CN108340361B - Polymer lithium ion battery manipulator - Google Patents
Polymer lithium ion battery manipulator Download PDFInfo
- Publication number
- CN108340361B CN108340361B CN201810235882.8A CN201810235882A CN108340361B CN 108340361 B CN108340361 B CN 108340361B CN 201810235882 A CN201810235882 A CN 201810235882A CN 108340361 B CN108340361 B CN 108340361B
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- Prior art keywords
- plate
- sliding
- bearing
- clamping
- pushing
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 title claims description 15
- 229910001416 lithium ion Inorganic materials 0.000 title claims description 15
- 229920000642 polymer Polymers 0.000 title claims description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 24
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 19
- 229910052782 aluminium Inorganic materials 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000007731 hot pressing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The mechanical arm comprises a frame, a transverse driving mechanism, a bearing bracket, a longitudinal moving mechanism, a longitudinal driving mechanism and a clamping mechanism, wherein the bearing bracket is horizontally and slidably arranged on the frame, and the transverse driving mechanism is arranged on the bearing bracket and drives the bearing bracket to horizontally move; the longitudinal moving mechanism is vertically and slidably arranged on the bearing bracket, and the longitudinal driving mechanism is arranged on the bearing bracket and drives the longitudinal moving mechanism to vertically move; the clamping mechanism is mounted on the longitudinal driving mechanism. The beneficial effects of the invention are as follows: the forty-eight batteries can be carried to different working procedures at one time under a high-temperature environment, so that the manual carrying is replaced, the production efficiency is improved, the battery quality is optimized, and the production automation is facilitated.
Description
Technical Field
The invention relates to a polymer lithium ion battery manipulator.
Background
In the production process of battery production, the steps of feeding, high-temperature hot-pressing formation, cold pressing, discharging and the like are needed, the battery is carried out in a high-temperature environment, the environment temperature is high, great inconvenience is brought to manual carrying operation, and in addition, the battery body is directly contacted by the manual work when the battery is carried, so that the reject ratio of the battery is high. And uncertainty caused by human factors is difficult to effectively control. Automated equipment is the best direction of improvement for such labor intensive and where the environment is complex. The device is a polymer lithium ion battery manipulator specially developed for the work.
Disclosure of Invention
The invention aims to develop a set of high-efficiency automatic integrated equipment, aims to solve the technical problems of the prior art, provides a polymer lithium ion battery manipulator, and can realize the purpose of carrying forty-eight batteries to different working procedures at one time in a high-temperature environment, thereby replacing manual carrying, improving the production efficiency, optimizing the battery quality and being beneficial to production automation.
The invention relates to a polymer lithium ion battery manipulator, which is characterized in that: the device comprises a frame, a transverse driving mechanism, a bearing bracket, a longitudinal moving mechanism, a longitudinal driving mechanism and a clamping mechanism, wherein the bearing bracket is horizontally and slidably arranged on the frame, and the transverse driving mechanism is arranged on the bearing bracket and drives the bearing bracket to horizontally move; the longitudinal moving mechanism is vertically and slidably arranged on the bearing bracket, and the longitudinal driving mechanism is arranged on the bearing bracket and drives the longitudinal moving mechanism to vertically move; the clamping mechanism is arranged on the longitudinal driving mechanism;
at least one section bar is horizontally paved on the upper part of the frame, a first sliding rail and a rack which can be used for the bearing bracket to horizontally slide are fixedly arranged on each section bar, and the first sliding rail and the rack are arranged in parallel;
the transverse driving mechanism comprises a first motor, a first speed reducer, a first driving synchronizing wheel, a first driven synchronizing wheel, a horizontal shaft and a gear, wherein the first motor and the first speed reducer are fixedly arranged on a bearing bracket, an output shaft of the first motor is connected with an input shaft of the first speed reducer, the first driving synchronizing wheel is fixedly arranged at the output end of the first speed reducer, and the first driving synchronizing wheel is connected with the first driven synchronizing wheel belt fixedly arranged on the horizontal shaft through a first synchronizing belt to realize synchronous rotation of the first driving synchronizing wheel and the first driven synchronizing wheel; the shaft end of the horizontal shaft is fixedly provided with a gear which is used for being meshed with the rack; the first motor drives the gear to rotate so as to drive the bearing bracket to move transversely, so that the bearing bracket is driven by the first motor to slide transversely and position accurately;
the bearing support is provided with a mounting platform for mounting the longitudinal driving mechanism and the longitudinal moving mechanism, a first sliding block which can be in sliding fit with the first sliding rail is fixedly mounted at the end part of the bearing support, the bearing support is horizontally and slidably connected with the first sliding rail through the first sliding block, and the bearing support is driven by a first motor to linearly reciprocate along the axial direction of the rack;
