CN218344637U

CN218344637U - Battery package snatchs and pile up neatly machinery hand

Info

Publication number: CN218344637U
Application number: CN202222119974.4U
Authority: CN
Inventors: 许宝学
Original assignee: Qingdao Guibao Electronic Technology Co ltd
Current assignee: Qingdao Guibao Electronic Technology Co ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2023-01-20
Anticipated expiration: 2032-08-12

Abstract

The utility model discloses a battery package snatchs and pile up neatly machinery hand relates to the battery package and snatchs pile up neatly device technical field, including body and chassis, the body is equipped with snatchs the mechanism, be equipped with crane and motion on the chassis, snatch and be equipped with two play pole cylinders in the mechanism, two play pole cylinder both sides parallel are equipped with two arms, two the arm inboard is equipped with interior sucking disc, arbitrary one the arm outside is equipped with outer sucking disc, and through setting up interior sucking disc when using, interior sucking disc snatchs the battery package under the control of two play pole cylinders, because the sucking disc is to the adsorption of battery package, has reduced the destruction that the arm direct action battery package brought, can carry out the fine setting of displacement to the battery package after putting through setting up outer sucking disc simultaneously, has eliminated the space between the battery package, has increased the stability of battery package buttress, has made things convenient for the transportation of battery package between each position through setting up the motion is very big simultaneously.

Description

Battery package snatchs and pile up neatly machinery hand

Technical Field

The utility model relates to a battery package snatchs pile up neatly device technical field, especially relates to a battery package snatchs and pile up neatly machinery hand.

Background

The stacking manipulator replaces manual work to carry and stack goods, and can stack (or disassemble) packaged goods with different overall dimensions on a tray (or on a production line) in order and automatically.

The mecanum wheel is a wheel that is capable of omni-directional movement based on the principle of a central wheel having a plurality of axles located around the periphery of the wheel, the angled peripheral axles translating a portion of the wheel steering force above a wheel normal force, the resulting combination of these forces, depending on the direction and speed of the respective wheels, producing a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resultant force vector without changing the direction of the wheels themselves.

The battery pack is a large-capacity battery pack consisting of a plurality of batteries.

At present, battery packs are conveyed and stacked in two modes, namely a manual mode and a mechanical arm mode, when the mechanical arm is used for conveying the battery packs, the battery packs need to be placed after being grabbed, at this time, a gap with the thickness of the mechanical arm exists between the placed battery packs and the battery packs on the mechanical arm, the adjacent two battery packs cannot be abutted, and stacking is unstable, in addition, when the existing mechanical arm is used for grabbing the battery packs, the clamping force of the mechanical arm on the battery packs is too large, so that the outer walls of the battery packs are broken, for example, a publication No. CN209793708U publication No. 20191217 discloses a stacking mechanical arm for steam-pressing brick production, the stacking mechanical arm comprises a base, the bottom of the base is rotatably connected with a grounding pulley, and a grounding fixing column is movably installed on the left side of the base. This a pile up neatly machinery hand for autoclaved brick production drives the hydraulic drive source on the steering wheel and carries out nimble rotation through setting up two rotation motor reverse rotations, and the angle that snatchs of manipulator can be adjusted in a flexible way to two small-size transfer lines and a hydraulic drive pole, has reached the effect that makes this pile up neatly machinery hand can adjust the pile up neatly angle in a flexible way.

Although the nimble transport to the steam brick has been solved to above-mentioned patent, but because the manipulator that snatchs the steam brick has self thickness, lead to two adjacent bricks can't be close to together and have great clearance, whole brick pillar is loose like this, do not rely on and support each other, the manipulator can exert great power and be unlikely to destroy the steam brick to the steam brick when snatching the steam brick simultaneously, but if the manipulator direct action is in the battery package when snatching the battery package, will lead to the destruction of battery package outer wall.

SUMMERY OF THE UTILITY MODEL

To the technical problem, the utility model discloses through setting up the inner suction cup when using, the inner suction cup snatchs the battery package under the control of two play pole cylinders, because the sucking disc is to the adsorption of battery package when snatching, the destruction that the arm direct action battery package and bring has been reduced, can carry out the fine setting of displacement to the battery package after putting through setting up outer sucking disc simultaneously, the space between the battery package has been eliminated, the stability of battery package buttress has been increased, simultaneously through setting up the very big transportation of battery package between each position of having made things convenient for of motion.

