CN109571530A - A kind of manipulator grabbing device of battery modules - Google Patents
A kind of manipulator grabbing device of battery modules Download PDFInfo
- Publication number
- CN109571530A CN109571530A CN201910009300.9A CN201910009300A CN109571530A CN 109571530 A CN109571530 A CN 109571530A CN 201910009300 A CN201910009300 A CN 201910009300A CN 109571530 A CN109571530 A CN 109571530A
- Authority
- CN
- China
- Prior art keywords
- battery
- manipulator
- battery modules
- battery core
- grabbing device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010521 absorption reaction Methods 0.000 claims abstract description 5
- 239000011265 semifinished product Substances 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 10
- 239000004411 aluminium Substances 0.000 claims description 9
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052782 aluminium Inorganic materials 0.000 claims description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
- 229910052742 iron Inorganic materials 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of manipulator grabbing devices of battery modules, including robots arm and manipulator, the manipulator includes pressure plare, positioning plate and mechanical grip, the two sides of the positioning plate are arranged in the mechanical grip, the robots arm is connected with pressure guide post, the pressure plare is connect with the pressure guide post, the pressure plare is connect with the positioning plate lifting carriage, the pressure plare is equipped with the magnetic bar of every battery core of absorption, and the positioning plate is equipped with the battery core location hole of every battery core of positioning.The beneficial effects of the present invention are: battery core can be positioned by positioning plate, the lifting of magnetic bar can be controlled by the lifting of pressure plare, battery core can be adsorbed and discharged by magnetic bar, in the process of grasping, give each battery core one upward attraction, the grasp of mechanical grip is reduced, to guarantee that mould group is indeformable in the process of grasping, is conducive to improve the precision that manipulator places mould group position.
Description
Technical field
The present invention relates to grabbing device more particularly to a kind of manipulator grabbing devices of battery modules.
Background technique
Currently, the manipulator of automated production battery modules, substantially use mechanical grip, it is mobile to place, when have it is big and
When long battery modules, and mould group upper and lower frames is all plastic stent, because the self weight problem mould group of battery core is easily deformed, is caused
It is not accurate that manipulator places mould group position.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides a kind of manipulator grabbing devices of battery modules.
The present invention provides a kind of manipulator grabbing device of battery modules, including robots arm and manipulator, the machines
Tool hand includes pressure plare, positioning plate and mechanical grip, and the two sides of the positioning plate, the robot is arranged in the mechanical grip
Arm is connected with pressure guide post, and the pressure plare is connect with the pressure guide post, and the pressure plare and the positioning plate are gone up and down
It is slidably connected, the pressure plare is equipped with the magnetic bar of every battery core of absorption, and the positioning plate is equipped with every battery core of positioning
Battery core location hole.
As a further improvement of the present invention, the two sides of the positioning plate are connected with installation side plate disposed in parallel, described
It states mechanical grip to be mounted in the installation side plate, the pressure plare is connect with the installation side plate lifting carriage.
As a further improvement of the present invention, the magnetic bar is electromagnet.
As a further improvement of the present invention, the magnetic bar and the battery core location hole correspond.
As a further improvement of the present invention, the manipulator grabbing device further includes semi-finished product battery modules and fixation
Seat, the semi-finished product battery modules are equipped with mould group location hole, and the fixing seat, which is equipped with, to be cooperated with the mould group location hole
Positioning pin.
As a further improvement of the present invention, the fixing seat is equipped with the evacuation through-hole for avoiding the mechanical grip.
As a further improvement of the present invention, the semi-finished product battery modules include plastic battery bracket, aluminium lateral plate and electricity
Core, the aluminium lateral plate are fixed on the two sides of the plastic battery bracket, and the aluminium lateral plate, plastic battery bracket are enclosed battery core
Groove is placed, the battery core setting is placed within groove in the battery core.
As a further improvement of the present invention, the mechanical grip is pneumatic machinery clamping jaw.
As a further improvement of the present invention, the pressure plare, positioning plate are tabular and are arranged in parallel.
The beneficial effects of the present invention are: through the above scheme, battery core can be positioned by positioning plate, pressure plare can be passed through
It goes up and down to control the lifting of magnetic bar, can be adsorbed by magnetic bar and discharge battery core, in the process of grasping, give each battery core
One upward attraction, reduces the grasp of mechanical grip, to guarantee that mould group is indeformable in the process of grasping, is conducive to mention
High manipulator places the precision of mould group position.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the manipulator of the manipulator grabbing device of battery modules of the present invention.
