CN110304449B - Feeding device - Google Patents
Feeding device Download PDFInfo
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- CN110304449B CN110304449B CN201910697253.1A CN201910697253A CN110304449B CN 110304449 B CN110304449 B CN 110304449B CN 201910697253 A CN201910697253 A CN 201910697253A CN 110304449 B CN110304449 B CN 110304449B
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- 230000007246 mechanism Effects 0.000 claims abstract description 230
- 238000006073 displacement reaction Methods 0.000 claims description 48
- 238000003825 pressing Methods 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 18
- 229910003460 diamond Inorganic materials 0.000 claims description 4
- 239000010432 diamond Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 9
- 239000011162 core material Substances 0.000 description 20
- 238000005452 bending Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 239000013013 elastic material Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
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- Mechanical Engineering (AREA)
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Abstract
The application discloses a feeding device which comprises a feeding bearing piece, an adjusting mechanism and a grabbing mechanism, wherein the adjusting mechanism is arranged on the feeding bearing piece, and the grabbing mechanism is connected with the feeding bearing piece in a sliding manner and is connected with the adjusting mechanism; the grabbing mechanism is used for grabbing products, and the adjusting mechanism is used for adjusting the grabbing position of the grabbing mechanism for grabbing the products. According to the application, the position of the grabbing mechanism for grabbing the product is adjusted through the adjusting mechanism, so that the grabbing mechanism can flexibly grab and feed a plurality of products which are distributed at different intervals, the compatibility is good, the applicability is high, the use is convenient, and further, the smooth proceeding of the subsequent procedures of product pairing is ensured.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to a feeding device.
Background
The battery cell pairing is an important process in the automatic production process of the battery, the speed of feeding the battery cells during battery cell pairing influences the progress of the subsequent process, and in order to ensure the uninterrupted progress of the subsequent process, a plurality of battery cells are always fed at one time during the battery cell pairing. The feeding device in the prior art can only feed a plurality of battery cores which are arranged at fixed intervals, cannot be flexibly adjusted, has poor compatibility and causes inconvenience in use.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a feeding device.
The feeding device comprises a feeding bearing piece, an adjusting mechanism and a grabbing mechanism; the adjusting mechanism is arranged on the feeding bearing piece; the grabbing mechanism is connected with the feeding bearing piece in a sliding manner and is connected with the adjusting mechanism; the grabbing mechanism is used for grabbing products, and the adjusting mechanism is used for adjusting the grabbing position of the grabbing mechanism for grabbing the products.
According to an embodiment of the invention, the adjusting mechanism comprises an adjusting driving assembly and a connecting rod assembly; the adjusting driving assembly is connected with the plurality of grabbing mechanisms through the connecting rod assembly; the adjusting driving assembly drives the connecting rod assembly, and the connecting rod assembly respectively adjusts the positions where the plurality of grabbing mechanisms grab products.
According to an embodiment of the present invention, the link assembly includes a plurality of link members; the plurality of connecting rod pieces are linked and respectively drive the plurality of grabbing mechanisms to displace.
According to one embodiment of the invention, the grabbing mechanism comprises a grabbing bearing piece, a grabbing driving component and a grabbing component; the grabbing bearing piece is connected with the feeding bearing piece in a sliding manner; the grabbing driving component is arranged on the grabbing bearing piece, and the output end of the grabbing driving component is connected with the grabbing component; the grabbing driving assembly drives the grabbing assembly to clamp the product.
According to an embodiment of the present invention, the gripping mechanism further includes a pressing driving assembly and a pressing member; the output end of the pressing driving assembly is connected with the pressing piece; the pressing driving assembly drives the pressing piece to press the product clamped by the grabbing assembly.
According to an embodiment of the present invention, the gripping mechanism further includes a gripping detection member; the grabbing detection piece is used for detecting whether the grabbing component grabs a product.
According to an embodiment of the invention, the clamping displacement mechanism is further included; the clamping displacement mechanism is connected with the feeding bearing piece; the clamping displacement mechanism drives the feeding bearing piece to move, and then drives the grabbing mechanism to move.
According to an embodiment of the invention, it further comprises a gantry mechanism; the gantry mechanism comprises a gantry frame and a gantry driving assembly; the clamping displacement mechanism is connected to the portal frame in a sliding manner; the output end of the gantry driving assembly is connected with the clamping displacement mechanism, and the clamping displacement mechanism is driven to move on the gantry, so that the grabbing mechanism is driven to move.
According to an embodiment of the invention, the feeding device further comprises a feeding transfer mechanism; the feeding transfer mechanism is arranged on the moving path of the grabbing mechanism, and the products grabbed by the grabbing mechanism are placed on the feeding transfer mechanism; the feeding transfer mechanism is used for transferring products.