the longitudinal moving mechanism comprises a supporting frame and a fixed plate, the fixed plate is horizontally and fixedly arranged on an installation platform of the bearing bracket, and the supporting frame is vertically and slidably connected with the fixed plate, so that the supporting frame longitudinally ascends and descends along the frame under the drive of the longitudinal driving mechanism;
the longitudinal driving mechanism comprises a second motor, a second speed reducer, a second driving synchronous wheel, a second driven synchronous wheel and a screw rod, wherein the second motor and the second speed reducer are fixedly arranged on the bearing bracket, an output shaft of the second motor is connected with an input shaft of the second speed reducer, the second driving synchronous wheel is fixedly arranged at an output end of the second speed reducer, and the second driving synchronous wheel is connected with a second driven synchronous wheel belt arranged on the supporting frame through a second synchronous belt; the screw rod is vertically and fixedly arranged on a supporting frame of the longitudinal moving mechanism and is in threaded connection with a second driven synchronous wheel sleeved outside the screw rod, so that the screw rod is driven by a second motor to vertically lift along the axial direction of the screw rod; the second motor drives the second driven synchronous wheel to rotate so as to drive the longitudinal moving mechanism to longitudinally move, so that the longitudinal sliding positioning of the longitudinal moving mechanism under the drive of the second motor is accurate;
the clamping mechanism comprises at least one bearing plate, at least one pushing unit and a plurality of clamping plates, wherein the bearing plates are arranged at the bottom of the supporting frame, and each bearing plate is correspondingly provided with one pushing unit; the pushing unit comprises a first pushing unit and a second pushing unit, the first pushing unit and the second pushing unit are respectively arranged on two sides of the bearing plate, the clamping plates are equally divided into two groups and are respectively arranged on the lower parts of the first pushing unit and the second pushing unit, the first group of clamping plates are fixedly arranged along the axial direction of the first pushing unit, the second group of clamping plates are horizontally and slidably connected with the second pushing unit, and the clamping plates on the first pushing unit and the clamping plates on the corresponding positions of the second pushing unit form a pair of clamping jaws for clamping the battery; the clamping jaw formed by the two groups of clamping plates is driven by the pushing part of the first pushing unit and the pushing part of the second pushing unit to slide and open or close.
The first pushing unit comprises a first clamping plate mounting plate and two sets of first telescopic devices, the end parts of the first clamping plate mounting plate are fixedly connected with the bearing plate, the first clamping plate mounting plate is axially provided with a first set of clamping plates, and the end surfaces of the two adjacent clamping plates are opposite and are arranged in parallel; the two ends of the bearing plate are respectively provided with a set of first telescopic device, the first telescopic device comprises a first air cylinder, a second sliding block and a second sliding rail, the first air cylinder is fixedly arranged at the end of the bearing plate, and a telescopic rod of the first air cylinder can extend and retract along the horizontal axis direction of the bearing plate; the telescopic rod end of the first cylinder is fixedly provided with a second sliding block serving as a pushing part, the second sliding block is arranged at the end of the clamping plate mounting plate, the two second sliding blocks are clamped outside the first group of clamping plates, and the second sliding block is in sliding fit with a second sliding rail arranged along the horizontal axial direction of the bearing plate, so that the clamping plate mounting plate can axially slide along the second sliding rail under the driving of the first cylinder.
The second pushing unit comprises two sets of second telescopic devices, a clamping plate pushing shaft, a third sliding rail and a plurality of sliding assemblies, wherein one set of second telescopic devices are respectively arranged at the two ends of the bearing plate, each second telescopic device comprises a second air cylinder and a sliding frame, the second air cylinders are fixedly arranged at the ends of the bearing plate, and the telescopic rods of the second air cylinders can extend and retract along the horizontal shafts of the bearing plate; the end part of the telescopic rod of the second air cylinder is fixedly arranged as a sliding frame of the pushing part, and the sliding frame is horizontally and slidably connected with the end part of the bearing plate; the two ends of the clip plate pushing shaft are erected on the sliding frames on the same side; the sliding components are in one-to-one correspondence with the clamping plates of the second group, and each sliding component is provided with one clamping plate; the sliding component is sleeved on the clip plate pushing shaft and is in clearance fit with the clip plate pushing shaft, so that the sliding component axially slides along the clip plate pushing shaft; each sliding component is in sliding connection with a third sliding rail arranged on the bearing plate.