The above technical purpose of the present invention can be achieved by the following technical solutions:

a battery package snatchs and pile up neatly machinery hand: the automatic grabbing device comprises a body and a base plate, wherein the body is provided with a grabbing mechanism, the base plate is provided with a lifting frame and a moving mechanism, the grabbing mechanism is provided with a double-rod cylinder, two mechanical arms are arranged on two sides of the double-rod cylinder in parallel, an inner sucker is arranged on the inner side of each mechanical arm, and an outer sucker is arranged on the outer side of each mechanical arm.

Through adopting above-mentioned technical scheme, can guarantee to utilize the inboard interior sucking disc of arm to grab the roughly position of stack in advance with the battery package, utilize the outer sucking disc in the arm outside to finely tune the space of eliminating two adjacent battery packages to the battery package for putting of battery package is more stable, utilizes the motion under the chassis to realize the walking of whole manipulator in the space when needs are transported the battery package simultaneously.

A battery package snatchs and pile up neatly machinery hand: the lifting frame is provided with an upper platform and a lower platform, a lifting mechanism is connected between the upper platform and the lower platform, the lifting mechanism is provided with a lifting motor, and the lifting motor is connected with a transmission screw rod.

Through adopting above-mentioned technical scheme, can guarantee utilizing elevator motor to drive the drive screw and rotate, the rise and the descending of whole crane of drive screw control to realize the altitude mixture control of manipulator, the aerial work of the whole manipulator of being convenient for.

A battery package snatchs and pile up neatly machinery hand: the motion mechanism is provided with a table board, the bottom of the table board is provided with a motor frame, the motor frame is connected with a motor, and one end of the motor is connected with a Mecanum wheel.

Through adopting above-mentioned technical scheme, can guarantee to utilize the corotation and the reversal of motor control mecanum wheel to realize the displacement function of whole manipulator, utilize mecanum wheel special function can realize 360 degrees position adjustments simultaneously, very big improvement the operation flexibility ratio of manipulator, let snatch and pile up neatly do not have the dead angle operation.

A battery package snatchs and pile up neatly machinery hand: and an anti-tilting block is arranged at the center below the movement mechanism.

Through adopting above-mentioned technical scheme, can guarantee to utilize the characteristic of preventing the quick great quality of slope, can make the focus of whole manipulator move down, increase holistic stability, prevent that the manipulator from toppling when the aerial work.

A battery package snatchs and pile up neatly machinery hand: the inner sucker and the outer sucker are both provided with air receiving nozzles.

Through adopting above-mentioned technical scheme, can guarantee to utilize and connect the air cock and can be connected with outside gas circuit to this adsorption of control sucking disc to the battery package.

A battery package snatchs and pile up neatly machinery hand: the table top is symmetrically provided with sliding grooves below, and the sliding grooves are detachably connected with the anti-tilting blocks.

By adopting the technical scheme, the anti-inclination selectivity can be increased by using a detachable mode.

A battery package snatchs and pile up neatly machinery hand: the two mechanical arms are equal in length, and the inner sucking discs on the inner sides of the two mechanical arms are symmetrically arranged.

By adopting the technical scheme, the equal-length mechanical arms and the symmetrically arranged inner suckers can be ensured to be the same as the clamping position and the clamping force of the left side and the right side of the battery pack, so that the battery pack can be clamped more stably.

A battery package snatchs and pile up neatly machinery hand: the opening area of the outer sucker outside the mechanical arm is larger than that of the inner sucker.

Through adopting above-mentioned technical scheme, can guarantee because with the battery package after the assigned position of putting in advance, need adjust the interval of two adjacent battery packages, the sucking disc that adsorbs the battery package when the adjustment is only one, in order to guarantee can be adsorbed more stable, so adopt the great outer sucking disc of open area.

To sum up, the beneficial technical effects of the utility model are that:

(1) The battery package can be snatched through absorbent effect to the utilization inner suction cup, has avoided the direct centre gripping to the battery package with the arm and the destruction that brings, utilizes outer sucking disc can adjust the interval of two adjacent battery packages simultaneously, has increased the stability of whole battery package stack.