According to an embodiment of the present invention, it further comprises a transfer mechanism; the transfer mechanism is arranged on the moving path of the grabbing mechanism and is positioned at one side of the feeding transfer mechanism, and the transfer mechanism is used for positioning transfer before the feeding transfer mechanism transfers the product.
Compared with the prior art, the grabbing mechanism is used for adjusting the grabbing position of the grabbing mechanism for grabbing products, so that the grabbing mechanism can flexibly grab and feed a plurality of products which are distributed at different intervals, the compatibility is good, the applicability is high, the use is convenient, and further the smooth proceeding of the subsequent procedures of product pairing is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic structural diagram of a feeding device in this embodiment;
FIG. 2 is a schematic view of a connecting rod assembly according to the present embodiment;
FIG. 3 is a schematic view showing the structure of a link member in the present embodiment;
fig. 4 is a schematic structural view of the grabbing mechanism in the present embodiment;
FIG. 5 is a schematic view of the structure of the clamping displacement mechanism and the gantry mechanism in the present embodiment;
fig. 6 is a schematic structural diagram of the feeding and transferring mechanism in this embodiment.
Reference numerals illustrate:
1. A loading bearing piece; 11. a loading bearing plate; 12. a guide rail; 13. a slide block; 2. an adjusting mechanism; 21. adjusting the drive assembly; 211. adjusting the driving member; 212. an adjusting plate; 22. a connecting rod assembly; 221. a link member; 2211. a first hinge point; 2212. a second hinge point; 2213. a third hinge point; 2214. a fourth hinge point; 3. a grabbing mechanism; 31. grabbing the bearing piece; 311. the upper grabbing bearing plate; 312. a lower grabbing bearing plate; 313. a connecting plate; 32. a grabbing driving assembly; 321. grabbing a driving piece; 33. a grabbing component; 331. a jaw slide; 3311. a tooth hole; 332. a gripper plate; 333. a clip; 3331. a bending part; 34. a press-fit driving assembly; 341. pressing the driving piece; 35. pressing the piece; 351. briquetting; 36. grabbing a detection piece; 37. an auxiliary adjustment drive; 371. a fixing plate; 4. clamping the displacement mechanism; 41. clamping the displacement frame; 42. clamping the displacement driving piece; 43. a guide member; 51. a portal frame; 52. a gantry drive assembly; 6. a feeding transfer mechanism; 7. a transfer mechanism; 71. a middle rotating frame; 72. a positioning table; 8. an appearance detecting mechanism 7; 9. and the code scanning mechanism.
Detailed Description
Various embodiments of the invention are disclosed in the following drawings, in which details of the practice are set forth in the following description for the purpose of clarity. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. Moreover, for the purpose of simplifying the drawings, some conventional structures and components are shown in the drawings in a simplified schematic manner.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear are used in the embodiments of the present invention) are merely for explaining the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are changed accordingly.
Furthermore, descriptions such as those related to "first," "second," and the like, are provided for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical language and are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first", "a second" may include at least one such feature, either explicitly or implicitly. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
For a further understanding of the nature, features, and efficacy of the present invention, the following examples are set forth in order to provide a further understanding of the invention, and are intended to be described in connection with the accompanying drawings:
Referring to fig. 1, fig. 1 is a schematic structural diagram of a feeding device in this embodiment. In this embodiment, the feeding device includes a feeding carrier 1, an adjusting mechanism 2, and a grabbing mechanism 3. The adjusting mechanism 2 is arranged on the feeding bearing piece 1, and the grabbing mechanism 3 is connected with the feeding bearing piece 1 in a sliding manner and is connected with the adjusting mechanism 2. The grabbing mechanism 3 is used for grabbing products, and the adjusting mechanism 2 is used for adjusting the position where the grabbing mechanism 3 grabs the products.
The position of grabbing the product through the adjusting mechanism 2 to grabbing the mechanism 3 is adjusted for grabbing the mechanism 3 can snatch the material loading to a plurality of products that different intervals were arranged in a flexible way, and the compatibility is good, and the suitability is high, and convenient to use, and then guarantees going on smoothly of the follow-up procedure of product pairing. The product in this embodiment is a cell.
Referring back to fig. 1, further, the adjustment mechanism 2 includes an adjustment drive assembly 21 and a linkage assembly 22. The adjustment drive assembly 21 is connected to the plurality of grasping mechanisms 3 via a link assembly 22. The adjusting driving assembly 21 drives the connecting rod assembly 22, and the connecting rod assembly 22 respectively adjusts the positions where the plurality of grabbing mechanisms 3 grab the battery cells.