The sliding assembly comprises a second clip mounting plate, a third sliding block and a spring, wherein a through hole for a clip plate pushing shaft to pass through is formed in the second clip mounting plate, and the spring and the second clip mounting plate are alternately sleeved on the clip plate pushing shaft; and each second clip mounting plate is fixedly provided with a third sliding block which is in sliding connection with a third sliding rail horizontally arranged on the bearing plate.
The support frame comprises an upper aluminum plate, a lower aluminum plate, sliding rods and linear bearings, wherein the upper aluminum plate and the lower aluminum plate are fixedly connected in parallel through a plurality of sliding rods, and the linear bearings are fixedly arranged on the fixed plate and keep the central axis of the linear bearings vertical; the sliding rod penetrates through the center through hole of the linear bearing and is in sliding fit with the linear bearing; the two ends of the screw rod are fixedly arranged between the upper aluminum plate and the lower aluminum plate.
Two parallel sectional materials are horizontally paved on the upper part of the frame, and a first sliding rail and a rack are correspondingly installed on each sectional material.
The clamping plates are equally divided into two groups of 24 clamping plates, and the clamping plates in each group are equidistantly arranged.
The manipulator further comprises a controller, wherein the controller comprises a signal collector, a data transmitter, a data processor and a man-machine interaction interface, a signal input end of the signal collector is electrically connected with a signal output end of the man-machine interaction interface, a signal output end of the signal collector is electrically connected with a signal input end of the data transmitter, a signal output end of the data transmitter is electrically connected with a signal input end of the data processor, and a signal output end of the data processor is respectively connected with a control end of the first motor, a control end of the second motor, a control end of the first cylinder and a control end of the second cylinder.
The beneficial effects of the invention are as follows: the battery is clamped by the clamping jaw formed by the clamping plates, the transverse driving mechanism drives the bearing support to transversely move, and the longitudinal driving mechanism drives the longitudinal moving mechanism to longitudinally move, so that the battery can conveniently move to the target position. According to the invention, the manipulator for carrying the polymer lithium ion battery replaces manual carrying, improves the production efficiency, optimizes the quality of the battery, and is beneficial to production automation.
Drawings
Fig. 1 is a structural diagram of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is an enlarged view at a of fig. 3.
Fig. 5 is a side view of the present invention.
Fig. 6 is a schematic view of a clamping mechanism according to the present invention.
FIG. 7 is a second schematic view of the clamping mechanism of the present invention.
Fig. 8 is a front view of the clamping mechanism of the present invention.
Fig. 9 is a rear view of the clamping mechanism of the present invention.
Fig. 10 is a left side view of the clamping mechanism of the present invention.
Fig. 11 is a top view of the clamping mechanism of the present invention.
Fig. 12 is an enlarged view at a in fig. 7.