(2) The utilization will snatch the mechanism and install on the robot body, rely on the articulated motion advantage of robot to control the whole angular rotation who snatchs the mechanism, realized interior sucking disc and outer sucking disc to the snatching of battery package and interval control.

(3) The Mecanum wheels are utilized to realize the full-circle motion of the whole manipulator, and the working range of the manipulator is enlarged.

(4) Utilize the piece that prevents inclining to make the focus of whole manipulator move down for at the more stability of the in-process of marcing, prevent to topple.

(5) The lifting frame can be used for grabbing the object at the high position by the control manipulator.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a first perspective view of the chassis of the present invention;

fig. 3 is a schematic view of a second perspective of the chassis of the present invention;

fig. 4 is a schematic view of a third perspective of the chassis of the present invention;

fig. 5 is an enlarged schematic view of the part a of the present invention.

Reference numerals: 1. a body; 2. a chassis; 3. a grabbing mechanism; 4. a lifting frame; 5. a motion mechanism; 6. a double-out-rod cylinder; 7. a mechanical arm; 8. an inner sucker; 9. an outer sucker; 10. connecting an air faucet; 11. a lifting motor; 12. a drive screw; 13. a support bar; 14. a motor frame; 15. an upper platform; 16. a lower platform; 17. a lifting rod; 18. a table top; 19. a Mecanum wheel; 20. a motor frame; 21. a motor; 22. an anti-tilt block; 23. a chute; 24. the shaft backup pad.

Detailed Description

The present invention will now be described more fully hereinafter with reference to the accompanying examples.

It should be noted that all the directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the description of the embodiments, the terms "disposed," "connected," and the like are to be construed broadly unless otherwise explicitly specified or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; either directly or through an intervening medium, or through internal communication between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

Referring to the attached drawing 1, the battery pack grabbing and stacking manipulator comprises a body 1, wherein the body 1 is located on a bottom chassis 2, the chassis 2 is provided with a lifting frame 4 and a moving mechanism 5, and the front end of the body 1 is connected with a grabbing mechanism 3.

Referring to fig. 5, the grabbing mechanism 3 is provided with two rod-out cylinders 6, the two rod-out cylinders 6 are connected with a rotating disc at the front end of the body 1, ejector rods on the left side and the right side of the two rod-out cylinders 6 are provided with connecting plates, the connecting plates are connected with mechanical arms 7 through bolts, the mechanical arms 7 are arranged in parallel, inner suckers 8 are symmetrically arranged on the inner sides of the mechanical arms 7, outer suckers 9 are arranged on the outer sides of the mechanical arms 7 on any side, air receiving nozzles 10 used for being connected with an external air circuit are arranged on the inner suckers 8 and the outer suckers 9, the air receiving nozzles 10 can be connected with the external air circuit, ejection and retraction of the ejector rods of the two rod-out cylinders 6 and adsorption and separation of the inner suckers 8 and the outer suckers 9 on battery packs are realized through air supply and air suction.

Referring to the attached

drawings

2, 3 and 4, the crane 4 is provided with an upper platform 15 and a lower platform 16, the upper platform 15 is used for bearing the body 1 and is hinged with a base of the body 1, the lower platform 16 is used for connecting the movement mechanism 5, a lifting mechanism is arranged between the upper platform 15 and the lower platform 16 and is provided with a lifting rod 17 and a supporting rod 13, the supporting rod 13 is used for connecting the lifting rod 17, the middle part of the supporting rod 13 is provided with a threaded hole, a transmission screw 12 is arranged in the threaded hole, one end of the transmission screw 12 is connected with a lifting motor 11, and the transmission screw 12 penetrates through the two supporting rods 13 which are arranged in parallel;

the movement mechanism 5 is provided with a table top 18, two sliding grooves 23 are symmetrically arranged at the bottom of the table top 18, anti-tilting blocks 22 are arranged in the sliding grooves 23, wheel shaft supporting plates 24 are arranged at four corners of the bottom of the table top 18, mecanum wheels 19 are arranged on the wheel shaft supporting plates 24, motors 21 are arranged at wheel shaft ends of the Mecanum wheels 19, the motors 21 are arranged on a motor frame 20, and the motor frame 20 is fixed with the bottom of the table top 18.