It will be appreciated that when the cells are being transmitted, the interval between every two adjacent cells is constant, and when the plurality of grabbing mechanisms 3 grab the plurality of cells, the grabbing positions corresponding to the cells need to correspond to the interval between the cells. In this embodiment, the connecting rod assembly 22 adjusts the positions of the plurality of grabbing mechanisms 3 grabbing the battery cells, and adjusts the distance between every two adjacent grabbing mechanisms 3 by adjusting the displacement of the plurality of grabbing mechanisms 3, so as to achieve the adaptive grabbing position, and then the grabbing mechanisms 3 grab the battery cells.
Referring back to fig. 1, further, the loading carrier 1 includes a loading carrier plate 11, a guide rail 12, and a plurality of sliders 13. The loading bearing plate 11 is approximately rectangular plate-shaped, the guide rails 12 are laid on the lower surface of the loading bearing plate 11 along the length direction of the loading bearing plate 11, preferably, the number of the guide rails 12 is two, and the two guide rails 12 are arranged side by side. The plurality of sliding blocks 13 are respectively and slidably connected to the two guide rails 12 arranged side by side, the sliding blocks 13 on the two guide rails 12 arranged side by side correspond to each other one by one, one sliding block 13 forms a sliding block group, the number of the sliding block groups in the embodiment is three, and the three sliding block groups are sequentially arranged at intervals along the length direction of the guide rails 12 arranged side by side.
The adjusting drive assembly 21 is arranged on the upper surface of the loading bearing plate 11 and is close to one end of the loading bearing plate 11, the connecting rod assembly 22 is arranged below the loading bearing plate 11, the output end of the adjusting drive assembly 21 is connected with the connecting rod assembly 22, the plurality of grabbing mechanisms 3 are respectively connected with the connecting rod assembly 22, the adjusting drive assembly 21 drives the connecting rod assembly 22 to stretch out and draw back, and the connecting rod assembly 22 respectively drives the plurality of grabbing mechanisms 3 to synchronously displace. The plurality of grabbing mechanisms 3 are driven to synchronously displace respectively through the connecting rod assembly 22, and the displacement of each grabbing mechanism 3 is different, so that the distance between two adjacent grabbing mechanisms 3 is changed, and the purpose of adjusting the distance between the grabbing mechanisms 3 is achieved. The number of the grabbing mechanisms 3 in the embodiment is four, wherein three grabbing mechanisms 3 are respectively connected to three slide block groups, and the remaining grabbing mechanism 3 is directly fixed on the lower surface of the loading bearing plate 11 and is close to the adjusting driving assembly 21; the four grabbing mechanisms 3 are sequentially arranged at intervals and are respectively connected with the connecting rod assemblies 22.
Referring back to fig. 1, further, the adjustment drive assembly 21 includes an adjustment drive 211 and an adjustment plate 212. The adjusting driving piece 211 is arranged on the upper surface of the feeding bearing plate 11, the output end of the adjusting driving piece 211 is connected with one end of the adjusting plate 212, and the other end of the adjusting plate 212 penetrates through the feeding bearing plate 11 and then is connected with the connecting rod assembly 22. The feeding bearing plate 11 is provided with a strip-shaped channel along the length direction of the feeding bearing plate 11, the adjusting plate 212 can linearly move in the strip-shaped channel, the adjusting driving piece 211 drives the adjusting plate 212 to linearly move along the length direction of the feeding bearing plate 11, the adjusting plate 212 drives the connecting rod assembly 22 to perform telescopic action, and the connecting rod assembly 22 drives the four grabbing mechanisms 3 to perform interval adjustment. The adjustment driving member 211 in this embodiment may be a linear module or a driving motor and a screw pair, but other driving members may be used, which is not limited herein.
With continued reference to fig. 2 and 3, fig. 2 is a schematic structural view of the connecting rod assembly in the present embodiment, and fig. 3 is a schematic structural view of the connecting rod member in the present embodiment. Furthermore, the output end of the adjusting driving component 21 is connected with the connecting rod component 22, the adjusting driving component 21 drives the connecting rod component 22 to stretch and retract, and the stretching and retracting of the connecting rod component 22 drives the plurality of grabbing mechanisms 3 to synchronously displace on the feeding bearing piece 1.
In this embodiment, the link assembly 22 includes a plurality of link members 221, the plurality of link members 221 are linked, the plurality of link members 221 are respectively connected with the plurality of grabbing mechanisms 3, and the plurality of linked link members 221 respectively drive the plurality of grabbing mechanisms 3 to displace, wherein the link members 221 correspondingly drive one grabbing mechanism 3 to displace. Specifically, the plurality of link members 221 are hinged, the output end of the adjusting driving assembly 21 is connected with the hinge point of the plurality of link members 221, the adjusting driving assembly 21 drives the plurality of link members 221 to synchronously stretch and retract, and then the plurality of grabbing mechanisms 3 are driven to synchronously displace, so that the purpose of simultaneously adjusting the intervals among the plurality of grabbing mechanisms 3 is achieved.