Detailed Description
The invention will be further described with reference to the accompanying drawings
Referring to the drawings:
embodiment 1 a polymer lithium ion battery manipulator according to the present invention comprises a frame 1, a transverse driving mechanism 2, a bearing bracket 3, a longitudinal moving mechanism 4, a longitudinal driving mechanism 5 and a clamping mechanism 6, wherein the bearing bracket 3 is horizontally slidably mounted on the frame 1, and the transverse driving mechanism 2 is mounted on the bearing bracket 3 and drives the bearing bracket 3 to horizontally move; the longitudinal moving mechanism 4 is vertically and slidably arranged on the bearing bracket 3, and the longitudinal driving mechanism 5 is arranged on the bearing bracket 3 and drives the longitudinal moving mechanism 4 to vertically move; the clamping mechanism 6 is arranged on the longitudinal driving mechanism 5;
the upper part of the frame 1 is horizontally paved with a section bar 11, a first sliding rail 12 and a rack 13 which can be used for the bearing bracket 3 to horizontally slide are fixedly arranged on the section bar 11, and the first sliding rail 12 and the rack 13 are arranged in parallel;
the transverse driving mechanism 2 comprises a first motor 21, a first speed reducer 22, a first driving synchronizing wheel 23, a first driven synchronizing wheel 24, a horizontal shaft 25 and a gear 26, wherein the first motor 21 and the first speed reducer 22 are fixedly arranged on the bearing bracket 3, an output shaft of the first motor 21 is connected with an input shaft of the first speed reducer 22, the first driving synchronizing wheel 23 is fixedly arranged at an output end of the first speed reducer 22, and the first driving synchronizing wheel 23 is connected with the first driven synchronizing wheel 24 fixedly arranged on the horizontal shaft 25 through a first synchronous belt 27 in a belt manner, so that synchronous rotation of the first driving synchronizing wheel 23 and the first driven synchronizing wheel 24 is realized; the shaft end of the horizontal shaft 25 is fixedly provided with a gear 26 for meshing with a rack; the first motor 21 drives the gear 26 to rotate so as to drive the bearing bracket 3 to transversely move;
the bearing bracket 3 is provided with a mounting platform for mounting a longitudinal driving mechanism and a longitudinal moving mechanism, a first sliding block 31 which can be in sliding fit with the first sliding rail 12 is fixedly mounted at the end part of the bearing bracket 3, the bearing bracket 3 is horizontally and slidably connected with the first sliding rail 12 through the first sliding block 31, and the bearing bracket 3 is driven by the first motor 3 to linearly reciprocate along the axial direction of the rack, so that the positioning is accurate;
the longitudinal moving mechanism 4 comprises a supporting frame 41 and a fixed plate 42, the fixed plate 42 is horizontally and fixedly arranged on the mounting platform of the bearing bracket 3, and the supporting frame 41 is vertically and slidably connected with the fixed plate 42, so that the supporting frame 41 is driven by the longitudinal driving mechanism 5 to longitudinally lift along the frame 1;
the longitudinal driving mechanism 5 comprises a second motor 51, a second speed reducer 52, a second driving synchronous wheel 53, a second driven synchronous wheel 54 and a screw rod 55, wherein the second motor 51 and the second speed reducer 52 are fixedly arranged on the bearing bracket 3, an output shaft of the second motor 51 is connected with an input shaft of the second speed reducer 52, the second driving synchronous wheel 53 is fixedly arranged at an output end of the second speed reducer 52, and the second driving synchronous wheel 54 is in belt connection with the second driven synchronous wheel 54 arranged on the supporting frame 41 through a second synchronous belt 56; the screw rod 55 is vertically and fixedly arranged on the supporting frame 41 of the longitudinal moving mechanism and is in threaded connection with a second driven synchronous wheel 54 sleeved outside the screw rod, so that the screw rod 55 is driven by a second motor 51 to vertically lift along the axial direction of the screw rod; the second motor 51 drives the second driven synchronous wheel 54 to rotate so as to drive the longitudinal moving mechanism 4 to longitudinally move, so that the longitudinal sliding positioning of the longitudinal moving mechanism 4 under the drive of the second motor 51 is accurate;
the clamping mechanism 6 comprises at least one bearing plate 61, at least one pushing unit 62 and a plurality of clamping plates 63, wherein the bearing plate 61 is arranged at the bottom of the support frame 3, and each bearing plate 61 is correspondingly provided with one pushing unit 62; the pushing unit 62 includes a first pushing unit 621 and a second pushing unit 622, the first pushing unit 621 and the second pushing unit 622 are respectively mounted on two sides of the bearing plate 61, the clip plates 63 are equally divided into two groups and are respectively mounted on the lower parts of the first pushing unit 621 and the second pushing unit 622, wherein the first group of clip plates are fixedly mounted along the axial direction of the first pushing unit 621, the second group of clip plates are horizontally and slidably connected with the second pushing unit 622, and the clip plates 63 on the first pushing unit 621 and the clip plates on the positions corresponding to the second pushing unit 622 form a pair of clamping jaws for clamping the battery; the clamping jaw formed by the two groups of clamping plates is driven by the pushing part of the first pushing unit 621 and the pushing part of the second pushing unit 622 to slide and open or close.
The manipulator further comprises a controller, wherein the controller comprises a signal collector, a data transmitter, a data processor and a man-machine interaction interface, a signal input end of the signal collector is electrically connected with a signal output end of the man-machine interaction interface, a signal output end of the signal collector is electrically connected with a signal input end of the data transmitter, a signal output end of the data transmitter is electrically connected with a signal input end of the data processor, and a signal output end of the data processor is respectively connected with a control end of the first motor, a control end of the second motor, a control end of the first cylinder and a control end of the second cylinder.