Fig. 2 is a kind of stereoscopic schematic diagram of the manipulator of the manipulator grabbing device of battery modules of the present invention.
Fig. 3 is a kind of schematic diagram of the manipulator grabbing device of battery modules of the present invention.
Fig. 4 is a kind of schematic diagram of the absorption battery core of the manipulator grabbing device of battery modules of the present invention.
Fig. 5 is a kind of schematic diagram of the release battery core of the manipulator grabbing device of battery modules of the present invention.
Fig. 6 is a kind of schematic diagram of the manipulator grabbing device of battery modules being in place of the present invention.
Fig. 7 is a kind of schematic diagram of the semi-finished product battery modules of the manipulator grabbing device of battery modules of the present invention.
Specific embodiment
The invention will be further described for explanation and specific embodiment with reference to the accompanying drawing.
As shown in Figures 1 to 7, the manipulator grabbing device of a kind of battery modules, including robots arm 1 and manipulator 2, institute
Stating manipulator 2 includes pressure plare 21, positioning plate 22 and mechanical grip 23, and the positioning plate 22 is arranged in the mechanical grip 23
Two sides, the robots arm 1 are connected with pressure guide post 25, and the pressure plare 21 is connect with the pressure guide post 25, described
Pressure plare 21 is connect with 22 lifting carriage of positioning plate, and the magnetic bar of every battery core 34 of absorption is inlaid on the pressure plare 21
24, the positioning plate 22 is equipped with the battery core location hole 26 of every battery core 34 of positioning, when pressure plare 21 stretches down, magnetic bar
24 can be sucked every battery core 34, thus to reduce the grasp of mechanical grip 23.
As shown in Figures 1 to 7, the two sides of the positioning plate 22 are connected with installation side plate 27 disposed in parallel, described to state machine
Tool clamping jaw 23 is mounted in the installation side plate 27, and the pressure plare 21 is connect with 27 lifting carriage of installation side plate.
As shown in Figures 1 to 7, the magnetic bar 24 is electromagnet.
As shown in Figures 1 to 7, the magnetic bar 24 is corresponded with the battery core location hole 26.
As shown in Figures 1 to 7, the manipulator grabbing device further includes semi-finished product battery modules 3 and fixing seat 4, described
Semi-finished product battery modules 3 are equipped with mould group location hole 31, and the fixing seat 4 is equipped with determines with what the mould group location hole 31 cooperated
Position pin 41, the semi-finished product battery modules 3 and fixing seat 4 can be realized positioning by mould group location hole 31 and positioning pin 41, had
Conducive to the placement precision for improving mould group.
As shown in Figures 1 to 7, the fixing seat 4 is equipped with the evacuation through-hole 42 for avoiding the mechanical grip 23.
As shown in Figures 1 to 7, the semi-finished product battery modules 3 include plastic battery bracket 32, aluminium lateral plate 33 and battery core
34, the aluminium lateral plate 33 is fixed on the two sides of the plastic battery bracket 32, and mould group location hole 31 is arranged in the plastic battery
On bracket 32, the aluminium lateral plate 33, plastic battery bracket 32 are enclosed battery core and place groove, and the battery core 34 is arranged described
Battery core is placed within groove.
As shown in Figures 1 to 7, the mechanical grip 23 is pneumatic machinery clamping jaw, and mechanical grip 23 is by pneumatically being grabbed
Tight and telescopic moving movement, to realize crawl mould group and put down the effect of mould group.
As shown in Figures 1 to 7, the pressure plare 21, positioning plate 22 are tabular and are arranged in parallel.
A kind of manipulator grabbing device of battery modules provided by the invention, crawl process are as follows:
Step 1: manipulator 2 finds semi-finished product battery modules 3, mechanical grip 23 firmly grasps the bottom of semi-finished product battery modules 3, so
Pressure plare 21 moves down afterwards, until every battery core 34 is sucked in magnetic bar 24, and then realizes that manipulator 2 firmly grasps semi-finished product battery modules 3
Entire movement.
It is moved in the fixing seat 3 of corresponding equipment step 2: manipulator 2 firmly grasps semi-finished product battery modules 3, fixing seat 3
Realize that the elaborate position of semi-finished product battery modules 3 is placed by positioning pin 31.