Specifically, as shown in fig. 3, the link member 221 is a four-bar hinge mechanism, in this embodiment, the link member 221 is a continuous hinge screw mechanism formed by three diamond structures, which has four hinge points, namely, a first hinge point 2211, a second hinge point 2212, a third hinge point 2213 and a fourth hinge point 2214 from one end to the other end of the link member 221, when one of the hinge points moves, the other hinge points synchronously follow and move, and the angular displacement, the angular velocity and the angular acceleration of the link member 221 are always equal. The number of the link members 221 in the present embodiment is three, and the angles of the included angles of the diamond structures of the three link members 221 are different, so that the three link members 221 form different stretching lengths. Referring again to fig. 2, the first hinge points 2211 of the three link members 221 are hinged to each other and are each hinged to the grasping mechanism 3 fixed to the lower surface of the loading plate 11. The second hinge points 2212 of the three link members 22 are respectively hinged with the other ends of the adjusting plates 212, one grabbing mechanism 3 slidably connected to the lower surface of the loading bearing plate 11 is connected with the adjusting plates 212, and the grabbing mechanism 3 is adjacent to the grabbing mechanism 3 fixed to the lower surface of the loading bearing plate 11. The other two grabbing mechanisms 3 slidably connected to the loading plate 11 are sequentially connected to the third hinge point 2213 and the fourth hinge point 2214 of the two connecting rod pieces 221 with longer stretching lengths of the three connecting rod pieces 221, specifically, one grabbing mechanism 3 is connected to the third hinge point 2213 of one connecting rod piece 221, and the other grabbing mechanism 3 is connected to the fourth hinge point 2214 of the other connecting rod piece 221. So, the first hinge point 2211 of three link members 221 does not move relatively, when the adjusting plate 212 moves, the movement of one grabbing mechanism 3 is driven, the three link members 221 are driven to stretch and retract, the second hinge point 2212 is synchronously driven to move, the three link members 221 are enabled to displace synchronously, and because angles of included angles of diamond structures of the three link members 221 are different, lengths of simultaneous stretching displacement of the three link members 211 are different, so that the three grabbing mechanisms 3 synchronously move different distances, and intervals among the four grabbing mechanisms 3 are adjusted.
With continued reference to fig. 1 and 4, fig. 4 is a schematic structural view of the gripping mechanism in the present embodiment. Further, the gripping mechanism 3 includes a gripping carrier 31, a gripping drive assembly 32, and a gripping assembly 33. The grabbing bearing piece 31 is connected to the feeding bearing piece 1 in a sliding manner; the grabbing driving component 32 is arranged on the grabbing bearing piece 31, and the output end of the grabbing driving component is connected with the grabbing component 33; the grabbing driving component 32 drives the grabbing component 33 to clamp the battery cells.
Specifically, the gripping carrier 31 includes an upper gripping carrier plate 311, a lower gripping carrier plate 312, and two connection plates 313. The upper gripping bearing plates 311 and the lower gripping bearing plates 312 are arranged in parallel. Two ends of a connecting plate 313 are respectively connected with one ends of the upper grabbing bearing plate 311 and the lower grabbing bearing plate 312, and two ends of the other connecting plate 313 are respectively connected with the other ends of the upper grabbing bearing plate 311 and the lower grabbing bearing plate 312, so that the longitudinal section of the grabbing bearing member 31 forms a rectangular frame structure. One of the upper grabbing bearing plates 311 is connected with the end part of the feeding bearing plate 11, and the other three upper grabbing bearing plates 311 are respectively connected with the three sliding block groups. The three link members 221 are located between the upper grabbing bearing plate 311 and the lower grabbing bearing plate 312, and the hinge points of the three link members 221 are respectively connected with the upper grabbing bearing plate 311, so that a connection relationship with the grabbing mechanism 3 is formed.
The gripper driving assembly 32 is disposed on the lower gripper carrier 312. Specifically, the grabbing driving component 32 includes two grabbing driving members 321, the two grabbing driving members 321 are respectively disposed on the lower surface of the lower grabbing carrier plate 312 and are respectively close to two long sides of the lower grabbing carrier plate 312, and output ends of the two grabbing driving members 321 are disposed opposite to each other. The grip driving member 321 in this embodiment may employ an air cylinder.
