting movable plates 32 are lifted up and down on the lifting lead screw 313.

[0049] In the embodiment, the mounting plate 1 is fixedly connected with a lifting fixed plate 13, and the lifting motor 311 is fixedly mounted on the lifting fixed plate 13. The output shaft of the lifting motor 311 penetrates through the lifting fixed plate 13, and the lifting transmission shaft 312 is rotatably connected to the lifting fixed plate 13. The lifting fixed plate 13 supports the installation of the lifting motor 311 and the lifting transmission shaft 312, effectively ensuring the connection reliability. The rotating gear 314 is fixedly connected to the output shaft of the lifting motor 311, and the lifting gear 315 is sleeved on the lifting transmission shaft 312 close to the lifting fixed plate 13. The lifting fixed plate 13 is fixedly connected with a lifting protective cover 131, and the rotating gear 314 and the lifting gear 315 are located in the lifting protective cover 131. The lifting protective cover 131 protects the lifting gear 315 and the rotating gear 314, effectively reducing the possibility of foreign matter being wrapped into the lifting gear 315 or the rotating gear 314.

[0050] In addition, since the transmission stroke of the lifting transmission shaft 312 is also long, in the embodiment, a bearing with seat is arranged in the transmission stroke of the lifting transmission shaft 312, the bearing with seat is fixedly connected to the mounting plate 1, the lifting transmission shaft 312 is rotatably connected to the bearing with seat, and the bearing with seat supports the lifting transmission shaft 312, so as to ensure the transmission stability of the lifting transmission shaft 312.

[0051] Further, the lifting fixed frame 14 is fixedly connected with guide shafts 141, the two guide shafts 141 are symmetrically arranged on both sides of the lifting lead screw 313, one end of the guide shaft 141 away from the lifting fixed frame 14 is fixedly connected to the mounting plate 1, and a linear bearing is fixedly installed on the lifting movable plate 32, the guide shaft 141 is arranged in the linear bearing, and then the lifting movable plate 32 is rotatably connected. The guide shaft 141 guides the lifting of the lifting plate, and the guide shaft 141 is arranged on both sides of the lifting lead screw 313, and can also limit the lifting movable plate 32, so as to reduce the possibility of rotation of the lifting movable plate 32 in the lifting process, and effectively ensure the lifting stability of the lifting movable plate 32.

[0052] In work, the lifting motor 311 is powered to drive the lifting lead screw 313 to rotate through the lifting steering gear 33, and then drive the lifting movable plate 32 to move up and down, the claw mechanism 2 is connected with the lifting movable plate 32, and then drives the claw mechanism 2 to move up and down (i.e. the movement of the claw mechanism 2 in the Y-axis direction), and then controls the claw mechanism 2 to enter and leave the battery clamp area.

[0053] Referring to FIG. 1, FIG. 4 and FIG. 5, the jaw distance adjusting assembly 4 is a Z-axis distance adjusting unit of the overhead crane jaw manipulator, comprising a top distance adjusting plate 41, a distance adjusting motor 42, a bidirectional screw rod 43 and a distance adjusting transmission shaft 44. The bidirectional screw rod 43 is a commonly used positive-negative bidirectional screw rod 43, that is, the bidirectional screw rod 43 has two thread parts with opposite threads. The two bidirectional screw rods 43 are symmetrically arranged on the two lifting movable plates 32, and the length direction of the bidirectional screw rod 43 is parallel to the length direction of the lifting movable plate 32. One end of the bidirectional screw rod 43 is connected with a distance adjusting steering gear 45, and the distance adjusting steering gears 45 on the two bidirectional screw rods 43 are located on the same side. The two ends of the distance adjusting transmission shaft 44 are respectively connected to the distance adjusting steering gears 45 on the two sides. Two distance adjusting nuts are sleeved on the bidirectional screw rod 43, and the two distance adjusting nuts are respectively arranged on the two thread parts on the bidirectional screw rod 43. When the bidirectional screw rod 43 rotates, the two distance adjusting nuts can move towards each other or away from each other. The two top distance adjusting plates 41 are arranged between the two bidirectional screw rods 43, and the two ends of the top distance adjusting plate 41 are respectively connected to the corresponding distance adjusting nuts on the two bidirectional screw rods 43. When the distance adjusting motor 42 drives the bidirectional screw rod 43 to rotate, the mechanical energy output by the distance adjusting motor 42 is transmitted to the bidirectional screw rod 43 on the other side through the bidirectional screw rod 43, the distance adjusting steering gear 45, the distance adjusting transmission shaft 44 and the other distance adjusting steering gear 45 in sequence. The bidirectional screw rods 43 on the two sides rotate, drive the distance adjusting nuts to move towards each other or away from each other, and then drive the two top distance adjusting plates 41 to move towards each other or away from each other. The two ends of the top distance adjusting plate 41 are respectively slidably arranged on the two lifting movable plates 32. The two groups of jaw mechanisms 2 are respectively mounted on the two top distance adjusting plates 41. The two top distance adjusting plates 41 move towards each other or away from each other to adjust the distance between the two groups of jaw mechanisms 2, so that the overhead crane jaw manipulator can be suitable for soft pack power batteries with different widths.

