CN219210760U - Automatic detect equipment of snatching - Google Patents

Abstract

The utility model relates to automatic detection grabbing equipment which comprises grabbing devices, a detection device and a conveying device, wherein the grabbing devices are used for conveying batteries to be recovered one by one and placing the batteries into a battery tray, the detection device is used for detecting electric parameters and positive and negative poles of the batteries to be recovered and conveying the batteries to be recovered to the grabbing devices, the conveying device is used for conveying the batteries to be recovered to the grabbing devices, the grabbing devices and the detection device are respectively provided with an upper cover and respectively form a relatively independent operation space, the two spaces are communicated, the detection device and the grabbing devices are arranged side by side left and right, the conveying device extends to lay and penetrates through the inner space of the grabbing devices, the detection device is provided with a conveyor used for conveying the batteries to be recovered, and one end of the conveyor extends to lay left and right and is inserted into the inner space of the grabbing devices. The utility model can automatically detect the anode and the cathode of the battery and automatically stack the battery, thereby being capable of replacing the traditional manual waste battery sorting operation, and having high efficiency and low error rate.

Description

Automatic detect equipment of snatching

Technical Field

The utility model relates to a device for automatically detecting and sorting waste batteries, and belongs to the technical field of battery disassembly, recovery and regeneration.

Background

With the development of new energy automobiles, a large amount of batteries are retired or scrapped. It is necessary to subject these retired or scrapped batteries to innocuous treatment and recycling.

After the battery pack is disassembled into single cells, the cells need to be detected and stored or subjected to discharge treatment. The traditional method is as follows: the direction of the positive and negative poles of the battery is judged by manually detecting the battery by battery, and then the battery is stored or discharged. By adopting the manual operation mode, the labor intensity of workers is high, the detection efficiency is low, and errors are easy to occur during sorting.

Disclosure of Invention

The utility model aims to provide automatic detection grabbing equipment, and detection of the anode and the cathode of a battery and automatic stacking operation can be automatically carried out, so that the traditional manual waste battery sorting operation can be replaced.

The main technical scheme of the utility model is as follows:

the utility model provides an automated inspection grabbing equipment, is including being used for waiting to retrieve the battery and transferring one by one and putting into grabbing device in the battery tray, be used for detecting the electricity parameter and the positive negative pole of waiting to retrieve the battery and transferring to grabbing device's detection device and be used for with battery tray advances to send out grabbing device's conveyor, grabbing device and detection device are equipped with the upper shield respectively to form a relatively independent operating space respectively, and two spaces communicate with each other, detection device and grabbing device set up side by side about, and conveyor extends to lay and run through grabbing device's inner space, and detection device is equipped with the conveyer that is used for transporting waiting to retrieve the battery, conveyer extends about and lays and its one end inserts grabbing device's inner space.

The grabbing device comprises a servo grabbing mechanism for placing the battery to be recovered into the battery tray through grabbing and placing the battery to be recovered, a chassis serving as a mounting base structural member, a triaxial gantry mechanism mounted on the chassis and used for moving the servo grabbing mechanism, a jacking positioning assembly used for lifting and fixing the battery tray, a transverse servo adjusting mechanism used for adjusting the transverse space size of the battery clamping position on the battery tray, and a longitudinal servo adjusting mechanism used for adjusting the longitudinal space size of the battery clamping position on the battery tray.

The detection device further comprises a base serving as an installation basic structural member, a clamping mechanism used for clamping the battery to be recovered on the conveyor, a blocking mechanism used for temporarily stopping the battery to be recovered on the conveyor, a centering mechanism used for centering the position of the battery to be recovered on the conveyor through clamping, a guide mechanism used for guiding the battery to be recovered entering the grabbing device on the conveyor, and a detection mechanism used for automatically detecting the electrical parameters and positive and negative poles of the battery to be recovered, wherein the conveyor is arranged on the base, the conveyor comprises a battery conveyor, the clamping mechanism, the blocking mechanism, the centering mechanism, the blocking mechanism, the guide mechanism and the centering mechanism are sequentially arranged along the line of the battery conveyor according to the conveying direction of the battery conveyor, the guide mechanism and the later centering mechanism are located in the inner space of the grabbing device, the detection mechanism is arranged beside the battery conveyor and close to the former centering mechanism, and the base is fixedly connected with the chassis.

The detection mechanism can comprise a support column, a vertical guide moving mechanism, a horizontal guide moving mechanism and a probe assembly; the support is fixed on the stand; the vertical guiding moving mechanism comprises a vertical sliding block guide rail assembly, a vertical ball screw nut assembly and a vertical servo motor which are arranged on the support column, wherein the vertical servo motor drives a vertical screw in the vertical ball screw nut assembly to rotate, and the vertical screw drives a vertical ladder-shaped nut in the vertical ball screw nut assembly to move up and down; the horizontal guiding moving mechanism comprises a horizontal beam, a horizontal sliding block guide rail assembly, a horizontal ball screw nut assembly and a horizontal servo motor, wherein the horizontal sliding block guide rail assembly, the horizontal ball screw nut assembly and the horizontal servo motor are arranged on the horizontal beam, the horizontal servo motor drives a horizontal screw in the horizontal ball screw nut assembly to rotate, the horizontal screw drives a horizontal forward ladder-shaped nut and a horizontal reverse ladder-shaped nut in the horizontal ball screw nut assembly to synchronously and horizontally move in a reverse direction, and the horizontal beam is fixed relative to a vertical ladder-shaped nut and a vertical sliding block in the vertical sliding block guide rail assembly; the probe assembly comprises two probe mounting plates, the two probe mounting plates are fixedly connected with a horizontal forward ladder-shaped nut and a horizontal reverse ladder-shaped nut through a nut seat respectively, the two nut seats are fixedly connected with two horizontal sliding blocks in the horizontal sliding block guide rail assembly respectively, and a probe extending vertically downwards is respectively mounted on the two probe mounting plates.

The clamping mechanism can comprise a pair of clamping blocks, two air cylinders and two air cylinder supports, wherein the air cylinders are installed at the tops of the air cylinder supports one by one, the extending directions of the cylinder rods of the two air cylinders are opposite, the two clamping blocks are respectively fixed at the extending ends of the cylinder rods of the two air cylinders, the bottom ends of the air cylinder supports are fixed on the machine base, and the two air cylinder supports are located at two sides of the battery conveyor.

The blocking mechanism can comprise a cylinder, a blocking block, a bottom plate, a sliding block guide rail assembly, a ball screw assembly and a stepping motor, wherein the sliding block guide rail assembly, the ball screw assembly and the stepping motor are arranged on the bottom plate; the blocking block is arranged at the extending end of the cylinder rod, the extending direction of the ladder-shaped lead screw is parallel to the conveying direction of the battery conveyor in the installation state, and the extending direction of the cylinder rod is positioned on the horizontal plane and perpendicular to the conveying direction of the battery conveyor and is directed to the inner side from the outer side of the battery conveyor.

The positive mechanism of clamp can include face-to-face first clamp splice and second clamp splice that sets up, still includes cylinder, ball screw nut subassembly and step motor, and step motor drives the ladder type screw in the ball screw nut subassembly and rotates, and the ladder type screw drives the ladder type nut in the ball screw nut subassembly and removes, and first clamp splice is relative ladder type nut fixed connection, and the second clamp splice is fixed on the overhanging end of the jar pole of cylinder, and the direction of extension of jar pole and the direction of extension level of ladder type screw and perpendicular to battery conveyor, cylinder body, step motor and the relative frame fixed mounting of ladder type screw, and first clamp splice and second clamp splice are in respectively under the drive of step motor and cylinder follow battery conveyor's both sides and be close to or keep away from the battery that waits to retrieve that is located on the battery conveyor.