The grasping assembly 33 includes two jaw slide plates 331, two jaw plates 332, and two clamps 333. The two jaw sliding plates 331 are parallel to the lower grabbing bearing plate 312 and are respectively slidably connected to the lower surface of the lower grabbing bearing plate 312, and the end portions of the two jaw sliding plates 331 are opposite and have a space therebetween. The output ends of the two grabbing driving pieces 321 are respectively connected with the two clamping jaw sliding plates 331, and the two grabbing driving pieces 321 drive the two clamping jaw sliding plates 331 to slide along the length direction of the lower grabbing bearing plate 312, so that the two clamping jaw sliding plates 331 can be mutually close to or mutually far away from each other. One ends of the two clamping jaw plates 332 are respectively and vertically arranged on the lower surfaces of the two clamping jaw sliding plates 331, and two clamps 333 are respectively arranged on the other ends of the two clamping jaw plates 332. When the two clamping jaw sliding plates 331 are close to or far away from each other, the two clamping jaw plates 332 are synchronously driven to be close to or far away from each other, so that the two clamps 333 are close to or far away from the battery cell to clamp the battery cell, and the battery cell is clamped. Preferably, the ends of the clips 333 have L-shaped bending portions 3331, and the bending portions 3331 of the two clips 333 are disposed opposite to each other, and when the two clips 333 clamp the battery cell, the L-shaped bending portions 3331 support the lower surface of the battery cell, so that the battery cell is in a clamping state, and the stability of the battery cell in the moving process is ensured. Preferably, the clamp 333 is made of an elastic material, or an elastic material such as soft rubber is wrapped outside the hard material, so as to avoid damage to the battery cell when the clamp 333 clamps the battery cell and the bending part 3331 supports the battery cell.
Preferably, the jaw slide 331 is provided with a plurality of tooth holes 3311, and the plurality of tooth holes 3311 are sequentially arranged along the length direction of the jaw slide 331. The end of the jaw plate 332 is vertically fixed to the lower surface of the jaw slide 331 by a fixing member such as a screw. When two clamping jaw plates 332 are respectively fixed on different tooth holes 3311 on two clamping jaw sliding plates 331, the relative distance between the two clamping jaw plates 332 is adjusted in an adaptive manner, and then the distance between the two clamps 333 is adjusted, so that the distance between the two clamping jaw plates 332 is adjusted outside the driving stroke of the grabbing driving piece 321, the clamping of the electric core with different specification and size is adapted, the adaptability of the grabbing component 33 is improved, and the electric core clamped by the clamps 333 is more adaptive and stable.
Referring back to fig. 4, further, the gripping mechanism 3 further includes a pressing driving assembly 34 and a pressing member 35. The pressing driving assembly 34 is arranged on the grabbing assembly 33, and the output end of the pressing driving assembly is connected with the pressing piece 35; the pressing driving assembly 34 drives the pressing member 35 to press the battery core clamped by the grabbing assembly 33.
Specifically, the pressing driving assembly 34 includes two pressing driving members 341, and the pressing member 35 includes two pressing blocks 351. The two pressing driving pieces 341 are respectively disposed on the inner sides of the two clamping jaw plates 332, the two pressing blocks 351 are respectively connected with the output ends of the two pressing driving pieces 341, and the two pressing blocks 351 are respectively opposite to the bending parts 3331 of the two clamps 333. The pressing driving piece 341 drives the pressing block 351 to reciprocate towards the direction close to and far away from the bending part 3331, when the clamp 333 holds the battery cell, the pressing driving piece 341 drives the pressing block 351 to press the upper surface of the battery cell, so that the stability of the grabbing component 33 for clamping the battery cell is further improved, and the battery cell clamped by the grabbing component 33 can not move when moving. Preferably, the surface of the pressing block 351 is wrapped with an elastic material, so that the battery cell is prevented from being damaged when the pressing block 351 is pressed.
Referring back to fig. 4, further, the grasping mechanism 3 further includes a grasping detection member 36. The grabbing detection member 36 is disposed on the grabbing carrier 31, and is used for detecting whether the grabbing component 33 grabs the battery cell. Specifically, the grabbing detection piece 36 is disposed on the clamping claw plate 332 and located between the clamp 333 and the pressing block 351, the detection end of the grabbing detection piece 36 faces the bending portion 3331, and when the clamp 333 supports the battery cell, the grabbing detection piece 36 can detect whether the battery cell exists or not, so as to facilitate driving management of clamping. The grip detection member 36 in the present embodiment may employ a photoelectric sensor.
Referring back to fig. 1, further, the gripping mechanism 3 further comprises an auxiliary adjustment drive 37. Specifically, the grasping mechanism 3 connected to the third hinge point 2213 and the fourth hinge point 2214, respectively, is provided with an auxiliary adjustment driving member 37. In a specific arrangement, the connection relationship formed by the lower gripping bearing plate 312 and the upper gripping bearing plate 311 through the two connecting plates 313 is a sliding connection relationship. The auxiliary adjusting driving piece 37 is arranged on the lower grabbing bearing plate 312, the output end of the auxiliary adjusting driving piece 37 is connected with the upper grabbing bearing plate 311 through a fixing plate 371, the driving force of the auxiliary adjusting driving piece 37 acts on the fixing plate 371, and then feedback is carried out on the upper grabbing bearing plate 311 and the lower grabbing bearing plate 312, so that the positions between the upper grabbing bearing plate 311 and the lower grabbing bearing plate 312 are relatively changed, the position of the grabbing component 33 relative to the upper grabbing bearing plate 311 is changed, and the grabbing position of the grabbing component 33 is adjusted. The auxiliary adjustment driving member 37 in the present embodiment may employ an air cylinder. By means of the provision of the auxiliary adjustment drive 37, the adjustment of the adjustment mechanism 2 can be supplemented, so that a more refined adjustment of the gripper assembly 33 can be made.