Step 3: mechanical grip 23 places semi-finished product battery modules 3, pressure plare 21 rise until magnetic bar 24 be detached from half at
Product battery modules 3, then move to corresponding position, and entire action process is completed.
A kind of manipulator grabbing device of battery modules provided by the invention, in the big Plane Installation electromagnet of pressure plare 21,
When manipulator 2 is moved to semi-finished product 3 correct position of battery modules, electromagnet is powered, and battery core 34 is sucked in each point, then passes through machine
The auxiliary of tool clamping jaw 23 firmly grasps 32 two sides of plastic battery bracket, grabs on relevant device, in the process of grasping, gives each battery core
34 1 upward attractions reduce the grasp of mechanical grip 23, to guarantee that mould group is indeformable in the process of grasping, favorably
In the precision for improving manipulator placement mould group position, also, battery core 34 is not fixed with plastic battery bracket 32, and the two is loose
, the magnetic force for increasing each battery core 34 attracts, and can fall apart in the process of grasping to avoid semi-finished product cell pond mould group 3.
A kind of manipulator grabbing device of battery modules provided by the invention, has the advantage that
1, the positioning plate 22 of manipulator 2 is processed and copying plastic battery bracket 32, when sinking fixed, may be implemented not press from both sides
Askew battery core 34, and have correcting or so to the position of battery core 34.
2, battery core 34 is drawn by magnetic bar 24, reduces the grasp force of mechanical grip 23, and during entire crawl,
Semi-finished product battery modules 3 can be kept indeformable, flatness guarantees well, when automating next step, produces yields
It about can be improved 50%.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (9)
1. a kind of manipulator grabbing device of battery modules, it is characterised in that: including robots arm and manipulator, the manipulator
Including pressure plare, positioning plate and mechanical grip, the two sides of the positioning plate are arranged in the mechanical grip, and the robots arm connects
It is connected to pressure guide post, the pressure plare is connect with the pressure guide post, the pressure plare and the positioning plate lifting carriage
Connection, the pressure plare are equipped with the magnetic bar of every battery core of absorption, and the positioning plate is equipped with the battery core of every battery core of positioning
Location hole.
2. the manipulator grabbing device of battery modules according to claim 1, it is characterised in that: the two sides of the positioning plate
Be connected with installation side plate disposed in parallel, the mechanical grip of stating is mounted in the installation side plate, the pressure plare with it is described
The connection of installation side plate lifting carriage.
3. the manipulator grabbing device of battery modules according to claim 1, it is characterised in that: the magnetic bar is electromagnetism
Iron.
4. the manipulator grabbing device of battery modules according to claim 1, it is characterised in that: the magnetic bar with it is described
Battery core location hole corresponds.
5. the manipulator grabbing device of battery modules according to claim 1, it is characterised in that: the manipulator crawl dress
Setting further includes semi-finished product battery modules and fixing seat, and the semi-finished product battery modules are equipped with mould group location hole, the fixing seat
It is equipped with the positioning pin cooperated with the mould group location hole.
6. the manipulator grabbing device of battery modules according to claim 5, it is characterised in that: the fixing seat is equipped with
Avoid the evacuation through-hole of the mechanical grip.
7. the manipulator grabbing device of battery modules according to claim 5, it is characterised in that: the semi-finished product battery mould
Group includes plastic battery bracket, aluminium lateral plate and battery core, and the aluminium lateral plate is fixed on the two sides of the plastic battery bracket, the aluminium
Side plate, plastic battery bracket are enclosed battery core and place groove, and the battery core setting is placed within groove in the battery core.
8. the manipulator grabbing device of battery modules according to claim 1, it is characterised in that: the mechanical grip is gas
Dynamic mechanical grip.