When in use, the inner sucker 8 and the outer sucker 9 are connected with an external air circuit through the air connecting nozzle 10, the double-rod air cylinder 6 is also connected with an air source, then the grabbing mechanism 3 is driven by the body 1 to rotate on the base of the body 1 to rotate to the position right in front of a battery pack to be grabbed, the two mechanical arms 7 are arranged at the middle position in the height direction of the battery pack, thus the grabbing position can be ensured to be right at the gravity center of the battery pack, further the unstable gravity center caused by the fact that the mechanical arms 7 are on the upper side or on the lower side when in grabbing is avoided, then the air source supplies air to the double-rod air cylinder 6 to push out the ejector rod, meanwhile, the two mechanical arms 7 can be expanded outwards by the ejector rods to increase the distance between the two mechanical arms 7, the distance just can accommodate the thickness of a lower battery pack, then the body 1 controls the mechanical arms 7 to move forwards to enable the left mechanical arm 7 and the right mechanical arm 7 to be positioned on two sides of the battery pack, then an air source inhales to recover the ejector rods of the double-rod air cylinders 6, at the moment, the mechanical arms 7 on two sides of the battery pack move in opposite directions and attach the inner sucking discs 8 on two sides to the outer wall of the battery pack, and then air is inhaled through the air passages connected with the inner sucking discs 8 to enable negative pressure to be formed between the inner sucking discs 8 and the outer wall of the battery pack to realize adsorption;

the body 1 controls the mechanical arm 7 grabbing the battery pack to move to a designated position for stacking, the battery pack is placed on one side of the battery pack which is placed at a distance, a certain distance is reserved between the battery pack and the adjacent battery pack, the distance is larger than the thickness of one mechanical arm 7, the mechanical arm 7 is convenient to withdraw, after the battery pack is placed in advance, air is supplied to the inner sucker 8 through an air path, the inner sucker 8 is separated from the outer wall of the battery pack, air is supplied to the double-rod air cylinder 6 to enable the ejector rod to drive the mechanical arm 7 to expand outwards, the body 1 controls the mechanical arm 7 to withdraw, then the whole grabbing mechanism 3 is driven to rotate through the multi-joint rotating disc of the body 1, the outer sucker 9 is rotated to the side, the outer sucker 9 is enabled to be located on the outer side of the battery pack, the body 1 controls the outer sucker 9 to be tightly attached to the outer wall of the battery pack, then negative pressure is formed between the outer sucker 9 and the side wall of the battery pack to achieve adsorption, the purpose that the battery pack moves to the adjacent battery pack towards the opening of the outer sucker 9 through the outer sucker, and the outer side of the battery pack, the outer sucker is driven by the body 1, and the outer sucker 9, and the whole battery pack is separated from the air path, and the whole battery pack to achieve the stacking operation.

Through setting up mecanum wheel 19, when needing to transport the battery package, only need to drive mecanum wheel 19 through motor 21 of mesa 18 bottom and rotate, because mecanum wheel 19 special structure and motion function become can realize the omnidirectional removal of whole manipulator to can guarantee the stability in the motion.

Through setting up crane 4, when the manipulator needs higher position operation, utilize elevator motor 11 control drive screw 12, drive screw 12 reduces the distance between two bracing pieces 13 on crane 4 to bracing piece 13 linkage lifter 17 change angle in this process, and then make upper platform 15 and body 1 rebound, realize the altitude mixture control of manipulator.

The bottom of the table top 18 is informed to be provided with the anti-tilting block 22, and the anti-tilting block 22 enables the gravity center of the whole manipulator to move downwards due to large mass, so that the manipulator is more stable in the advancing process, and the manipulator is prevented from overturning.

By detachably mounting the anti-tilt block 22 to the table top 18, the anti-tilt block 22 can be pulled out from the chute 23 when the manipulator is in normal height operation.

It should be noted that when the distance between adjacent battery packs is adjusted, only one outer suction cup 9 is used for sucking the battery packs during the adjustment process, and the opening area of the outer suction cup 9 is designed to be too large in order to ensure sufficient suction and facilitate movement.

It should be noted that, in order to further prevent the robot from overturning during operation, the area of the chassis 2 is designed to be much larger than that of the local base, thereby further lowering the position of the center of gravity of the robot.