With continued reference to fig. 1 and 5, fig. 5 is a schematic structural diagram of the clamping displacement mechanism and the gantry mechanism in the present embodiment. Furthermore, the feeding device in this embodiment further includes a clamping displacement mechanism 4. The clamping displacement mechanism 4 is connected with the feeding bearing piece 1; the clamping displacement mechanism 4 drives the feeding bearing piece 1 to move, and then drives the grabbing mechanism 3 to move towards the battery cell. The gantry mechanism 5 includes a gantry 51 and a gantry drive assembly 52. The clamping displacement mechanism 4 is connected to the portal frame 51 in a sliding manner; the output end of the gantry driving assembly 52 is connected with the clamping displacement mechanism 4, and drives the clamping displacement mechanism 4 to move on the gantry 51, so as to drive the grabbing mechanism 3 to move.
Specifically, the gripping displacement mechanism 4 includes a gripping displacement frame 41 and a gripping displacement driver 42. The longitudinal section of the clamping displacement frame 41 is of a rectangular frame structure, the clamping displacement driving member 42 is arranged in the clamping displacement frame 41, and the output end of the clamping displacement driving member 42 penetrates through the lower surface of the clamping displacement frame 41 and then is connected with the center position of the feeding bearing plate 11. The clamping displacement driving piece 42 drives the feeding bearing plate 11 to linearly move, and further drives the grabbing mechanism 3 to linearly move, so that the grabbing mechanism 3 is close to or far away from the battery cell. The clamping displacement driving member 42 in this embodiment is an air cylinder, and the output rod thereof forms a fixed connection relationship with the loading bearing plate 11 through the cooperation of the shaft connector and the fixing seat.
Preferably, the gripping displacement mechanism 4 further comprises a guide 43. In this embodiment, the number of the guide members 43 is four, two ends of each guide member 43 are respectively connected with the loading bearing plate 11 and the gripping displacement frame 41, the guide members 43 are parallel to the gripping displacement driving member 42, and specifically, the guide members 43 are parallel to the output rod of the gripping displacement driving member 42. The four guides 43 are arranged at intervals in sequence around the peripheral direction of the gripping displacement driver 42, and the intervals between the adjacent two guides 43 are the same. Preferably, the sequential connection of the four guides 43 is rectangular, and the grip displacement driving member 42 is located at the center of the rectangle to maintain the balance of the guides. The guide in this embodiment may be a guide post and guide sleeve fit.
The upper surface of the clamping displacement frame 41 is in sliding connection with the portal frame 51, the portal driving assembly 52 drives the clamping displacement frame 41 to move along the direction of the beam of the portal frame 51, and then drives the grabbing mechanism 3 to move in the X-axis direction, and the clamping displacement driving member 42 drives the grabbing mechanism 3 to move along the Y-axis direction perpendicular to the beam of the portal frame 51. The gantry drive assembly 52 of this embodiment may alternatively be a linear robot. In this way, the gantry driving assembly 52 and the clamping displacement driving member 42 realize the linear movement of the grabbing mechanism 3 on the XY axis, so that the grabbing mechanism 3 can flexibly grab and move the battery cell.
With continued reference to fig. 6, fig. 6 is a schematic structural diagram of the feeding and transferring mechanism in this embodiment. The wire feeding device in this embodiment further includes a feeding transfer mechanism 6. The feeding transfer mechanism 6 is arranged on the moving path of the grabbing mechanism 3, and the battery cells grabbed by the grabbing mechanism 3 are placed on the feeding transfer mechanism 6; the feeding transfer mechanism 6 is used for transferring the power core.
Specifically, one end of the feed transfer mechanism 6 is located below the gantry 51, and the other end of the feed transfer mechanism 6 extends outward of the gantry 51. The electric cores grabbed by the grabbing mechanism 3 are orderly arranged on the feeding transfer mechanism 6 at intervals, and the feeding transfer mechanism 6 drives the electric cores on the electric cores to move to the next station. The feeding transfer mechanism 6 in this embodiment may employ a conveyor belt device.