9. the manipulator grabbing device of battery modules according to claim 1, it is characterised in that: the pressure plare, positioning
Plate is tabular and is arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910009300.9A CN109571530B (en) | 2019-01-04 | 2019-01-04 | Manipulator grabbing device of battery module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910009300.9A CN109571530B (en) | 2019-01-04 | 2019-01-04 | Manipulator grabbing device of battery module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109571530A true CN109571530A (en) | 2019-04-05 |
| CN109571530B CN109571530B (en) | 2020-05-29 |
Family
ID=65916008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910009300.9A Active CN109571530B (en) | 2019-01-04 | 2019-01-04 | Manipulator grabbing device of battery module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109571530B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676808A (en) * | 2020-12-15 | 2021-04-20 | 深圳德龙激光智能有限公司 | Mechanism and method for grabbing frame by quasi-module |
| CN114310773A (en) * | 2022-03-07 | 2022-04-12 | 苏州天准科技股份有限公司 | Assembly device for a porous gasket in a heat exchanger of a motor vehicle |
| CN115231296A (en) * | 2022-08-18 | 2022-10-25 | 深圳力士智造科技有限公司 | Material grabbing device and method for transferring cylindrical batteries in groups |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5752729A (en) * | 1993-11-04 | 1998-05-19 | Comalco Aluminium Limited | Vacuum lifting device |
| CN103855340A (en) * | 2012-12-06 | 2014-06-11 | 台湾神户电池股份有限公司 | Battery box for car battery |
| CN205882067U (en) * | 2016-06-16 | 2017-01-11 | 宝沃汽车（中国）有限公司 | Battery assembly frock |
| CN106981678A (en) * | 2017-05-23 | 2017-07-25 | 潘延庆 | A kind of handgrip fixture for power battery module cartonning |
| CN206436263U (en) * | 2016-12-14 | 2017-08-25 | 上海君屹工业自动化股份有限公司 | A kind of cylindrical battery magnetic mechanism |
| CN107628332A (en) * | 2017-10-20 | 2018-01-26 | 上海泖申货物运输有限公司 | Battery modules bin and the storage and conveying box using the bin |
| CN207448521U (en) * | 2017-10-20 | 2018-06-05 | 江西宝群电子科技有限公司 | A kind of pallet for positioning movement housing |
| CN207818710U (en) * | 2018-02-11 | 2018-09-04 | 深圳市欧盛自动化有限公司 | Plug-in core clamping jaw and plug-in core apparatus |
| CN208276925U (en) * | 2018-06-05 | 2018-12-25 | 宁德时代新能源科技股份有限公司 | It is a kind of for grabbing the fixture of battery modules |
-
2019
- 2019-01-04 CN CN201910009300.9A patent/CN109571530B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5752729A (en) * | 1993-11-04 | 1998-05-19 | Comalco Aluminium Limited | Vacuum lifting device |
| CN103855340A (en) * | 2012-12-06 | 2014-06-11 | 台湾神户电池股份有限公司 | Battery box for car battery |
| CN205882067U (en) * | 2016-06-16 | 2017-01-11 | 宝沃汽车（中国）有限公司 | Battery assembly frock |
| CN206436263U (en) * | 2016-12-14 | 2017-08-25 | 上海君屹工业自动化股份有限公司 | A kind of cylindrical battery magnetic mechanism |
| CN106981678A (en) * | 2017-05-23 | 2017-07-25 | 潘延庆 | A kind of handgrip fixture for power battery module cartonning |
| CN107628332A (en) * | 2017-10-20 | 2018-01-26 | 上海泖申货物运输有限公司 | Battery modules bin and the storage and conveying box using the bin |
| CN207448521U (en) * | 2017-10-20 | 2018-06-05 | 江西宝群电子科技有限公司 | A kind of pallet for positioning movement housing |
| CN207818710U (en) * | 2018-02-11 | 2018-09-04 | 深圳市欧盛自动化有限公司 | Plug-in core clamping jaw and plug-in core apparatus |
| CN208276925U (en) * | 2018-06-05 | 2018-12-25 | 宁德时代新能源科技股份有限公司 | It is a kind of for grabbing the fixture of battery modules |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676808A (en) * | 2020-12-15 | 2021-04-20 | 深圳德龙激光智能有限公司 | Mechanism and method for grabbing frame by quasi-module |
| CN114310773A (en) * | 2022-03-07 | 2022-04-12 | 苏州天准科技股份有限公司 | Assembly device for a porous gasket in a heat exchanger of a motor vehicle |
| CN115231296A (en) * | 2022-08-18 | 2022-10-25 | 深圳力士智造科技有限公司 | Material grabbing device and method for transferring cylindrical batteries in groups |
| CN115231296B (en) * | 2022-08-18 | 2023-08-22 | 深圳力士智造科技有限公司 | Material grabbing device and method for group transfer cylindrical batteries |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109571530B (en) | 2020-05-29 |
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