The working principle of the embodiment is as follows: when the device is used, firstly, the inner sucker 8 and the air tap 10 on the outer sucker 9 are connected with an external air path, the double-rod-out air cylinder 6 is also communicated with an air source, then the body 1 drives the grabbing mechanism 3 to rotate on the base of the body 1 and reach the position right in front of a battery pack to be grabbed, then the double-rod-out air cylinder 6 controls the two mechanical arms 7 to expand outwards to increase the distance between the two mechanical arms, then the body 1 controls the mechanical arms 7 to move forwards to enable the left mechanical arm 7 and the right mechanical arm 7 to be positioned at the two sides of the battery pack, then the ejector rods of the double-rod-out air cylinder 6 are recovered to enable the inner suckers 8 at the two sides to be attached to the outer wall of the battery pack, and then air is sucked through the air path connected with the inner sucker 8 to enable negative pressure to be formed between the inner sucker 8 and the outer wall of the battery pack to achieve adsorption;

firstly, the battery pack is placed on one side of the battery pack which is placed at a certain distance, firstly, the air is supplied to the inner sucker 8 through the air passage, the inner sucker 8 is separated from the outer wall of the battery pack, then, the mechanical arm 7 is expanded outwards through the air supply of the double-rod air cylinder 6, then, the mechanical arm 7 is controlled to be retracted by the body 1, then, the whole grabbing mechanism 3 is driven to rotate through the multi-joint turntable of the body 1, the opening of the outer sucker 9 faces one side of the battery pack, then, the outer sucker 9 is controlled by the body 1 to be attached to the outer wall of the battery pack, then, the air passage is utilized to enable the outer sucker 9 and the side wall of the battery pack to form negative pressure to achieve adsorption, then, the outer sucker 9 is driven by the body 1 to move the battery pack to the adjacent battery pack, further, the adjustment of the distance between the adjacent battery packs is achieved, then, the outer sucker 9 supplies air to enable the outer sucker 9 to be separated from the battery pack, and the grabbing and stacking operation of the whole battery pack is achieved.

The above, only do the preferred embodiment of the present invention, not limit the protection scope of the present invention according to this, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The utility model provides a battery package snatchs and pile up neatly machinery hand which characterized in that: including body (1) and chassis (2), body (1) is equipped with snatchs mechanism (3), be equipped with crane (4) and motion (5) on chassis (2), it is equipped with two play pole cylinders (6) on mechanism (3) to snatch, two play pole cylinder (6) both sides parallel are equipped with two arms (7), two arm (7) inboard is equipped with interior sucking disc (8), arbitrary one the arm (7) outside is equipped with outer sucking disc (9).

2. The battery pack gripping and stacking manipulator of claim 1, wherein: be equipped with upper mounting plate (15) and lower platform (16) on crane (4), be connected with elevating system between upper mounting plate (15) and lower platform (16), elevating system is equipped with elevator motor (11), be connected with driving screw (12) on elevator motor (11).

3. The battery pack gripping and stacking manipulator of claim 1, wherein: the moving mechanism (5) is provided with a table board (18), the bottom of the table board (18) is provided with a motor frame (20), the motor frame (20) is connected with a motor (21), and one end of the motor (21) is connected with a Mecanum wheel (19).

4. The battery pack gripping and stacking manipulator of claim 1, wherein: an anti-tilting block (22) is arranged at the center position below the moving mechanism (5).

5. The battery pack gripping and stacking manipulator of claim 1, wherein: the inner sucker (8) and the outer sucker (9) are both provided with air receiving nozzles (10).

6. A battery pack gripping and stacking manipulator according to claim 3, wherein: sliding grooves (23) are symmetrically formed below the table top (18), and the sliding grooves (23) are detachably connected with the anti-tilting blocks (22).

7. The battery pack gripping and stacking manipulator of claim 1, wherein: the two mechanical arms (7) are equal in length, and the inner suction discs (8) on the inner sides of the two mechanical arms (7) are symmetrically arranged.

8. The battery pack gripping and stacking manipulator of claim 1, wherein: the opening area of the outer suction disc (9) on the outer side of the mechanical arm (7) is larger than that of the inner suction disc (8).