The first pushing unit 621 includes a first clip plate mounting plate 6211 and two sets of first telescopic devices, the end portion of the first clip plate mounting plate 6211 is fixedly connected with the carrier plate 61, the first clip plate mounting plate 6211 is provided with a first set of clip plates along the axial direction thereof, and the end faces of two adjacent clip plates are opposite and arranged in parallel; the two ends of the bearing plate 61 are respectively provided with a set of first telescopic devices, the first telescopic devices comprise a first air cylinder 6212, a second sliding block 6213 and a second sliding rail 6214, the first air cylinder 6212 is fixedly arranged at the end of the bearing plate 61, and a telescopic rod of the first air cylinder 6212 can be telescopic along the horizontal axis direction of the bearing plate 3; the end of the telescopic rod of the first cylinder 6212 is fixedly provided with a second sliding block 6213 serving as a pushing part, the second sliding block 6213 is arranged at the end of the clamping plate mounting plate, the two second sliding blocks 6213 are clamped outside the first group of clamping plates, and the second sliding block 6213 is in sliding fit with a second sliding rail 6214 arranged along the horizontal axial direction of the bearing plate 3, so that the clamping plate mounting plate 6211 is driven by the first cylinder 6212 to axially slide along the second sliding rail 6214.
The second pushing unit 622 includes two sets of second telescopic devices, a clip plate pushing shaft 6221, a third sliding rail 6222 and a plurality of sliding assemblies, wherein the two ends of the carrier plate 3 are respectively provided with one set of second telescopic devices, the second telescopic devices include a second air cylinder 6223 and a sliding frame 6224, the second air cylinder 6223 is fixedly mounted at the end of the carrier plate 3, and the telescopic rod of the second air cylinder 6223 can extend and retract along the horizontal shaft of the carrier plate 3; a sliding frame 6224 serving as a pushing part is fixedly arranged at the end part of the telescopic rod of the second air cylinder 6223, and the sliding frame 6224 is horizontally and slidably connected with the end part of the bearing plate 3; the two ends of the clip plate pushing shaft 6221 are arranged on the sliding frames 6224 on the same side; the sliding components are in one-to-one correspondence with the clamping plates of the second group, and each sliding component is provided with one clamping plate; the sliding component is sleeved on the clip plate pushing shaft and is in clearance fit with the clip plate pushing shaft, so that the sliding component axially slides along the clip plate pushing shaft; each sliding component is in sliding connection with a third sliding rail arranged on the bearing plate, and the second cylinder drives the clip plate to push the shaft to slide horizontally by controlling the horizontal sliding of the sliding frame so as to drive the clip plate to slide; under the elastic compression action of the springs, each clamp is independently controlled, the clamp is not influenced by other clamp states, the clamping force of the clamps is ensured, the clamping is reliable, and therefore the safety of operation is improved.
The slide assembly includes a second clip mounting plate 6225, a third slider 6226 and a spring 6227, the second clip mounting plate 6225 being provided with a through hole for the clip plate pushing shaft to pass through, and the spring 6227 being alternately sleeved on the clip plate pushing shaft with the second clip mounting plate 6225; a third slide 6226 is fixedly mounted on each second clip mounting plate 6225, the third slide 6226 being slidably coupled to a third slide 6222 horizontally disposed on the carrier plate.
The support frame 41 comprises an upper aluminum plate 411, a lower aluminum plate 412, sliding rods 413 and linear bearings 414, wherein the upper aluminum plate 411 and the lower aluminum plate 412 are fixedly connected in parallel through a plurality of sliding rods 413, and the linear bearings 414 are fixedly arranged on the fixed plate 42 and keep the central axis of the linear bearings 414 vertical; the sliding rod 413 penetrates through the center through hole of the linear bearing and is in sliding fit with the linear bearing 414; the two ends of the screw rod are fixedly arranged between the upper aluminum plate 411 and the lower aluminum plate 412, and the bearing plate 3 is fixedly connected with the lower aluminum plate 412 and keeps the two end faces of the bearing plate vertical.
Two parallel sectional materials 11 are horizontally paved on the upper part of the frame 1, and each sectional material 11 is correspondingly provided with a first sliding rail 12 and a rack 13.