The guide mechanism can comprise a pair of guide plates which are arranged in parallel and an opening and closing mechanism which drives the guide plates to do opening and closing movement, the guide plates horizontally extend and the plate surface is vertical, the opening and closing mechanism comprises a fixed plate, two guide posts, a stepping motor, a ladder-shaped screw rod and a slide block guide rail assembly, the fixed plate is arranged on a machine base, a forward ladder-shaped nut and a reverse ladder-shaped nut are arranged on the ladder-shaped screw rod in a matched manner, the ball screw nut assembly is formed by the ladder-shaped screw rod and the stepping motor, the ladder-shaped screw rod is driven to rotate, the forward ladder-shaped nut and the reverse ladder-shaped nut are driven to synchronously and reversely move by the ladder-shaped screw rod, the lower end of each guide post is fixedly connected with the lower end of one guide post or one group of slide blocks in the slide block guide rail assembly, the tops of the two guide posts are fixedly connected with the pair of guide plates, the extending direction of the ladder-shaped screw rod is perpendicular to the extending direction of the guide plates, and the extending direction of the ladder-shaped screw rod is perpendicular to the extending direction of the guide plate, and the guide plate is arranged above the battery conveyor and extends along the conveying direction of the battery conveyor.

The conveyor also preferably comprises a buffer conveyor, a flow guiding mechanism and a clamping mechanism are sequentially arranged along the buffer conveyor along the conveying direction of the buffer conveyor, and the flow guiding mechanism and the clamping mechanism are also positioned in the inner space of the grabbing device.

The three-axis gantry mechanism can comprise four upright posts, Z-direction moving mechanisms, X-direction moving mechanisms, Y-direction moving mechanisms and rotating motors, wherein the bottoms of the upright posts are fixedly arranged on the underframe, two groups of Z-direction moving mechanisms are arranged at the tops of the front and rear pairs of upright posts in a front-rear extending mode, the X-direction moving mechanisms extend left and right, the left and right ends of the X-direction moving mechanisms are arranged on the left and right groups of Z-direction moving mechanisms, the Y-direction moving mechanisms are arranged on the X-direction moving mechanisms and driven by the X-direction moving mechanisms to move left and right, the rotating motors are arranged on the Y-direction moving mechanisms and driven by the Y-direction moving mechanisms to move up and down, and the two groups of Z-direction moving mechanisms are kept synchronous through synchronous pulley assemblies; the servo grabbing mechanism comprises a fixed frame, a servo motor, two groups of slide block guide rail assemblies, a pair of clamping blocks, a gear and two parallel racks meshed with the gear simultaneously, wherein the servo motor and the slide blocks in the slide block guide rail assemblies are arranged on the fixed frame, the gear is arranged on an output shaft of the servo motor, the two small assemblies are assembled by the pair of clamping blocks and the two racks in one-to-one correspondence, the two large assemblies are assembled by the two small assemblies and the two guide rails in the two groups of slide block guide rail assemblies one to one, and the fixed frame is fixedly connected with an output shaft of the rotating motor through a connecting frame.

The jacking positioning assembly can comprise a mounting bottom plate, a jacking plate, a sensor mounting plate, a guide rod, an air cylinder and a sensor for detecting whether a battery to be recovered is put in place, wherein an air cylinder barrel is fixed on the bottom surface of the mounting bottom plate, an air cylinder rod penetrates through the mounting bottom plate and is fixedly connected with the jacking plate, the sensor mounting plate is fixed on the top surface of the jacking plate, a plurality of sensors are distributed at intervals and are fixed on the sensor mounting plate, a plurality of holes for avoiding the sensor are formed in the jacking plate, each hole corresponds to one sensor, a plurality of positioning pins are further arranged on the sensor mounting plate, the position size and the size of each positioning pin are consistent with the corresponding size of a positioning hole on the battery tray, the upper ends of the guide rods are fixed on the jacking plate, the guide rods are in vertical relative sliding connection with the mounting bottom plate, and the mounting bottom plate is fixedly connected with a chassis.

The longitudinal servo adjusting mechanism can comprise a mounting seat, a gear motor, a universal screwdriver head, and a cylinder and a slide block guide rail assembly which are arranged on the mounting seat, wherein the gear motor is fixedly connected with a slide block in the slide block guide rail assembly relatively, the cylinder drives the gear motor to linearly slide along a guide rail in the slide block guide rail assembly, the universal screwdriver head is coaxially and fixedly connected with an output shaft of the gear motor relatively, and the output shaft of the gear motor is parallel to a cylinder rod of the cylinder and is in a horizontal state; the transverse servo adjusting mechanism comprises a pneumatic actuator, a support, a shaft support, a rotating shaft, an angle seat, an air cylinder, a sliding block guide rail assembly, a servo motor and a universal screwdriver head, wherein a shell of the pneumatic actuator is fixedly connected with a chassis relatively, the support is fixed on the shell of the pneumatic actuator, the rotating shaft is installed on the support through two shaft supports, the rotating shaft is driven by the pneumatic actuator to bidirectionally and fixedly rotate in a certain angle range, the angle seat is sleeved on the rotating shaft and fixedly connected with the rotating shaft relatively, the air cylinder body and the sliding block guide rail assembly are fixedly installed on the angle seat, the extending direction of the air cylinder and the sliding block guide rail are perpendicular to different surfaces of the rotating shaft, the servo motor is fixedly connected with the sliding block in the sliding block guide rail assembly relatively, the air cylinder drives the servo motor to linearly slide along the sliding block, the universal screwdriver head is coaxially and fixedly connected with an output shaft of the servo motor relatively, the rotating shaft horizontally extends front and back under the installation state, and two positions of the pneumatic actuator before and after the transposition are respectively in a vertical state and a horizontal state corresponding to the output shaft of the servo motor.

The beneficial effects of the utility model are as follows:

after the utility model is adopted, the detection of electrical parameters such as voltage, electric quantity and internal resistance, the judgment of the positive and negative electrodes and the sorting and stacking of the waste batteries can be automatically completed, the degree of automation is high, manual participation is not needed in the process, the manual labor intensity can be greatly reduced, the detection and sorting efficiency is improved, and the error rate is reduced.

The utility model is basically compatible with all square aluminum-shell and steel-shell lithium batteries on the market.

Drawings

FIG. 1a is a schematic diagram of an embodiment of an automated inspection gripping apparatus of the present utility model (with the upper cover removed);

FIG. 1b is a top view of FIG. 1a (with upper housing);

FIG. 1c is a side view of FIG. 1a (with an upper cover);

FIG. 2a is a schematic view of the gripping device of FIG. 1a (with the upper cover removed);

FIG. 2b is a top view of FIG. 2a (with the upper cover removed);

FIG. 2c is a side view of FIG. 2a (with upper housing);

FIG. 3 is a schematic view of the three-axis gantry mechanism shown in FIG. 2 a;

FIG. 4 is a schematic view of the servo grabbing mechanism shown in FIG. 2 a;

FIG. 5 is a schematic view of the jacking positioning assembly shown in FIG. 2 a;

FIG. 6 is a schematic view of the longitudinal servo-actuator shown in FIG. 2 a;

FIG. 7 is a schematic diagram of the lateral servo-actuator shown in FIG. 2 a;

FIG. 8a is a schematic diagram of the detecting device in FIG. 1a (with the upper cover removed);

FIG. 8b is a top view of FIG. 8a (with the upper cover removed);

FIG. 8c is a side view of FIG. 8a (with upper housing);

FIG. 9 is a schematic diagram of the detection mechanism shown in FIG. 8 a;

FIG. 10 is a schematic view of the clamping mechanism shown in FIG. 8 b;

FIG. 11 is a schematic view of the blocking mechanism shown in FIG. 8 b;

FIG. 12 is a schematic view of the positive clamping mechanism of FIG. 8 b;

fig. 13 is a schematic structural view of the diversion mechanism shown in fig. 8 b.