[0054] Further, the lifting movable plate 32 is fixedly connected with a distance adjusting sliding rail 321, the distance adjusting sliding rail 321 extends along the length direction of the lifting movable plate 32. The two ends of the top distance adjusting plate 41 are fixedly connected with distance adjusting sliding blocks 323, and the distance adjusting sliding blocks 323 are slidably connected to the distance adjusting sliding rail 321. The distance adjusting nut is fixedly connected with a connecting plate 411, and the two ends of the top distance adjusting plate 41 are fixedly connected to the corresponding connecting plates 411, so as to realize the connection between the top distance adjusting plate 41 and the distance adjusting nut.

[0055] Further, in some embodiments, a photoelectric detection element for detecting the distance adjusting displacement is mounted on the outer side of the lifting movable plate 32. The photoelectric detection element can be used to detect the distance adjusting displacement of the two top distance adjusting plates 41 in real time, so as to realize accurate control of the distance adjusting.

[0056] In view of the long distance between the two lifting movable plates 32, i.e. the long transmission stroke of the variable-distance transmission shaft 44, in order to ensure the transmission reliability of the variable-distance transmission shaft 44, in some embodiments, a support seat 322 is fixedly connected to the lifting movable plate 32, and a support bearing is rotatably connected to the support seat 322, and the variable-distance transmission shaft 44 is rotatably connected to the support bearings on the two support seats 322.

[0057] In operation, the variable-distance motor 42 is powered to drive the bidirectional screw rod 43 to rotate. The bidirectional screw rod 43 is connected to the top movable plate through the connecting plate 411, and the jaw assembly 21 is installed on the top variable-distance plate 41. The two bidirectional screw rods 43 are connected through the variable-distance steering gear 45 and the variable-distance transmission shaft 44. The rotation of the bidirectional screw rod 43 can control the movement of the jaw mechanism 2 in the Z-axis direction, thereby achieving the purpose of fine adjustment of the jaw mechanism 2 in the Z-axis direction.

[0058] Referring to FIGS. 4-6, the jaw mechanism 2 is the main working mechanism of the overhead crane jaw mechanical hand, which includes a jaw assembly 21 and an opening and closing driving assembly 22. The jaw assembly 21 is the main working assembly of the jaw mechanism 2, which is used to clamp the soft-pack power battery, so as to facilitate the handling of the soft-pack power battery by the overhead crane jaw mechanical hand. The opening and closing driving assembly 22 is used to drive the opening and closing action of the jaw assembly 21. The jaw assembly 21 includes a jaw shaft 211, a first upper hinge 212 and a second upper hinge 213. The first upper hinge 212 and the second upper hinge 213 are both hinged to the bottom end of the jaw shaft 211. The first upper hinge 212 is hinged to a first lower hinge 214 at one end away from the jaw shaft 211. The second upper hinge 213 is hinged to a second lower hinge 215 at one end away from the jaw shaft 211. The middle part of the first lower hinge 214 is hinged to the middle part of the second lower hinge 215, i.e. the first lower hinge 214 and the second lower hinge 215 form a structure similar to a forceps. The lower end of the first lower hinge 214 is fixedly connected to a jaw plate 217, and the lower end of the second lower hinge 215 is also fixedly connected to a jaw plate 217. The jaw plate 217 can be made of rubber or silicone material, and anti-slip patterns can be provided on the opposite sides of the two jaw plates 217. The provision of the jaw plate 217 can increase the friction of the clamping part of the jaw assembly 21 when clamping the soft-pack power battery, effectively enhancing the reliability of clamping, and the use of flexible materials such as rubber or silicone to make the jaw plate 217 can protect the soft-pack power battery during clamping, reducing the possibility of damage to the soft-pack battery by the jaw assembly 21 during clamping.