The clamping plates are equally divided into two groups of 24 clamping plates, and the clamping plates in each group are equidistantly arranged.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but also equivalent technical means that can be conceived by those skilled in the art according to the inventive concept.
Claims (7)
1. A polymer lithium ion battery manipulator is characterized in that: the device comprises a frame, a transverse driving mechanism, a bearing bracket, a longitudinal moving mechanism, a longitudinal driving mechanism and a clamping mechanism, wherein the bearing bracket is horizontally and slidably arranged on the frame, and the transverse driving mechanism is arranged on the bearing bracket and drives the bearing bracket to horizontally move; the longitudinal moving mechanism is vertically and slidably arranged on the bearing bracket, and the longitudinal driving mechanism is arranged on the bearing bracket and drives the longitudinal moving mechanism to vertically move; the clamping mechanism is arranged on the longitudinal driving mechanism;
at least one section bar is horizontally paved on the upper part of the frame, a first sliding rail and a rack which can be used for the bearing bracket to horizontally slide are fixedly arranged on each section bar, and the first sliding rail and the rack are arranged in parallel;
the transverse driving mechanism comprises a first motor, a first speed reducer, a first driving synchronizing wheel, a first driven synchronizing wheel, a horizontal shaft and a gear, wherein the first motor and the first speed reducer are fixedly arranged on a bearing bracket, an output shaft of the first motor is connected with an input shaft of the first speed reducer, the first driving synchronizing wheel is fixedly arranged at the output end of the first speed reducer, and the first driving synchronizing wheel is connected with the first driven synchronizing wheel belt fixedly arranged on the horizontal shaft through a first synchronizing belt to realize synchronous rotation of the first driving synchronizing wheel and the first driven synchronizing wheel; the shaft end of the horizontal shaft is fixedly provided with a gear which is used for being meshed with the rack;
the bearing support is provided with a mounting platform for mounting the longitudinal driving mechanism and the longitudinal moving mechanism, a first sliding block which can be in sliding fit with the first sliding rail is fixedly mounted at the end part of the bearing support, the bearing support is horizontally and slidably connected with the first sliding rail through the first sliding block, and the bearing support is driven by a first motor to linearly reciprocate along the axial direction of the rack;
the longitudinal moving mechanism comprises a supporting frame and a fixed plate, the fixed plate is horizontally and fixedly arranged on an installation platform of the bearing bracket, and the supporting frame is vertically and slidably connected with the fixed plate, so that the supporting frame longitudinally ascends and descends along the frame under the drive of the longitudinal driving mechanism;
the longitudinal driving mechanism comprises a second motor, a second speed reducer, a second driving synchronous wheel, a second driven synchronous wheel and a screw rod, wherein the second motor and the second speed reducer are fixedly arranged on the bearing bracket, an output shaft of the second motor is connected with an input shaft of the second speed reducer, the second driving synchronous wheel is fixedly arranged at an output end of the second speed reducer, and the second driving synchronous wheel is connected with a second driven synchronous wheel belt arranged on the supporting frame through a second synchronous belt; the screw rod is vertically and fixedly arranged on a supporting frame of the longitudinal moving mechanism and is in threaded connection with a second driven synchronous wheel sleeved outside the screw rod, so that the screw rod is driven by a second motor to vertically lift along the axial direction of the screw rod;
the clamping mechanism comprises at least one bearing plate, at least one pushing unit and a plurality of clamping plates, wherein the bearing plates are arranged at the bottom of the supporting frame, and each bearing plate is correspondingly provided with one pushing unit; the pushing unit comprises a first pushing unit and a second pushing unit, the first pushing unit and the second pushing unit are respectively arranged on two sides of the bearing plate, the clamping plates are equally divided into two groups and are respectively arranged on the lower parts of the first pushing unit and the second pushing unit, the first group of clamping plates are fixedly arranged along the axial direction of the first pushing unit, the second group of clamping plates are horizontally and slidably connected with the second pushing unit, and the clamping plates on the first pushing unit and the clamping plates on the corresponding positions of the second pushing unit form a pair of clamping jaws for clamping the battery; the clamping jaw formed by the two groups of clamping plates is driven by the pushing part of the first pushing unit and the pushing part of the second pushing unit to slide and open or close.