Reference numerals:

1. a gripping device;

1.1 three-axis gantry mechanism; 1.1.1 upright posts; 1.1.2Z to the motion mechanism; 1.1.3X to the motion mechanism; 1.1.4Y to the motion mechanism; 1.1.5 motor base; 1.1.6 rotating electrical machines;

1.2 longitudinal servo adjustment mechanism; 1.2.1 mounting seats; 1.2.2 cylinder joints; 1.2.3 slider rail assemblies; 1.2.4 universal heads; 1.2.5 support plates; 1.2.6 chucks; 1.2.7 motor base; 1.2.8 gear motor; 1.2.9 cylinders;

1.3 lifting the positioning assembly; 1.3.1 locating pins; 1.3.2 sensor mounting plate; 1.3.3 jacking plates; 1.3.4 guide rods; 1.3.5 linear bearings; 1.3.6 mounting base plate; 1.3.7 cylinders; 1.3.8 cylinder joints; 1.3.9 sensor;

1.4 underframe;

1.5 servo grabbing mechanisms; 1.5.1 connectors; 1.5.2 servo motor; 1.5.3 gears; 1.5.4 fixing frame; 1.5.5 racks; 1.5.6 slider rail assembly; 1.5.7 clamp blocks;

1.6 a transverse servo adjustment mechanism; 1.6.1 fixing struts; 1.6.2 pneumatic actuator; 1.6.3 support; 1.6.4 servo motor; 1.6.5 collet; 1.6.6 universal heads; 1.6.7 servo motor support; 1.6.8 mounting plate; 1.6.9 cylinder joint; 1.6.10 cylinder; 1.6.11 corner bases; 1.6.12 shaft support; 1.6.13 spindle;

1.7 upper cover;

2. a detection device;

2.1 a detection mechanism; 2.1.1 struts; 2.1.2 tail support; 2.1.3 vertical slider rail assemblies; 2.1.4 horizontal forward ladder nut; 2.1.5 horizontal servo motor; 2.1.6 horizontal motor mount; 2.1.7 stand-offs; 2.1.8 horizontal beams; 2.1.9 the connecting corner fitting; 2.1.10 vertical ball screw nut assemblies; 2.1.11 front support; 2.1.12 vertical motor base; 2.1.13 vertical servo motor; 2.1.14 horizontal slider rail assembly; 2.1.15 horizontal lead screw; 2.1.16 horizontal reverse ladder nut; 2.1.17 nut seats; 2.1.18 probe mounting plate; 2.1.19 probe;

2.2 stand; 2.3 buffer conveyor; 2.4 battery conveyor;

2.5 clamping mechanisms; 2.5.1 cylinder mount; 2.5.2 cylinders; 2.5.3 clamping blocks;

2.6 blocking mechanism; 2.6.1 ladder-shaped lead screws; 2.6.2 tail support; 2.6.3 bottom plate; 2.6.4 struts; 2.6.5 slider rail assembly; 2.6.6 motor mount; 2.6.7 stepper motor; 2.6.8 screw support; 2.6.9 ladder nut; 2.6.10 block; 2.6.11 cylinder; 2.6.12 nut seats;

2.7 a clamping mechanism; 2.7.1 first struts; 2.7.2 mounting seats; 2.7.3 stepper motor; 2.7.4 support; 2.7.5 ladder-type lead screw; 2.7.6 ladder nut; 2.7.7 nut seats; 2.7.8 clamp plate; 2.7.9 first clamp block; 2.7.10 second clamp block; 2.7.11 cylinder; 2.7.12 second struts;

2.8 a diversion mechanism; 2.8.1 guide plates; 2.8.2 guiding connecting rods; 2.8.3 guide posts; 2.8.4 stepper motor; 2.8.5 motor base; 2.8.6 boom; 2.8.7 fixing plates; 2.8.8 forward ladder nut; 2.8.9 slider rail assembly; 2.8.10 nut seats; 2.8.11 ladder-type lead screw; 2.8.12 reverse ladder nut;

2.9 upper cover;

3. a conveying device; 4. an operation panel; 5. a battery to be recovered; 6. and a battery tray.

Detailed Description

As shown in fig. 1 to 13, the present utility model discloses an automatic inspection gripping apparatus comprising a gripping device 1 for transferring batteries 5 to be recovered one by one and putting them in a battery tray 6, a detecting device 2 for detecting electrical parameters and positive and negative poles of the batteries to be recovered and transferring the batteries to be recovered to the gripping device, and a conveying device 3 for feeding the battery tray into and out of the gripping device. The detection device and the grabbing device are arranged side by side left and right, and the conveying device extends and lays back and forth and penetrates through the inner space of the grabbing device. The inner space of the detecting device 2 is provided with a conveyor for conveying the battery to be recovered, and the conveyor is laid in a left-right extending manner and one end of the conveyor is inserted into the inner space of the grabbing device. The above parts are the main body of the mechanical structure of the automatic detection grabbing device, and are the main content to be protected by the utility model. The automatic detection grabbing device is further provided with a control system and an operation panel 4, and the operation panel 4 is installed on the detection device 2 in the embodiment. The control system is used for controlling the actions of the mechanical structures and the coordination of the actions according to manually input instructions (such as starting instructions) and parameters (such as the width and the thickness of the battery to be recovered) and the like through executing programs, and can be realized by adopting the prior art means. The electrical parameters may include voltage, electrical quantity, internal resistance, etc., and the detection result may be stored in a memory of the control system. The positive and negative information of the battery needs to be fed back to the grabbing device so that the grabbing device can keep the direction of the battery pole consistent when the battery is placed in the battery tray. The detection of the electrical parameters and the positive and negative electrodes can be realized by means of the prior art. The automatic detection grabbing equipment can fully automatically complete the detection, sorting and installation of the batteries to be recovered to the battery tray, so that the manual labor intensity is greatly reduced, the detection and sorting efficiency is improved, and the error rate is remarkably reduced.

The grabbing device and the detecting device are respectively provided with an upper cover 1.7 and an upper cover 2.9, and respectively form a relatively independent operation space which is communicated with each other.

The battery tray is provided with a plurality of battery clamping positions which are arranged vertically and horizontally, and the longitudinal and transverse space sizes of the battery clamping positions are adjustable so as to adapt to batteries to be discharged in different sizes.

The grabbing device comprises a servo grabbing mechanism 1.5 for grabbing the battery to be recovered off the conveyor through grabbing and placing the battery to be recovered, a chassis 1.4 serving as a mounting base structural member, a triaxial gantry mechanism 1.1 mounted on the chassis and used for moving the servo grabbing mechanism in space, a jacking positioning assembly 1.3 used for lifting and fixing the battery tray, a transverse servo adjusting mechanism 1.6 used for adjusting the transverse space size of a battery clamping position on the battery tray, and a longitudinal servo adjusting mechanism 1.2 used for adjusting the longitudinal space size of the battery clamping position on the battery tray. After the battery to be recovered enters the grabbing device from the detection device, the triaxial gantry mechanism can drive the servo grabbing mechanism to grab the battery to be recovered and send the battery to an empty battery clamping position. Before the battery to be recovered is sent into the battery clamping position, the jacking positioning assembly lifts the battery tray off the conveying device 3 and fixes the battery tray, and then the transverse servo adjusting mechanism and the longitudinal servo adjusting mechanism act to adjust the space size of the battery clamping position to be in a degree suitable for the size of the battery to be recovered, so as to prepare for placing the battery to be recovered. The upper cover 1.7 is fixed on the underframe.

Besides the conveyor, the detection device further comprises a machine base 2.2 serving as a mounting basic structural part, a clamping mechanism 2.5 which is fixedly arranged relative to the machine base and used for clamping the battery to be recovered on the conveyor, a blocking mechanism 2.6 used for temporarily stopping the battery to be recovered on the conveyor, a centering mechanism 2.7 used for centering the position of the battery to be recovered on the conveyor through clamping, a flow guiding mechanism 2.8 used for guiding the battery to be recovered entering the grabbing device on the conveyor, and a detection mechanism 2.1 used for automatically detecting the electrical parameters and positive and negative poles of the battery to be recovered. The conveyor is mounted on a frame, said conveyor comprising a battery conveyor 2.4. The battery conveyor is provided with a clamping mechanism 2.5, a blocking mechanism 2.6, a clamping mechanism 2.7, a blocking mechanism 2.6, a flow guiding mechanism 2.8 and a clamping mechanism 2.7 in sequence along the line of the battery conveyor according to the conveying direction of the battery conveyor, wherein the flow guiding mechanism 2.8 and the adjacent clamping mechanism 2.7, namely the latter clamping mechanism, are positioned in the inner space of the grabbing device. The detection mechanism is also arranged beside the battery conveyor and close to the previous positive clamping mechanism, and the positive clamping mechanism automatically clamps the positive battery, so that the detection of the detection mechanism can be facilitated. The machine base is fixedly connected with the underframe. The diversion mechanism is hung on the machine base and the underframe at the same time, and the latter clamping mechanism 2.7 is fixed on the underframe. When the battery to be recovered is stopped by the next blocking mechanism, the front clamping mechanism, namely the front clamping mechanism, is used for positioning and clamping the battery to be recovered so that the pole of the battery can be aligned with the probe of the detection mechanism in the thickness direction of the battery, and then the detection mechanism executes automatic detection on the battery to be recovered. The automatically detected battery to be recovered enters the inner space of the grabbing device through the flow guiding mechanism until the battery to be recovered is positioned and clamped to a correct position by the latter clamping mechanism, and the battery to be recovered waits for the servo grabbing mechanism. The upper cover 2.9 is fixed on the machine base.