[0059] Referring to FIGS. 4-8, the opening and closing driving assembly 22 includes an opening and closing motor 221, a movable member 222, and a fixed U-shaped plate 223. The opening and closing motor 221 is fixedly installed on the top variable pitch plate 41. A plurality of jaw assemblies 21 are arranged on the movable member 222. The movable member 222 is arranged between the top variable pitch plate 41 and the fixed U-shaped plate 223. The opening and closing motor 221 is connected with an opening and closing screw rod 224. One end of the opening and closing screw rod 224 is rotatably connected to the top variable pitch plate 41. The other end of the opening and closing screw rod 224 is rotatably connected to the fixed U-shaped plate 223. An opening and closing nut is rotatably sleeved on the opening and closing screw rod 224. The opening and closing nut is fixedly installed on the movable member 222. When the opening and closing motor 221 drives the opening and closing screw rod 224 to rotate, the opening and closing nut moves up and down on the opening and closing screw rod 224, thereby driving the movable member 222 to move up and down on the opening and closing screw rod 224. The plurality of jaw assemblies 21 are sequentially installed on the movable member 222. Specifically, one end of the jaw shaft 211 away from the first upper hinge 212 is fixedly connected to the movable member 222. The other end of the jaw shaft 211 away from the movable member 222 is slidably connected to the fixed U-shaped plate 223. The fixed U-shaped plate 223 has a U-shaped structure. An installation space of the jaw assembly 21 is formed in the U-shaped opening of the fixed U-shaped plate 223. The middle portions of the first lower hinge 214 and the second lower hinge 215 are connected with a hinge shaft 216. The first lower hinge 214 and the second lower hinge 215 are hingedly connected through the hinge shaft 216. The two ends of the hinge shaft 216 are connected to the opposite sides of the opening of the fixed U-shaped plate 223. A compression spring 218 is sleeved on the jaw shaft 211. A locking nut 2111 is fixedly connected to one end of the jaw shaft 211 close to the movable member 222. One end of the compression spring 218 abuts against the locking nut 2111. The other end of the compression spring 218 abuts against the fixed U-shaped plate 223. In the initial state, the fixed U-shaped plate 223 and the jaw shaft 211 are subjected to the elastic force of the compression spring 218. The compression spring 218 pushes the jaw shaft 211 to move away from the fixed U-shaped plate 223 in the upward direction. Since the hinge shaft 216 is connected to the fixed U-shaped plate 223, the jaw assembly 21 is in a closed clamping state. In actual installation, the compression spring 218 with a large elastic coefficient can be selected, so that the jaw assembly 21 has a large clamping force, and the clamping force will not be unstable. When the opening and closing motor 221 drives the opening and closing screw rod 224 to rotate and drives the movable member 222 to move downward, the jaw shaft 211 slides downward on the fixed U-shaped plate 223. The compression spring 218 is in an elastic compression state. At this time, the first upper hinge 212 and the second upper hinge 213 rotate in the direction away from each other on the jaw shaft 211. The first lower jaw and the second lower jaw are driven to rotate around the hinge shaft 216, so that the jaw assembly 21 is in an open state.

[0060] In some embodiments, the movable piece 222 is provided with a position detection assembly for detecting the position of the lifting action of the lifting mechanism 3 to ensure that the lifting action of the lifting mechanism 3 is in place. The fixed U-shaped plate 223 is symmetrically provided with a positioning shaft 225, one end of the positioning shaft 225 away from the fixed U-shaped plate 223 is fixedly connected to the top variable pitch plate 41, and the positioning shaft 225 is slidingly connected with the movable piece 222. The positioning shaft 225 is used to position the fixed U-shaped plate 223 and guide the lifting movement of the movable piece 222. The fixed U-shaped plate 223 is also provided with a limiting piece 226, which is arranged on the side of the fixed U-shaped plate 223 facing the movable piece 222. The limiting piece 226 is used to hard-limit the movement of the movable piece 222 to reduce the possibility of the movable piece 222 descending too low.

[0061] The opening and closing motor 221 is fixedly connected with an opening and closing gear 2211, the top variable pitch plate 41 is provided with a bearing seat 412, the bearing seat 412 is provided with a rotating bearing 413, the opening and closing lead screw 224 is rotatably connected with the top variable pitch plate 41 through the rotating bearing 413, and the opening and closing lead screw 224 is fixedly sleeved with a lead screw gear 2241 at the top, and the lead screw gear 2241 is engaged with the opening and closing gear 2211. The opening and closing motor 221 drives the opening and closing gear 2211 to rotate the lead screw gear 2241, thereby driving the opening and closing lead screw 224 to rotate.