2. The polymer lithium ion battery manipulator of claim 1, wherein: the first pushing unit comprises a first clamping plate mounting plate and two sets of first telescopic devices, the end parts of the first clamping plate mounting plate are fixedly connected with the bearing plate, the first clamping plate mounting plate is axially provided with a first set of clamping plates, and the end surfaces of the two adjacent clamping plates are opposite and are arranged in parallel; the two ends of the bearing plate are respectively provided with a set of first telescopic device, the first telescopic device comprises a first air cylinder, a second sliding block and a second sliding rail, the first air cylinder is fixedly arranged at the end of the bearing plate, and a telescopic rod of the first air cylinder can extend and retract along the horizontal axis direction of the bearing plate; the telescopic rod end of the first cylinder is fixedly provided with a second sliding block serving as a pushing part, the second sliding block is arranged at the end of the clamping plate mounting plate, the two second sliding blocks are clamped outside the first group of clamping plates, and the second sliding block is in sliding fit with a second sliding rail arranged along the horizontal axial direction of the bearing plate, so that the clamping plate mounting plate can axially slide along the second sliding rail under the driving of the first cylinder.
3. The polymer lithium ion battery manipulator of claim 1, wherein: the second pushing unit comprises two sets of second telescopic devices, a clamping plate pushing shaft, a third sliding rail and a plurality of sliding assemblies, wherein one set of second telescopic devices are respectively arranged at the two ends of the bearing plate, each second telescopic device comprises a second air cylinder and a sliding frame, the second air cylinders are fixedly arranged at the ends of the bearing plate, and the telescopic rods of the second air cylinders can extend and retract along the horizontal shafts of the bearing plate; the end part of the telescopic rod of the second air cylinder is fixedly arranged as a sliding frame of the pushing part, and the sliding frame is horizontally and slidably connected with the end part of the bearing plate; the two ends of the clip plate pushing shaft are erected on the sliding frames on the same side; the sliding components are in one-to-one correspondence with the clamping plates of the second group, and each sliding component is provided with one clamping plate; the sliding component is sleeved on the clip plate pushing shaft and is in clearance fit with the clip plate pushing shaft, so that the sliding component axially slides along the clip plate pushing shaft; each sliding component is in sliding connection with a third sliding rail arranged on the bearing plate.
4. A polymer lithium ion battery manipulator as in claim 3, wherein: the sliding assembly comprises a second clip mounting plate, a third sliding block and a spring, wherein a through hole for a clip plate pushing shaft to pass through is formed in the second clip mounting plate, and the spring and the second clip mounting plate are alternately sleeved on the clip plate pushing shaft; and each second clip mounting plate is fixedly provided with a third sliding block which is in sliding connection with a third sliding rail horizontally arranged on the bearing plate.
5. The polymer lithium ion battery manipulator of claim 1, wherein: the support frame comprises an upper aluminum plate, a lower aluminum plate, sliding rods and linear bearings, wherein the upper aluminum plate and the lower aluminum plate are fixedly connected in parallel through a plurality of sliding rods, and the linear bearings are fixedly arranged on the fixed plate and keep the central axis of the linear bearings vertical; the sliding rod penetrates through the center through hole of the linear bearing and is in sliding fit with the linear bearing; the two ends of the screw rod are fixedly arranged between the upper aluminum plate and the lower aluminum plate.
6. The polymer lithium ion battery manipulator of claim 1, wherein: two parallel sectional materials are horizontally paved on the upper part of the frame, and a first sliding rail and a rack are correspondingly installed on each sectional material.
7. The polymer lithium ion battery manipulator of claim 1, wherein: the clamping plates are equally divided into two groups of 24 clamping plates, and the clamping plates in each group are equidistantly arranged.
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| CN201810235882.8A CN108340361B (en) | 2018-03-21 | 2018-03-21 | Polymer lithium ion battery manipulator |
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| CN201810235882.8A CN108340361B (en) | 2018-03-21 | 2018-03-21 | Polymer lithium ion battery manipulator |
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| CN108340361B true CN108340361B (en) | 2023-10-20 |
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| CN109250485A (en) * | 2018-10-17 | 2019-01-22 | 珠海格力智能装备有限公司 | Battery case handling system |
| CN108996400B (en) * | 2018-10-17 | 2020-04-10 | 珠海格力智能装备有限公司 | Battery box hoisting accessory |
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| CN110936349B (en) * | 2019-11-29 | 2024-05-10 | 浙江杭可科技股份有限公司 | Battery clamping manipulator device |
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