The detection mechanism comprises a support column 2.1.1, a vertical guiding and moving mechanism, a horizontal guiding and moving mechanism and a probe assembly. The support column 2.1.1 is fixed on the machine base. The vertical guiding and moving mechanism comprises a vertical sliding block guide rail assembly 2.1.3, a vertical ball screw nut assembly 2.1.10 and a vertical servo motor 2.1.13 which are arranged on the support column. The vertical servo motor is mounted on the support column 2.1.1 through a vertical motor mount 2.1.12. The vertical slider rail assemblies are preferably arranged in pairs from side to side. The vertical servo motor drives a vertical screw in the vertical ball screw nut assembly to rotate, and the vertical screw drives a vertical ladder-shaped nut in the vertical ball screw nut assembly 2.1.10 to move up and down. Wherein the vertical screw is supported on the support column 2.1.1 by means of the front support 2.1.11 and the rear support 2.1.2.

The horizontal guiding and moving mechanism comprises a horizontal beam 2.1.8, a horizontal sliding block guide rail assembly 2.1.14 mounted on the horizontal beam, a horizontal ball screw nut assembly and a horizontal servo motor 2.1.5. The horizontal servo motor is arranged on the horizontal beam through a horizontal motor seat 2.1.6. The horizontal servo motor drives a horizontal screw 2.1.15 in the horizontal ball screw nut assembly to rotate, and the horizontal screw drives a horizontal forward ladder-shaped nut 2.1.4 and a horizontal reverse ladder-shaped nut 2.1.16 in the horizontal ball screw nut assembly to synchronously and horizontally move reversely. Wherein the horizontal screw is supported on the horizontal beam by the left and right supports 2.1.7. The horizontal beam is fixed relative to the vertical ladder nut and the vertical sliding block in the vertical sliding block guide rail assembly. The horizontal beams in the embodiment shown in the drawings are fixed to the vertical slider by means of mounting connection angle 2.1.9.

The probe assembly comprises two probe mounting plates 2.1.18, wherein the two probe mounting plates are fixedly connected with a horizontal forward ladder-shaped nut and a horizontal reverse ladder-shaped nut through a nut seat 2.1.17 respectively, and the two nut seats are fixedly connected with two horizontal sliding blocks in the horizontal sliding block guide rail assembly respectively. Each of the two probe mounting plates has a vertically downwardly extending probe 2.1.19 mounted thereon. The horizontal servo motor can finally drive the two probes to automatically adjust the horizontal distance so as to adapt to different positive and negative distances of the battery to be recovered. The vertical servo motor can finally drive the probe to automatically change the height so as to adapt to different heights of the batteries to be recovered.

The clamping mechanism comprises a pair of clamping blocks 2.5.3, two air cylinders 2.5.2 and two air cylinder supports 2.5.1, wherein the clamping blocks are oppositely arranged, the air cylinders 2.5.2 are installed at the tops of the air cylinder supports one by one, the extending directions of cylinder rods of the two air cylinders are oppositely arranged, the two clamping blocks are respectively fixed at the extending ends of the cylinder rods of the two air cylinders, and the bottom ends of the air cylinder supports are fixed on the machine base. Under the installed state, two cylinder supports are located the both sides of battery conveyer, and two cylinder stretches out and draws back and drive two clamp splice removal, when two cylinder pole is overhanging and is driven two clamp splice and be close to each other, can press from both sides the battery that waits to retrieve on the battery conveyer tightly fixedly.

The blocking mechanism includes a cylinder 2.6.11, a blocking block 2.6.10, a base plate 2.6.3, a slider rail assembly 2.6.5 mounted on the base plate, a ball screw assembly, and a stepper motor 2.6.7. The bottom plate is fixedly connected with the machine base. The step motor drives the ladder-shaped screw rod 2.6.1 in the ball screw assembly to rotate, and the ladder-shaped screw rod rotates to drive the ladder-shaped nut 2.6.9 in the ball screw assembly to linearly move. In the embodiment shown in the drawings, the ladder-type screw 2.6.1 is mounted on the base plate through a screw support 2.6.8 and a tail support 2.6.2, and the stepper motor 2.6.7 is mounted on the base plate through a motor base 2.6.6. The cylinder block is fixedly connected with the ladder nut and the sliding block in the sliding block guide rail assembly, and the cylinder block and the ladder nut 2.6.9 can be connected by a nut seat 2.6.12 in the embodiment shown in the drawing. The blocking block is arranged at the extending end of the cylinder rod, in the installation state, the extending direction of the ladder-shaped lead screw is parallel to the conveying direction of the battery conveyor, and the extending direction of the cylinder rod is positioned on the horizontal plane and perpendicular to the conveying direction of the battery conveyor and is directed to the inner side from the outer side of the battery conveyor. The rotation of the stepping motor 2.6.7 drives the air cylinder to adjust the left and right positions, namely the blocking distance, so as to adapt to batteries to be recovered with different widths. The cylinder rod of the cylinder stretches out to temporarily stop the battery to be recovered on the battery conveyor. The cylinder rod is retracted to release the battery to be recovered. One or two posts 2.6.4 may be used to support the base 2.6.3 when the blocking mechanism is installed, with the bottom of the post 2.6.4 being secured to the housing.

The aligning mechanism comprises a first clamping block 2.7.9 and a second clamping block 2.7.10 which are arranged face to face, and further comprises an air cylinder 2.7.11, a ball screw nut assembly and a stepping motor 2.7.3, wherein the stepping motor 2.7.3 drives a ladder screw 2.7.5 in the ball screw nut assembly to rotate, the ladder screw 2.7.5 drives a ladder nut 2.7.6 in the ball screw nut assembly to move, the first clamping block 2.7.9 is fixedly connected with the ladder nut 2.7.6 relatively, the second clamping block 2.7.10 is fixed on the extending end of a cylinder rod of the air cylinder 2.7.11, the extending direction of the cylinder rod and the extending direction of the ladder screw 2.7.5 are horizontal and are perpendicular to the conveying direction of the battery conveyor, and the cylinder body of the air cylinder 2.7.11, the stepping motor 2.7.3 and the ladder screw 2.7.5 are fixedly installed relatively to the base. In the embodiment shown in the drawings, the ladder-type screw 2.7.5 is supported on the mounting seat 2.7.2 through the front and rear supports 2.7.4, the first clamping block 2.7.9 is fixedly connected with the ladder-type nut 2.7.6 through the clamping plate 2.7.8 and the nut seat 2.7.7, and the nut seat 2.7.7 is fixedly connected with the sliding block in the sliding block guide rail assembly arranged on the mounting seat 2.7.2. The mounting base 2.7.2 is supported on the foundation by a first leg 2.7.1 and the cylinder 2.7.11 is supported on the foundation by a second leg 2.7.12. In the installed state, the first support column 2.7.1 and the second support column 2.7.12 are located at two sides of the battery conveyor, and the first clamping block 2.7.9 and the second clamping block 2.7.10 are respectively driven by the stepping motor 2.7.3 and the air cylinder 2.7.11 to be close to or far from the battery to be recovered located on the battery conveyor. After the battery to be recovered moves in place along the battery conveyor, the stepping motor 2.7.3 firstly acts to drive the first clamping block 2.7.9 to extend to the battery from one side to provide positioning for the battery, the extending distance is automatically adjusted according to the thickness parameters of the battery, the adjustment target is to ensure that the center of a pole of the battery with various specifications is coincident with the center of the probe, then the air cylinder 2.7.11 acts again to drive the second clamping block 2.7.10 to extend to the battery from the other side, and the battery to be recovered is aligned and clamped and fixed. After the detection, the stepping motor 2.7.3 and the cylinder 2.7.11 simultaneously reverse-operate the discharge battery. The positive clamping mechanism can ensure the contact accuracy of the pole of the battery to be recovered and the probe.