[0062] In operation, the opening and closing motor 221 is powered, and the opening and closing lead screw 224 is driven to rotate through the cooperation of the opening and closing gear 2211 and the lead screw gear 2241, thereby driving the movable piece 222 to lift and the fixed U-shaped plate 223 to be fixed, and the compression spring 218 on the clamping jaw shaft 211 is stressed (not stressed) to control the opening (closing) of the clamping jaw assembly 21, so as to achieve the effect of releasing (clamping) the soft-pack power battery by the clamping jaw assembly 21.

[0063] Referring to FIG. 1 and FIG. 9, the crown gripper manipulator further comprises a PCB docking mechanism 6 arranged on both sides of the crown gripper manipulator, which is used to dock the battery clamp (not shown in the figure) to realize one-key type conversion of the battery cell in the clamp, so as to clamp the battery in the battery clamp by the crown gripper manipulator. The PCB docking mechanism 6 comprises a linear module 61, a rotary motor 62, a laser ranging element 64 and a restraint head 63, wherein the linear module 61 is used to drive the rotary motor 62 to ascend or descend on the mounting plate 1 in the direction of approaching or moving away from the mounting plate 1, and in the embodiment, the linear module 61 is a linear slide structure which is fixedly installed on one side of the lifting fixed frame 14, the rotary motor 62 is installed on the slide block of the linear slide structure, and under the drive of the linear slide structure, the rotary motor 62 can move in the direction of approaching or moving away from the mounting plate 1 (i.e. moving away from or approaching the battery clamp). The restraint head 63 is fixedly installed on the output shaft of the rotary motor 62, and the rotary motor 62 can drive the restraint head 63 to rotate to clamp the battery clamp, so as to realize the docking with the battery clamp.

[0064] The above is a specific description of the preferred embodiment of the utility model, but the utility model creation is not limited to the described embodiment, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the utility model, and these equivalent modifications or replacements are all included in the range defined by the claims of the present application.

Claims

1. A crown block gripper robot, characterized by: The device comprises a mounting plate, at least two sets of clamping jaw mechanisms, a lifting mechanism and a clamping jaw distance adjusting assembly, the lifting mechanism is connected with the clamping jaw distance adjusting assembly, the clamping jaw distance adjusting assembly is connected with the clamping jaw mechanisms, the lifting mechanism is used to drive the clamping jaw distance adjusting assembly and the clamping jaw mechanisms to move up and down, the clamping jaw distance adjusting assembly is used to adjust the distance between the clamping jaw mechanisms, and the clamping jaw mechanisms are used to clamp soft-pack power batteries. A walking assembly is used to drive the trolley clamping jaw manipulator to move.

2. The overhead line clamp mechanical hand according to claim 1, characterized in that: The walking assembly comprises a walking motor, a walking transmission shaft and walking gears, the walking motor is fixedly arranged on the mounting plate, an output shaft of the walking motor is fixedly connected with a driving gear, a driving gear engaged with the driving gear is arranged on the walking transmission shaft, walking steering gears are connected to both ends of the walking transmission shaft, and the walking gears are connected to output ends of the walking steering gears.

3. The overhead line clamp mechanical hand according to claim 1, characterized in that: The lifting mechanism comprises lifting assemblies and lifting movable plates, the two lifting movable plates are symmetrically arranged below the mounting plate, the clamping jaw distance adjusting assembly and the clamping jaw mechanisms are connected to the lifting movable plates, and the lifting assemblies are arranged on the mounting plate and used to drive the lifting movable plates to move close to or away from the mounting plate in the vertical direction.

4. The overhead line clamp mechanical hand according to claim 3, characterized in that: The lifting assembly comprises a lifting motor, a lifting transmission shaft and lifting lead screws, the lifting motor is fixedly arranged on the mounting plate, an output shaft of the lifting motor is fixedly connected with a rotating gear, a lifting gear engaged with the rotating gear is arranged on the lifting transmission shaft, lifting steering gears are connected to both ends of the lifting transmission shaft, the two lifting lead screws are respectively connected to the lifting steering gears at both ends, two lifting fixing frames are symmetrically fixed to a side of the mounting plate facing the lifting movable plates, one end of each lifting lead screw away from the lifting steering gear is rotatably connected to the corresponding lifting fixing frame, a lead screw nut is rotatably connected to the lifting lead screw, and the lead screw nut is fixedly connected to the lifting movable plate. A guide shaft is fixedly connected to the lifting fixing frame, one end of the guide shaft away from the lifting fixing frame is fixedly connected to the mounting plate, and a linear bearing is fixedly connected to the lifting movable plate, and the guide shaft penetrates through the linear bearing.