Referring back to fig. 5, further, the feeding device in this embodiment further includes a transfer mechanism 7. The transfer mechanism 7 is disposed on the moving path of the grabbing mechanism 3 and on one side of the feeding transfer mechanism 6, and is used for positioning and transferring before the feeding transfer mechanism 6 moves the electric core.
Specifically, the transfer relay mechanism 7 includes a relay carriage 71 and four positioning stages 72. The intermediate turret 71 is located below the gantry 51, and four positioning tables 72 are provided on the upper surface of the intermediate turret 71 along the longitudinal direction of the intermediate turret 71. The four positioning tables 72 correspond to the four grabbing mechanisms 3 respectively, and the electric cores grabbed by the grabbing mechanisms 3 can be correspondingly placed on the positioning tables 72, and the electric cores are positioned through the positioning tables 72. The positioning table 72 in this embodiment can be positioned by using an adaptive jig. The battery cell grabbed by the grabbing mechanism 3 is positioned once through the positioning table 72, so that the accurate position of the battery cell fed by the grabbing mechanism 3 is ensured.
Preferably, the feeding carrier 1, the adjusting mechanism 2, the grabbing mechanism 3 and the clamping displacement mechanism 4 are formed into two groups, wherein one group of matching mechanisms is used for grabbing the battery core and transferring and positioning to the transferring and transferring mechanism 7, then the group of matching mechanisms returns to grab the subsequent battery core, and at the same time, the other group of matching mechanisms grabs the battery core after the transferring and transferring mechanism 7 is positioned to the feeding and transferring mechanism 6. Through the combined action of the two groups of matching mechanisms, the battery cells are transferred in sections, the time waiting for positioning the battery cells is avoided, and the feeding speed of the feeding device is further increased.
Referring back to fig. 1, further, the feeding device in this embodiment further includes an appearance detecting mechanism 8 and a code scanning mechanism 9. The appearance detection mechanism 8 and the code scanning mechanism 9 are arranged on a conveying path of the feeding conveying mechanism 6, appearance detection and code scanning are carried out on the battery cells conveyed by the feeding conveying mechanism 6, the appearance detection mechanism 8 is used for conveniently eliminating unqualified products of the battery cells in time, and the code scanning mechanism 9 is used for managing and inputting information for subsequent production of the battery cells. When specifically setting up, appearance detection mechanism 8 and sweep a yard mechanism 9 all set up in one side of material loading transfer mechanism 6, and the detection end of appearance detection mechanism 8 and the scanning end of sweeping a yard mechanism 9 all are located the top of material loading transfer mechanism 6, detect and sweep the sign indicating number to the electric core of process. The appearance detecting mechanism 8 in this embodiment may be a CCD visual detecting system, and the code scanning mechanism 9 may be a code scanning gun.
To sum up, the loading attachment in this embodiment carries out synchronous adjustment through adjustment mechanism to the interval of a plurality of mechanisms of snatching for snatch the mechanism and can snatch the material loading to a plurality of electric cores that different intervals were arranged in a flexible way, the compatibility is good, and the suitability is high, convenient to use, and then guarantees going on smoothly of the follow-up procedure that electric core paired. Moreover, snatch the subassembly and can adjust the centre gripping according to the specification and dimension of electric core, adaptability is high. In addition, through transferring transfer mechanism's setting, convey again after fixing a position the electric core, ensure the accuracy of electric core material loading, simultaneously, the material loading efficiency of loading attachment has further been promoted in the setting of two sets of cooperation mechanisms.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the present invention, should be included in the scope of the claims of the present invention.
Claims (8)
1. The feeding device is characterized by comprising a feeding bearing piece (1), an adjusting mechanism (2) and a grabbing mechanism (3); the adjusting mechanism (2) is arranged on the feeding bearing piece (1); the grabbing mechanism (3) is connected with the feeding bearing piece (1) in a sliding manner and is connected with the adjusting mechanism (2); the grabbing mechanism (3) is used for grabbing a product, and the adjusting mechanism (2) is used for adjusting the position where the grabbing mechanism (3) grabs the product;
the adjusting mechanism (2) comprises an adjusting driving assembly (21) and a connecting rod assembly (22); the adjusting driving assembly (21) is connected with a plurality of grabbing mechanisms (3) through the connecting rod assembly (22); the adjusting driving assembly (21) drives the connecting rod assembly (22), and the connecting rod assembly (22) respectively adjusts the positions of the plurality of grabbing mechanisms (3) for grabbing products;
The link assembly (22) includes a plurality of link members (221); each connecting rod piece (221) is a continuous hinge screw rod mechanism formed by a diamond structure, a plurality of connecting rod pieces (221) are hinged, a plurality of hinge points are arranged from one end of each connecting rod piece (221) to the other end of each connecting rod piece, the first hinge points of the plurality of connecting rod pieces (221) are hinged with each other and are all hinged on one grabbing mechanism (3) fixed on a loading bearing plate, the other hinge points of the plurality of connecting rod pieces (221) are respectively hinged with an adjusting plate which is connected with the loading bearing plate in a sliding way, and the other grabbing mechanisms (3) are connected with the adjusting plate; the output end of the adjusting driving component (21) is connected with a plurality of hinge points of the connecting rod pieces (221), the connecting rod pieces (221) are respectively connected with a plurality of grabbing mechanisms (3), the adjusting driving component (21) drives the connecting rod pieces (221) to stretch out and draw back synchronously, the connecting rod pieces (221) are linked and respectively drive a plurality of grabbing mechanisms (3) to displace, the included angles of the diamond-shaped structures of the connecting rod pieces (221) are different, and the connecting rod pieces (221) form different stretching lengths, so that the grabbing mechanisms (3) synchronously move different distances.