The guide mechanism comprises a pair of guide plates 2.8.1 which are arranged in parallel and an opening and closing mechanism which drives the guide plates to do opening and closing movement. The guide plate extends horizontally and the plate surface is vertical. The opening and closing mechanism comprises a fixed plate 2.8.7, two guide posts 2.8.3, a stepping motor 2.8.4, a ladder screw 2.8.11 and a slide block guide rail assembly 2.8.9, wherein the stepping motor 2.8.4, the ladder screw 2.8.11 and the slide block guide rail assembly 2.8.9 are arranged on the fixed plate, and the fixed plate is arranged on the machine base. The stepper motor 2.8.4 is mounted to the fixed plate by a motor mount 2.8.5. The ladder screw 2.8.11 is provided with a forward ladder nut 2.8.8 and a reverse ladder nut 2.8.12 in a matched manner, and forms a ball screw nut assembly with the ladder screw. The stepper motor 2.8.4 drives the stepped screw 2.8.11 to rotate, and the stepped screw drives the forward stepped nut 2.8.8 and the reverse stepped nut 2.8.12 to move synchronously and reversely. The forward and reverse ladder nuts 2.8.8, 2.8.12 are each fixedly connected to the lower end of one of the guide posts 2.8.3, for example by means of a nut socket 2.8.10. The lower end of each guide post is also fixedly connected to one or a set of slides in the slide rail assembly 2.8.9. The tops of the two guide posts 2.8.3 are fixedly connected one to one with a pair of guide plates. The stepper motor 2.8.4 rotates to drive the pair of guide plates 2.8.1 to move in opposite directions simultaneously to automatically adjust the distance between the pair of guide plates. The extending direction of the ladder-shaped screw 2.8.11 is perpendicular to the extending direction different surface of the guide plate. The guide plate is arranged above the battery conveyor and extends along the conveying direction of the battery conveyor. The batteries to be recovered on the battery conveyor pass through the space between the pair of guide plates when passing through the guide mechanism. Because the interval of deflector can automatic adjustment, consequently guiding mechanism can satisfy the transportation requirement of waiting to retrieve the battery of multiple different thickness, to waiting to retrieve the battery of thickness less, guiding mechanism can avoid it to empty in transportation process. In the embodiment shown in the drawings, a pair of the guide plates are connected with two of the opening and closing mechanisms which are arranged at left and right intervals. The lower part of the outer side of each guide plate is fixed with a guide connecting rod 2.8.2 so as to improve the rigidity and strength of the guide plates and avoid bending the guide plates. In addition, four corners of the top surface of the fixed plate 2.8.7 are fixedly connected with the lower end of a boom 2.8.6, and the upper end of the boom is fixed on a diversion mechanism installation bottom plate on the machine base from bottom to top during installation, so that the suspension installation of the diversion mechanism is realized.

The conveyor also preferably comprises a buffer conveyor 2.3 which is generally arranged in parallel with the battery conveyor, a flow guiding mechanism 2.8 and a clamping mechanism 2.7 are sequentially arranged along the buffer conveyor according to the conveying direction of the buffer conveyor, and the flow guiding mechanism and the clamping mechanism are also positioned in the inner space of the grabbing device. The buffer conveyor is fixed on the machine base. The buffer conveyor is used for temporarily storing batteries to be recovered in different specifications. When the specification of the battery to be recovered is changed, and the battery to be recovered in the previous specification is remained but cannot be filled with a battery tray, the system automatically transfers and stores the battery to be recovered on the battery conveyor to the buffer conveyor, and then continues to wait for the battery with the same specification. The batteries to be transferred are all batteries which have been detected by the detection mechanism, and the transferring operation is completed by the grabbing device.

The three-axis gantry mechanism comprises four upright posts 1.1.1, Z-direction moving mechanisms 1.1.2, X-direction moving mechanisms 1.1.3, Y-direction moving mechanisms 1.1.4 and rotating motors 1.1.6, wherein the bottoms of the upright posts 1.1.1 are fixedly arranged on a bottom frame, two groups of Z-direction moving mechanisms extend and are arranged at the tops of front and rear pairs of upright posts 1.1.1, the X-direction moving mechanisms extend left and right, the left and right ends of the X-direction moving mechanisms are arranged on the left and right groups of Z-direction moving mechanisms, and the Y-direction moving mechanisms are arranged on the X-direction moving mechanisms and driven by the X-direction moving mechanisms to move left and right. The rotating motor is arranged on the Y-direction movement mechanism through a motor base 1.1.5 and moves up and down under the drive of the Y-direction movement mechanism. The two groups of Z-direction movement mechanisms are kept synchronous through the synchronous pulley assembly. The rotating motor can freely move in the inner space of the grabbing device under the drive of the triaxial gantry mechanism so as to meet the conveying requirement of the battery to be recovered.

The servo grabbing mechanism comprises a fixed frame 1.5.4, a servo motor 1.5.2, two groups of slide block guide rail assemblies 1.5.6, a pair of clamping blocks 1.5.7, a gear 1.5.3 and two parallel racks 1.5.5 meshed with the gear simultaneously. The servo motor 1.5.2 and the slide in the slide rail assembly 1.5.6 are mounted on a fixed frame. The gear is mounted on the output shaft of the servo motor 1.5.2. The pair of clamp blocks 1.5.7 and the two racks 1.5.5 are assembled into two small assemblies in one-to-one correspondence, and the two small assemblies and the two guide rails in the two groups of slide block guide rail assemblies 1.5.6 are assembled into two large assemblies in one-to-one correspondence. The fixed frame is fixedly connected with an output shaft of the rotating motor 1.1.6 through a connecting frame 1.5.1. The servo motor 1.5.2 drives the gear to rotate, the gear drives the two large assemblies to simultaneously and reversely move, the opening and closing movement of the pair of clamping blocks 1.5.7 is realized, and the servo grabbing mechanism realizes the clamping/releasing operation of the battery to be recovered through the opening and closing movement. The servo grabbing mechanism can automatically clamp and place the battery to be recovered, and the battery to be recovered is transferred to a specified position according to requirements under the cooperation of the triaxial gantry mechanism. The servo grabbing mechanism can rotate under the drive of the rotating motor 1.1.6, so that the position of the anode and the cathode of the battery can be adjusted through automatic rotation before the battery to be recovered is placed in the battery tray, and the battery can be placed in the battery tray according to the designed anode and cathode directions, so that the discharging requirement of the discharging cabinet is met.