5. The overhead line clamp mechanical hand according to claim 3, characterized in that: The clamping jaw distance adjusting assembly comprises top distance adjusting plates, a distance adjusting motor, bidirectional lead screws and a distance adjusting transmission shaft, the two bidirectional lead screws are symmetrically arranged on the lifting movable plates at both sides, one end of each bidirectional lead screw is connected with a distance adjusting steering gear, an output shaft of the distance adjusting motor is connected to one end of the bidirectional lead screw away from the distance adjusting steering gear at one side, the distance adjusting transmission shaft is connected to the distance adjusting steering gears at both sides, two distance adjusting nuts capable of moving close to or away from each other are arranged on the bidirectional lead screws, the two top distance adjusting plates are arranged between the two bidirectional lead screws, and two ends of each top distance adjusting plate are respectively connected to the distance adjusting nuts on the bidirectional lead screws at both sides, and the distance adjusting motor drives the two top distance adjusting plates to slide on the lifting movable plates in the direction of moving close to or away from each other.

6. The overhead line clamp mechanical hand according to claim 5, characterized in that: The lifting movable plate is fixedly connected with a variable-pitch slide rail extending along the length direction of the lifting movable plate, and the top variable-pitch plate is fixedly connected with a variable-pitch slide block at both ends, which is slidably connected to the variable-pitch slide rail. A connecting plate is fixedly connected to the variable-pitch nut, and the top variable-pitch plate is fixedly connected to the connecting plate.

7. The overhead line clamp mechanical hand according to claim 6, characterized in that: The clamping jaw mechanism comprises an opening and closing driving assembly and a clamping jaw assembly. A plurality of clamping jaw assemblies are arranged on the top variable-pitch plate. The clamping jaw assembly comprises a clamping jaw shaft, a first upper hinge and a second upper hinge hingedly connected to the bottom end of the clamping jaw shaft. The first upper hinge is hingedly connected with a first lower hinge at one end away from the clamping jaw shaft, and the second upper hinge is hingedly connected with a second lower hinge at one end away from the clamping jaw shaft. The middle part of the first lower hinge is hingedly connected with the middle part of the second lower hinge. The lower ends of the first lower hinge and the second lower hinge are fixedly connected with clamping jaw plates. The opening and closing driving assembly is used to drive the opening and closing action of the clamping jaw assembly.

8. The overhead line clamp mechanical hand according to claim 7, characterized in that: The opening and closing driving assembly comprises an opening and closing motor, a movable member and a fixed U-shaped plate. The opening and closing motor is fixedly arranged on the top variable-pitch plate. A plurality of clamping jaw assemblies are arranged on the movable member. The opening and closing motor is connected with an opening and closing screw rod. One end of the opening and closing screw rod is rotatably connected to the top variable-pitch plate, and the other end is rotatably connected to the fixed U-shaped plate. An opening and closing nut is rotatably connected to the opening and closing screw rod. The opening and closing nut is fixedly arranged on the movable member. One end of the clamping jaw shaft is fixedly connected to the movable member, and the other end is slidably connected to the fixed U-shaped plate. The middle part of the first lower hinge and the middle part of the second lower hinge are provided with a hinge shaft. The hinge shaft is connected to the fixed U-shaped plate at both ends. A compression spring is sleeved on the clamping jaw shaft. A locking nut is fixedly connected to one end of the clamping jaw shaft close to the movable member. One end of the compression spring abuts against the locking nut, and the other end abuts against the fixed U-shaped plate.

9. The overhead line clamp mechanical hand according to claim 8, characterized in that: The output shaft of the opening and closing motor is fixedly connected with an opening and closing gear. A bearing seat is arranged on the top variable-pitch plate. A rotating bearing is arranged in the bearing seat. The opening and closing screw rod is rotatably connected to the top variable-pitch plate through the rotating bearing. A screw rod gear meshing with the opening and closing gear is fixedly sleeved on the top end of the opening and closing screw rod.

10. The overhead line clamp mechanical hand according to claim 1, characterized in that: The PCB docking mechanism arranged on both sides of the crown clamping jaw manipulator comprises a rotary motor, a laser ranging device, a restraint head and a linear module. The rotary motor is arranged on the linear module and can move close to or away from the mounting plate in the vertical direction. The restraint head is fixedly connected to the output shaft of the rotary motor. The laser ranging device is used to detect the distance between the restraint head and the battery clamp.

Images