2. Feeding device according to claim 1, wherein the gripping means (3) comprise a gripping carrier (31), a gripping drive assembly (32) and a gripping assembly (33); the grabbing bearing piece (31) is connected to the feeding bearing piece (1) in a sliding manner; the grabbing driving component (32) is arranged on the grabbing bearing piece (31), and the output end of the grabbing driving component is connected with the grabbing component (33); the grabbing driving assembly (32) drives the grabbing assembly (33) to clamp the product.
3. Feeding device according to claim 2, wherein the gripping mechanism (3) further comprises a press-fit driving assembly (34) and a press-fit member (35); the output end of the pressing driving assembly (34) is connected with the pressing piece (35); the pressing driving assembly (34) drives the pressing piece (35) to press the product clamped by the grabbing assembly (33).
4. Feeding device according to claim 2, wherein the gripping means (3) further comprise a gripping detection element (36); the grabbing detection piece (36) is used for detecting whether the grabbing component (33) grabs the product.
5. Feeding device according to any one of claims 1-4, further comprising a gripping displacement mechanism (4); the clamping displacement mechanism (4) is connected with the feeding bearing piece (1); the clamping displacement mechanism (4) drives the feeding bearing piece (1) to move, and then drives the grabbing mechanism (3) to move.
6. Feeding device according to claim 5, characterized in that it further comprises a gantry mechanism (5); the gantry mechanism (5) comprises a gantry (51) and a gantry driving assembly (52); the clamping displacement mechanism (4) is connected to the portal frame (51) in a sliding manner; the output end of the gantry driving assembly (52) is connected with the clamping displacement mechanism (4), and drives the clamping displacement mechanism (4) to move on the gantry (51), so as to drive the grabbing mechanism (3) to move.
7. The feeding device according to claim 6, further comprising a feeding transfer mechanism (6); the feeding transfer mechanism (6) is arranged on the moving path of the grabbing mechanism (3), and the product grabbed by the grabbing mechanism (3) is placed on the feeding transfer mechanism (6); the feeding transfer mechanism (6) is used for transferring the product.
8. The feeding device according to claim 7, further comprising a transfer relay mechanism (7); the transfer mechanism (7) is arranged on the moving path of the grabbing mechanism (3) and is positioned on one side of the feeding transfer mechanism (6), and is used for positioning transfer before the feeding transfer mechanism (6) transfers the product.
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| CN201910697253.1A CN110304449B (en) | 2019-07-30 | 2019-07-30 | Feeding device |
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| CN201910697253.1A CN110304449B (en) | 2019-07-30 | 2019-07-30 | Feeding device |
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| CN110641998B (en) * | 2019-10-14 | 2021-05-04 | 珠海格力智能装备有限公司 | Clamp and conveying equipment with same |
| CN112173704B (en) * | 2020-10-26 | 2022-04-12 | 广东博智林机器人有限公司 | Feeding system and feeding detection method |
| CN112499228A (en) * | 2020-11-11 | 2021-03-16 | 珠海格力智能装备有限公司 | Combined clamp for air conditioner compressor and middle partition plate |
| CN112893189B (en) * | 2021-01-18 | 2023-01-03 | 惠州市德赛自动化技术有限公司 | Appearance detection method and equipment |
| CN113212852A (en) * | 2021-05-11 | 2021-08-06 | 马海洪 | Suspension type wire coil holding arm |
| CN113816141A (en) * | 2021-11-01 | 2021-12-21 | 博众精工科技股份有限公司 | Battery cell taking and placing device |
| CN114632846B (en) * | 2022-03-21 | 2022-12-23 | 浙江大学 | Pipe fitting clamping tail end execution device suitable for feeding and discharging in bending forming of pipe fittings with different pipe diameters |
| CN115649557A (en) * | 2022-12-23 | 2023-01-31 | 广州蓝海机器人***有限公司 | Packaging production line |
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