The jacking positioning assembly comprises a mounting bottom plate 1.3.6, a jacking plate 1.3.3, a sensor mounting plate 1.3.2, a guide rod 1.3.4, an air cylinder 1.3.7 and a sensor 1.3.9 for detecting whether a battery to be recovered is put in place or not. The cylinder barrel of the air cylinder 1.3.7 is fixed on the bottom surface of the installation bottom plate, the cylinder rod passes through the installation bottom plate and is fixedly connected with the jacking plate through the air cylinder joint 1.3.8, and the sensor installation plate is fixed on the top surface of the jacking plate. The sensors are distributed at intervals and fixed on the sensor mounting plate, a plurality of holes for avoiding fixing the screws for the sensors are formed in the jacking plate, and each hole corresponds to one sensor. The sensor mounting plate is also provided with a plurality of positioning pins 1.3.1, the position and the size of the positioning pins are consistent with the corresponding sizes of the positioning holes on the battery tray, and after the battery tray is lifted, the positioning pins are inserted into the corresponding positioning holes, so that the positioning and the fixing of the battery tray are finished simultaneously. The upper ends of the guide rods are fixed on the jacking plate, the guide rods are in up-down relative sliding connection with the mounting bottom plate, the lower ends of the guide rods are sleeved with linear bearings 1.3.5, and the linear bearings 1.3.5 are fixed on the bottom surface of the mounting bottom plate 1.3.6. In the embodiment shown in the drawings four guide rods 1.3.4 are mounted at the four corners of the mounting base plate. The installation bottom plate is fixedly connected with the underframe relatively to realize the installation of the jacking positioning component in the grabbing device. The cylinder 1.3.7 stretches out and draws back to drive the jacking plate and the sensor mounting plate to move up and down by taking the guide rod as a guide rod, the battery tray can be lifted up and lifted away from the conveying device 3 when moving upwards, the battery is filled into the battery tray, after the battery clamping is completed, the cylinder is retracted, the jacking plate moves downwards to put the battery tray back onto the conveying device 3, and the conveying device can transport the battery tray out of the grabbing device at any time. The sensors on the sensor mounting plate are distributed in a rectangular array, and the sensors correspond to the battery clamping positions on the battery tray in number and position one by one. The sensor preferably adopts a proximity switch, and is mainly used for judging whether the battery is put in place or not. If not, the servo grabbing mechanism needs to grab the battery to be recovered again and store the battery again. When the end of a batch of batteries is processed, if the remaining batteries to be recovered cannot be fully filled with a battery tray, the control system can shield the empty battery clamping position, namely, the empty battery clamping position is not detected and judged whether to be put in place or not.

The longitudinal servo adjusting mechanism comprises a mounting seat 1.2.1, a gear motor 1.2.8, a universal screwdriver head 1.2.4, a cylinder 1.2.9 and a sliding block guide rail assembly 1.2.3 which are mounted on the mounting seat. The gear motor is fixedly connected with the sliding block in the sliding block guide rail assembly 1.2.3, and in the embodiment shown in the drawing, the gear motor is fixedly connected with the sliding block through the motor base 1.2.7. The overhanging end of the cylinder rod of the cylinder 1.2.9 is connected with an L-shaped support plate 1.2.5 through a cylinder joint 1.2.2, the support plate 1.2.5 is rotationally connected with a universal screwdriver head 1.2.4, and the cylinder 1.2.9 drives a gear motor to linearly slide along a guide rail in the sliding block guide rail assembly 1.2.3 through the support plate 1.2.5. The universal batch head 1.2.4 is coaxially and fixedly connected with the output shaft of the speed reducing motor, and in the embodiment shown in the drawing, the output shaft of the speed reducing motor is coaxially connected with the universal batch head 1.2.4 through the clamping head 1.2.6. The output shaft of the gear motor is arranged in parallel with the cylinder rod of the cylinder and is in a horizontal state. The longitudinal servo adjusting mechanism is used for automatically adjusting the longitudinal space size of a battery installation position on the battery tray, when the battery tray is supported in place by the jacking positioning component, the air cylinder 1.2.9 stretches out to drive the gear motor 1.2.8 to move close to the battery tray until the universal screwdriver head 1.2.4 is in butt joint with the longitudinal adjusting interface structure on the battery tray, and the gear motor is started to drive the universal screwdriver head 1.2.4 to rotate, so that the longitudinal space size of the battery clamping position is changed. After the adjustment is finished, the gear motor stops rotating, the air cylinder 1.2.9 retracts to drive the gear motor to retract and return, and the universal screwdriver bit 1.2.4 is disconnected with the battery tray.

The lateral servo adjustment mechanism comprises a pneumatic actuator 1.6.2, a support 1.6.3, a shaft support 1.6.12, a rotating shaft 1.6.13, an angle seat 1.6.11, an air cylinder 1.6.10, a sliding block guide rail assembly, a servo motor 1.6.4 and a universal screwdriver bit 1.6.6. The housing of the pneumatic actuator is fixedly connected to the chassis, for example, via a fixing strut 1.6.1 to the column 1.1.1. The support 1.6.3 is fixed on the housing of the pneumatic actuator, and the spindle is mounted on said support 1.6.3 by means of two spindle supports. The rotating shaft can be driven by the pneumatic actuator to rotate in a bidirectional fixed shaft within a certain angle range, in the embodiment, the 90-degree pneumatic actuator is adopted and is controlled by the electromagnetic valve, so that the rotating angle range of the rotating shaft is 90 degrees. The angle seat is sleeved on the rotating shaft and fixedly connected with the rotating shaft, the cylinder body of the cylinder 1.6.10 and the guide rail in the slide block guide rail assembly are fixedly arranged on the angle seat, and the extending direction of the cylinder 1.6.10 and the guide rail is perpendicular to the different surface of the rotating shaft. The servo motor 1.6.4 is fixedly coupled to a slider in the slider rail assembly, and in this embodiment the servo motor 1.6.4 is mounted to the slider by a servo motor mount 1.6.7. The cylinder rod of the cylinder 1.6.10 is connected to a mounting plate 1.6.8 via a cylinder joint 1.6.9, which is in turn connected to a servo motor 1.6.4, so that the cylinder 1.6.10 can drive the servo motor 1.6.4 to slide linearly along the guide rail. The universal screwdriver bit 1.6.6 is fixedly connected coaxially with the output shaft of the servo motor 1.6.4, and in this embodiment, the universal screwdriver bit 1.6.6 is connected with the output shaft of the servo motor 1.6.4 through a chuck 1.6.5. The spindle extends horizontally back and forth in the installed state, and the two positions of the pneumatic actuator before and after indexing correspond to the vertical and horizontal states of the output shaft of the servo motor 1.6.4, respectively, wherein the output shaft of the servo motor 1.6.4 is in the vertical state in the initial state of the transverse servo adjustment mechanism, and the cylinder 1.6.10 is in the retracted state. When the battery tray is lifted in place by the jacking positioning component, the pneumatic actuator acts to drive the rotating shaft and the angle seat to rotate by 90 degrees, so that the output shaft of the servo motor 1.6.4 is turned to be in a left-right horizontal extending state (see fig. 2 a), and the air cylinder 1.6.10 stretches out to drive the servo motor 1.6.4 and the universal screwdriver head 1.6.6 to move close to the battery tray until the universal screwdriver head 1.6.6 is in butt joint with the transverse adjusting interface structure on the battery tray. The servo motor 1.6.4 is started to drive the universal screwdriver bit 1.6.6 to rotate, so that the transverse space size of the battery clamping position is changed. After the adjustment is completed, the servo motor 1.6.4 stops rotating, the air cylinder 1.6.10 is retracted to drive the servo motor 1.6.4 to retract and return, and the universal screwdriver bit 1.6.6 is disconnected from the battery tray. The reverse action of the pneumatic actuator drives the rotating shaft and the angle seat to reversely rotate by 90 degrees, so that the output shaft of the servo motor 1.6.4 is turned back to be in a vertical extension state.

All the stepper motors mentioned above can be replaced by servo motors.

The automatic detection grabbing device is high in automation degree, can automatically convey and automatically discharge the battery to be recovered, can automatically stop and automatically output the battery after discharging is completed, and does not need manual participation in the process.

The operation process of the automatic detection grabbing device is as follows:

1. the parameters of the battery are manually input, including the spacing between the positive electrode and the negative electrode of the battery, the width and the thickness of the battery, and the like. These parameters are used as the size basis for the automatic adjustment of the relevant mechanism of the device, so as to meet the requirements of batteries to be recovered with different sizes, for example, the detection device can automatically adjust the probe spacing according to the spacing between the positive and negative poles of the batteries, automatically adjust the baffle spacing according to the thickness of the batteries, and automatically adjust the blocking distance according to the width of the batteries.

2. The battery tray is fed into the grabbing device through the conveying device 3, the sensor is triggered, and the jacking and positioning assembly works to fix and position the battery tray.

3. The control system automatically adjusts the longitudinal and transverse space sizes of the battery installation positions on the battery tray through the longitudinal servo adjusting mechanism and the transverse servo adjusting mechanism according to battery parameters (mainly referring to the width and the thickness of the battery) so as to adapt to the clamping of the battery to be recovered on the battery tray.

4. The blocking mechanism automatically adjusts the blocking distance according to the battery width parameter of the control system (from manual input) to suit the battery to be detected.

5. The detection mechanism automatically adjusts the distance of the pole probe according to the parameters of the control system so as to be suitable for the battery to be detected.

6. And placing the batteries to be recovered on a battery conveyor in sequence.

7. The first battery is conveyed to the position of the detecting mechanism 2.1, a sensor is triggered, the battery is stopped by the action of the blocking mechanism behind the battery conveyor along the line, and the battery conveyor acts and clamps the battery by the front clamping mechanism 2.7 along the line.

8. The detection mechanism is pressed down to enable the probe to be in contact with and tightly pressed against the positive and negative poles of the battery, detection is started, and detection contents comprise voltage, internal resistance and positive and negative pole directions of the battery to be recovered.

9. While the first battery is being detected, the second battery is stopped by the previous blocking mechanism along the battery conveyor, and the third battery is held by the holding mechanism.

10. The first battery is detected, the detection mechanism rises to enable the probe to be separated from the battery pole, the positive clamping mechanism acts and loosens the battery to be recovered, and the blocking mechanism behind the battery conveyor along the line releases the first battery.

11. When the first battery is conveyed to the tail part of the battery conveyor, namely a battery grabbing position, a sensor is triggered, and the latter positive clamping mechanism of the battery conveyor acts along the line and clamps the first battery; and signals the control system.

12. Meanwhile, a first blocking mechanism along the line of the battery conveyor releases a second battery, the second battery is conveyed to the detection mechanism, the sensor is triggered, a second blocking mechanism along the line of the battery conveyor acts, and a first positive clamping mechanism along the line of the battery conveyor acts and clamps the second battery; and then detection of the second battery is started.

13. When the second battery is conveyed to the detection mechanism, the blocking mechanism acts along the line, the blocking function is achieved, the clamping mechanism acts to release the third battery, and the third battery is conveyed forwards and blocked by the blocking mechanism along the line. While the fourth battery is held by the holding mechanism. And so on.

14. After the control system receives the signal that the first battery reaches the battery grabbing position, the grabbing device starts to act.

15. The X, Z of the three-axis gantry mechanism moves simultaneously to the motion mechanism and moves horizontally to above the battery grabbing position at the fastest speed according to the shortest distance.

16. The Y-direction movement mechanism of the triaxial gantry mechanism moves downwards to drive the servo grabbing mechanism to descend to reach the battery grabbing position, then the movement is stopped, and then the servo grabbing mechanism grabs the battery.

17. After the battery is grabbed, the Y-direction movement mechanism of the three-axis gantry mechanism moves upwards, and the movement is stopped after the highest point is reached.

18. The X, Z of the three-axis gantry mechanism moves simultaneously to the motion mechanism and moves horizontally to above the battery storage level at the fastest speed and at the shortest distance.

19. The X, Z of the triaxial gantry mechanism moves to the moving mechanism, and meanwhile, the servo grabbing mechanism automatically rotates and adjusts the positive and negative positions of the battery according to the positive and negative position information of the battery fed back by the control system, so that the discharge requirement of the discharge cabinet is met.

20. The Y-direction movement mechanism of the triaxial gantry mechanism moves downwards to drive the servo grabbing mechanism to descend to reach the battery storage position and then stop moving, and the servo grabbing mechanism releases the battery to finish battery stacking.

21. The Y-direction movement mechanism of the three-axis gantry mechanism moves upwards to return to a position, and is ready to grasp and transfer the next battery.

Claims (12)

1. An automated inspection snatchs equipment, its characterized in that: the battery recovery device comprises a grabbing device used for transferring and placing batteries to be recovered into a battery tray one by one, a detecting device used for detecting electrical parameters and positive and negative poles of the batteries to be recovered and transferring the batteries to be recovered to the grabbing device, and a conveying device used for conveying the batteries to be recovered to and from the grabbing device, wherein the grabbing device and the detecting device are respectively provided with an upper cover and respectively form a relatively independent operation space, the two spaces are communicated, the detecting device and the grabbing device are arranged side by side, the conveying device extends and lays back and forth and penetrates through the inner space of the grabbing device, the detecting device is provided with a conveyor used for conveying the batteries to be recovered, and one end of the conveyor extends and lays left and right and is inserted into the inner space of the grabbing device.

2. The automated inspection gripping apparatus of claim 1, wherein: the grabbing device comprises a servo grabbing mechanism for placing the battery to be recovered into the battery tray through grabbing and placing the battery to be recovered, a chassis serving as a mounting base structural member, a triaxial gantry mechanism mounted on the chassis and used for moving the servo grabbing mechanism, a jacking positioning assembly used for lifting and fixing the battery tray, a transverse servo adjusting mechanism used for adjusting the transverse space size of the battery clamping position on the battery tray, and a longitudinal servo adjusting mechanism used for adjusting the longitudinal space size of the battery clamping position on the battery tray.

3. The automated inspection gripping apparatus of claim 2, wherein: the detection device further comprises a base serving as an installation basic structural member, a clamping mechanism used for clamping the battery to be recovered on the conveyor, a blocking mechanism used for temporarily stopping the battery to be recovered on the conveyor, a centering mechanism used for centering the position of the battery to be recovered on the conveyor through clamping, a guide mechanism used for guiding the battery to be recovered entering the grabbing device on the conveyor, and a detection mechanism used for automatically detecting the electrical parameters and positive and negative poles of the battery to be recovered, wherein the conveyor is arranged on the base, the conveyor comprises a battery conveyor, the clamping mechanism, the blocking mechanism, the centering mechanism, the blocking mechanism, the guide mechanism and the centering mechanism are sequentially arranged along the line of the battery conveyor according to the conveying direction of the battery conveyor, the guide mechanism and the later centering mechanism are located in the inner space of the grabbing device, the detection mechanism is arranged beside the battery conveyor and close to the former centering mechanism, and the base is fixedly connected with the chassis.

4. An automated inspection gripping apparatus according to claim 3, wherein: the detection mechanism comprises a support column, a vertical guide moving mechanism, a horizontal guide moving mechanism and a probe assembly; the support is fixed on the stand; the vertical guiding moving mechanism comprises a vertical sliding block guide rail assembly, a vertical ball screw nut assembly and a vertical servo motor which are arranged on the support column, wherein the vertical servo motor drives a vertical screw in the vertical ball screw nut assembly to rotate, and the vertical screw drives a vertical ladder-shaped nut in the vertical ball screw nut assembly to move up and down; the horizontal guiding moving mechanism comprises a horizontal beam, a horizontal sliding block guide rail assembly, a horizontal ball screw nut assembly and a horizontal servo motor, wherein the horizontal sliding block guide rail assembly, the horizontal ball screw nut assembly and the horizontal servo motor are arranged on the horizontal beam, the horizontal servo motor drives a horizontal screw in the horizontal ball screw nut assembly to rotate, the horizontal screw drives a horizontal forward ladder-shaped nut and a horizontal reverse ladder-shaped nut in the horizontal ball screw nut assembly to synchronously and horizontally move in a reverse direction, and the horizontal beam is fixed relative to a vertical ladder-shaped nut and a vertical sliding block in the vertical sliding block guide rail assembly; the probe assembly comprises two probe mounting plates, the two probe mounting plates are fixedly connected with a horizontal forward ladder-shaped nut and a horizontal reverse ladder-shaped nut through a nut seat respectively, the two nut seats are fixedly connected with two horizontal sliding blocks in the horizontal sliding block guide rail assembly respectively, and a probe extending vertically downwards is respectively mounted on the two probe mounting plates.

5. The automated inspection gripping apparatus of claim 4, wherein: the clamping mechanism comprises a pair of clamping blocks, two air cylinders and two air cylinder supports, the air cylinders are installed at the tops of the air cylinder supports one by one, the extending directions of the cylinder rods of the two air cylinders are opposite, the two clamping blocks are respectively fixed at the extending ends of the cylinder rods of the two air cylinders, the bottom ends of the air cylinder supports are fixed on the machine base, and the two air cylinder supports are located at two sides of the battery conveyor.

6. The automated inspection gripping apparatus of claim 5, wherein: the blocking mechanism comprises a cylinder, a blocking block, a bottom plate, a sliding block guide rail assembly, a ball screw assembly and a stepping motor, wherein the sliding block guide rail assembly, the ball screw assembly and the stepping motor are arranged on the bottom plate, the bottom plate is fixedly connected with the base, the stepping motor drives a ladder-shaped screw in the ball screw assembly to rotate, the ladder-shaped screw rotates to drive a ladder-shaped nut in the ball screw assembly to linearly move, and a cylinder body is fixedly connected with a sliding block in the sliding block guide rail assembly relative to the ladder-shaped nut; the blocking block is arranged at the extending end of the cylinder rod, the extending direction of the ladder-shaped lead screw is parallel to the conveying direction of the battery conveyor in the installation state, and the extending direction of the cylinder rod is positioned on the horizontal plane and perpendicular to the conveying direction of the battery conveyor and is directed to the inner side from the outer side of the battery conveyor.

7. The automated inspection gripping apparatus of claim 6, wherein: the positive mechanism of clamp includes face-to-face first clamp splice and second clamp splice that sets up, still includes cylinder, ball screw nut subassembly and step motor, and step motor drives the ladder type screw in the ball screw nut subassembly and rotates, and the ladder type screw drives the ladder type nut in the ball screw nut subassembly and remove, and first clamp splice is relative ladder type nut fixed connection, and the second clamp splice is fixed on the overhanging end of the jar pole of cylinder, and the direction of extension of jar pole and the direction of extension level of ladder type screw and perpendicular to battery conveyor, cylinder body, step motor and the relative frame fixed mounting of ladder type screw, first clamp splice and second clamp splice are in respectively under the drive of step motor and cylinder follow battery conveyor's both sides and are close to or keep away from the battery that waits to retrieve that is located on the battery conveyor.

8. The automated inspection gripping apparatus of claim 7, wherein: the guide mechanism comprises a pair of guide plates which are arranged in parallel and an opening and closing mechanism which drives the guide plates to do opening and closing movement, the guide plates horizontally extend and the plate surface is vertical, the opening and closing mechanism comprises a fixed plate, two guide posts, and a stepping motor, a ladder-shaped screw rod and a slide block guide rail assembly which are arranged on the fixed plate, the fixed plate is arranged on a machine base, a forward ladder-shaped nut and a reverse ladder-shaped nut are arranged on the ladder-shaped screw rod in a matched manner and form a ball screw nut assembly with the ladder-shaped screw rod, the stepping motor drives the ladder-shaped screw rod to rotate, the ladder-shaped screw rod drives the forward ladder-shaped nut and the reverse ladder-shaped nut to synchronously and reversely move, the forward ladder-shaped nut and the reverse ladder-shaped nut are respectively and fixedly connected with the lower end of one guide post relatively, the lower end of each guide post is fixedly connected with one or a group of slide blocks in the slide block guide rail assembly, the tops of the two guide posts are fixedly connected with the pair of the guide plates, the extending direction of the ladder-shaped screw rod is perpendicular to the extending direction of the guide plate, and the conveying direction of the battery conveyor extends along the conveying direction of the battery conveyor.

9. The automated inspection gripping apparatus of claims 3, 4, 5, 6, 7 or 8, wherein: the conveyor further comprises a buffer conveyor, a flow guiding mechanism and a clamping mechanism are sequentially arranged along the buffer conveyor along the conveying direction of the buffer conveyor, and the flow guiding mechanism and the clamping mechanism are also located in the inner space of the grabbing device.

10. The automated inspection gripping apparatus of claims 3, 4, 5, 6, 7, 8 or 9, wherein: the three-axis gantry mechanism comprises four upright posts, Z-direction moving mechanisms, X-direction moving mechanisms, Y-direction moving mechanisms and rotating motors, wherein the bottoms of the upright posts are fixedly arranged on an underframe, two groups of Z-direction moving mechanisms extend and are arranged at the tops of the front and rear pairs of upright posts, the X-direction moving mechanisms extend left and right, the left and right ends of the X-direction moving mechanisms are arranged on the left and right groups of Z-direction moving mechanisms, the Y-direction moving mechanisms are arranged on the X-direction moving mechanisms and driven by the X-direction moving mechanisms to move left and right, and the rotating motors are arranged on the Y-direction moving mechanisms and are driven by the Y-direction moving mechanisms to move up and down, and the two groups of Z-direction moving mechanisms are kept synchronous through synchronous belt wheel assemblies; the servo grabbing mechanism comprises a fixed frame, a servo motor, two groups of slide block guide rail assemblies, a pair of clamping blocks, a gear and two parallel racks meshed with the gear simultaneously, wherein the servo motor and the slide blocks in the slide block guide rail assemblies are arranged on the fixed frame, the gear is arranged on an output shaft of the servo motor, the two small assemblies are assembled by the pair of clamping blocks and the two racks in one-to-one correspondence, the two large assemblies are assembled by the two small assemblies and the two guide rails in the two groups of slide block guide rail assemblies one to one, and the fixed frame is fixedly connected with an output shaft of the rotating motor through a connecting frame.

11. The automated inspection gripping apparatus of claim 10, wherein: the jacking positioning assembly comprises a mounting bottom plate, a jacking plate, a sensor mounting plate, a guide rod, an air cylinder and a sensor for detecting whether a battery to be recovered is put in place, wherein an air cylinder barrel is fixed on the bottom surface of the mounting bottom plate, an air cylinder rod penetrates through the mounting bottom plate and is fixedly connected with the jacking plate, the sensor mounting plate is fixed on the top surface of the jacking plate, a plurality of sensors are distributed at intervals and are fixed on the sensor mounting plate, a plurality of holes for avoiding the sensor are formed in the jacking plate, each hole corresponds to one sensor, a plurality of positioning pins are further arranged on the sensor mounting plate, the position and the size of each positioning pin are consistent with the corresponding size of a positioning hole in the battery tray, the upper ends of the guide rods are fixed on the jacking plate, the guide rods are in vertical relative sliding connection with the mounting bottom plate, and the mounting bottom plate is fixedly connected with a chassis.

12. The automated inspection gripping apparatus of claim 11, wherein: the longitudinal servo adjusting mechanism comprises a mounting seat, a speed reducing motor, a universal screwdriver head, a cylinder and a sliding block guide rail assembly, wherein the cylinder and the sliding block guide rail assembly are mounted on the mounting seat; the transverse servo adjusting mechanism comprises a pneumatic actuator, a support, a shaft support, a rotating shaft, an angle seat, an air cylinder, a sliding block guide rail assembly, a servo motor and a universal screwdriver head, wherein a shell of the pneumatic actuator is fixedly connected with a chassis relatively, the support is fixed on the shell of the pneumatic actuator, the rotating shaft is installed on the support through two shaft supports, the rotating shaft is driven by the pneumatic actuator to bidirectionally and fixedly rotate in a certain angle range, the angle seat is sleeved on the rotating shaft and fixedly connected with the rotating shaft relatively, the air cylinder body and the sliding block guide rail assembly are fixedly installed on the angle seat, the extending direction of the air cylinder and the sliding block guide rail are perpendicular to different surfaces of the rotating shaft, the servo motor is fixedly connected with the sliding block in the sliding block guide rail assembly relatively, the air cylinder drives the servo motor to linearly slide along the sliding block, the universal screwdriver head is coaxially and fixedly connected with an output shaft of the servo motor relatively, the rotating shaft horizontally extends front and back under the installation state, and two positions of the pneumatic actuator before and after the transposition are respectively in a vertical state and a horizontal state corresponding to the output shaft of the servo motor.

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